diff --git a/README.md b/README.md
index 596eec7..ac9560e 100644
--- a/README.md
+++ b/README.md
@@ -25,24 +25,32 @@ xhost local:docker
 
 ### Running docker image
 
+Select the ROSbot:
+```bash
+export ROBOT_NAME=rosbot # or rosbot_xl
+```
+
+Without GPU:
 ```bash
 docker run --rm -it \
 -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
 -e DISPLAY -e LIBGL_ALWAYS_SOFTWARE=1 \
 -e DDS_CONFIG=DEFAULT -e RMW_IMPLEMENTATION=rmw_fastrtps_cpp \
 husarion/webots:humble \
-ros2 launch webots_ros2_husarion rosbot_launch.py
+ros2 launch webots_ros2_husarion ${ROBOT_NAME}_launch.py
 ```
 
-If you want to use ROSbot XL change the launch file to `rosbot_xl_launch.py`
-
+With GPU:
 ```bash
 docker run --rm -it \
+--runtime=nvidia \
 -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
--e DISPLAY -e LIBGL_ALWAYS_SOFTWARE=1 \
+-e NVIDIA_VISIBLE_DEVICES=all \
+-e NVIDIA_DRIVER_CAPABILITIES=all \
+-e DISPLAY \
 -e DDS_CONFIG=DEFAULT -e RMW_IMPLEMENTATION=rmw_fastrtps_cpp \
 husarion/webots:humble \
-ros2 launch webots_ros2_husarion rosbot_xl_launch.py
+ros2 launch webots_ros2_husarion ${ROBOT_NAME}_launch.py
 ```
 
 ![ROSbot XL in webots simulator](.docs/rosbot_xl.png)
diff --git a/demo/README.md b/demo/README.md
index e62e33a..3af4cd3 100644
--- a/demo/README.md
+++ b/demo/README.md
@@ -4,6 +4,11 @@ If you want to use ROSbot 2R replace [the launchfile](https://github.com/husario
 
 ## Run with `docker compose`
 
+Select the ROSbot:
+```bash
+export ROBOT_NAME=rosbot # or rosbot_xl
+```
+
 To start simulation build and run webots simulator container type:
 
 ```bash
@@ -18,9 +23,14 @@ Wait until this messages show up in the Webots console.
 >
 > INFO: 'Ros2Supervisor' extern controller: connected.
 
-Now you can use `teleop_twist` tool to drive ROSbot with keyboard.
+For visualization the ROSbots sensors run RViz2 in the another terminal:
 
-Enter `rviz` container:
+```bash
+docker compose -f compose.rviz.yaml up
+```
+
+Now you can use `teleop_twist` tool to drive ROSbot with keyboard.
+Enter `rviz` container in the new terminal:
 
 ```bash
 docker exec -it rviz bash
diff --git a/demo/compose.yaml b/demo/compose.yaml
index 1cb1f8a..5443eee 100644
--- a/demo/compose.yaml
+++ b/demo/compose.yaml
@@ -32,4 +32,4 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - /dev/dri:/dev/dri
     command: >
-      ros2 launch webots_ros2_husarion rosbot_xl_launch.py
+      ros2 launch webots_ros2_husarion ${ROBOT_NAME:-rosbot_xl}_launch.py