diff --git a/README.md b/README.md
index d93db75..28cedac 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,38 @@
 
 ![Build status](https://github.com/KCL-Planning/rosplan_demos/workflows/build/badge.svg)
 
-Each demo package contains a README with description and instructions for both installation and running.
+This repository contains demos for [ROSPlan](https://github.com/KCL-Planning/rosplan).
+
+Each demo package contains a README with description and instructions for both demo specific installation and running.
+
+The installation instructions below will allow you to succesfully build all ros packages provided in this repository.
+
+### Installation
+
+Please refer to the [ROSPlan installation instructions](https://github.com/KCL-Planning/ROSPlan/blob/master/README.md#installation) before proceeding.
+
+Clone this repository inside your catkin workspace:
+
+    git clone https://github.com/KCL-Planning/rosplan_demos.git
+
+Install dependencies from binaries:
+
+    sudo apt install ros-$ROS_DISTRO-tf2-bullet
+
+Install dependencies from source:
+
+For ROS noetic:
+
+    git clone --branch noetic-devel https://github.com/galou/occupancy_grid_utils.git
+
+For ROS melodic:
+
+    git clone https://github.com/clearpathrobotics/occupancy_grid_utils.git
+
+Build
+
+    cd <your catkin workspace>
+    catkin build
 
 ### Stage Demos
 
@@ -19,7 +50,12 @@ This demonstrates [ROB-IS](https://github.com/sarah-keren/ROB-IS) and builds upo
 <p align="center"><img src="https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_stage_waypoint_demo/rosplan_waypoint_demo.png" width="25%"></p>
 
 ### Gazebo Demos
+
 - **Turtlebot2 Exploration** [*rosplan_turtlebot2_demo*](https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_turtlebot2_demo) (kinetic)  
 This demo is a simple exploration mission. The robot visits randomly generated waypoints around a map.
-- **Turtlebot3 Exploration** [*rosplan_turtlebot3_demo*](https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_turtlebot3_demo) (melodic)  
+<p align="center"><img src="https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_turtlebot2_demo/doc/turtle_demo.png" width="25%"></p>
+
+- **Turtlebot3 Exploration** [*rosplan_turtlebot3_demo*](https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_turtlebot3_demo) (melodic, noetic)
 This demo is a simple exploration mission. The robot visits randomly generated waypoints around a map.
+<p align="center"><img src="https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_turtlebot3_demo/doc/turtle_demo_gazebo.jpg" width="25%" height="25%">
+                  <img src="https://github.com/KCL-Planning/rosplan_demos/blob/master/rosplan_turtlebot3_demo/doc/turtle_demo.png" width="25%" height="25%"></p>
diff --git a/rosplan_demos_interfaces/rosplan_interface_mapping/launch/rosplan_roadmap_server.launch b/rosplan_demos_interfaces/rosplan_interface_mapping/launch/rosplan_roadmap_server.launch
index 16cf273..a265ae1 100644
--- a/rosplan_demos_interfaces/rosplan_interface_mapping/launch/rosplan_roadmap_server.launch
+++ b/rosplan_demos_interfaces/rosplan_interface_mapping/launch/rosplan_roadmap_server.launch
@@ -19,7 +19,7 @@
     <arg name="costmap_topic" default="/move_base/global_costmap/costmap" />
 
     <!-- the reference frame in which the map coordinates are expressed -->
-    <arg name="wp_reference_frame" default="/map" />
+    <arg name="wp_reference_frame" default="map" />
 
     <!-- the mapping interface will wait for this max. amount of time looking for KB and map services -->
     <arg name="srv_timeout" default="3.0" />
diff --git a/rosplan_turtlebot3_demo/README.md b/rosplan_turtlebot3_demo/README.md
index 0ce6c63..e33aedc 100644
--- a/rosplan_turtlebot3_demo/README.md
+++ b/rosplan_turtlebot3_demo/README.md
@@ -6,7 +6,7 @@ The turtlebot demo is a simple exploration mission. The robot will visit randoml
 
 See image below showing gazebo and rviz visualisation.
 
-<img src="doc/turtle_demo_gazebo.jpg" width="50%" height="50%"><img src="doc/turtle_demo.png" width="50%" height="50%">
+<img src="doc/turtle_demo_gazebo.jpg" width="50%" height="50%"><img src="doc/turtle_demo.png" width="45%" height="45%">
 
 ### Turtlebot PDDL domain
 
@@ -19,12 +19,19 @@ rosed rosplan_turtlebot3_demo domain_turtlebot_demo.pddl
 
 ## Installation instructions
 
+First make sure you have followed the installation instructions on [rosplan demos main repository](https://github.com/kcl-planning/rosplan_demos).
+
 The demo requires that you install turtlebot 3 gazebo simulator and some other ros debian pkgs, this will be done later on using rosdep, for now setup only build dependencies.
 ```
-cd ~/rosplan_ws/src
-git clone https://github.com/KCL-Planning/ROSPlan.git
-git clone https://github.com/KCL-Planning/rosplan_demos.git
-git clone https://github.com/clearpathrobotics/occupancy_grid_utils
+git clone --branch noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
+git clone --branch noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
+```
+
+Install dependencies:
+```
+sudo apt install ros-$ROS_DISTRO-turtlebot3-msgs
+cd <your catkin workspace>/src
+rosdep install --from-paths ./ -i -y --rosdistro noetic
 ```
 
 Compile the code:
@@ -32,10 +39,9 @@ Compile the code:
 catkin build
 ```
 
-Source the ROSPlan workspace and install runtime dependencies:
+Source the ROSPlan workspace:
 ```
 source ~/rosplan_ws/devel/setup.bash
-rosdep install rosplan_turtlebot3_demo
 ```
 
 ## Run instructions