diff --git a/README.md b/README.md
index 14c4942..66b9485 100644
--- a/README.md
+++ b/README.md
@@ -16,49 +16,68 @@ on discourse.
 
 * ROS 2 jazzy
 * The latest Rust compiler.
+* Cargo extensions for colcon
 
 
 ## Build Instructions
 
 
-1. Install `rust` and `colcon-cargo`.
-
-   **Method 1: Using a machine with ros2-jazzy installed**
-   
-   ```
-   # Install Rust (see https://rustup.rs/)
-   curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
-
-   # Install required system packages
-   sudo apt install -y git libclang-dev python3-pip
-
-   # Install colcon plugins for Rust
-   sudo apt install python3-colcon-cargo
-   pip3 install --break-system-packages colcon-ros-cargo
-   ```
-
-   **Method 2: Using a container**
-   We pre-build base containers with all the dependencies you can use `rocker`, `distrobox`, `podman` or
-   any other oci compliant tool to get a base dev environment. For the purposes of this set of instructions we use distrobox:
-   ```
-   distrobox create --image ghcr.io/open-rmf/ros2_rust_base:jazzy -n ros2_rust_base
-   distrobox enter ros2_rust_base
-   ```
-
-2. **Import Workspace Dependencies**  
-   Create a workspace and clone the repo:
-   ```bash
-   mkdir -p rmf_ws/src
-   cd rmf_ws/src
-   git clone https://github.com/open-rmf/next_gen_prototype.git
-   cd ..
-   ```
-
-3. **Build the PR Packages**  
-   Ensure you are at the workspace root inside the `jazzy` distrobox container, then build the relevant packages:
-   ```bash
-   colcon build
-   ```
+### 1. Install `ROS 2`, `rust` and `colcon-cargo`.
+
+<details>
+   <summary><b>Method 1: On your local system (click here)</b></summary>
+
+> a. [Install ROS 2 Jazzy](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html). Make sure to [install the development tools](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-development-tools-optional).
+>
+> b. Install `rust`:
+>    ```bash
+>    curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
+>    exec bash
+>    ```
+>
+> c. Install colcon extensions:
+>    ```bash
+>    # Install required system packages
+>    sudo apt install -y git libclang-dev python3-pip
+>
+>    # Install colcon plugins for Rust
+>    sudo apt install python3-colcon-cargo
+>    pip3 install --break-system-packages colcon-ros-cargo
+>    cargo install cargo-ament-build
+>    ```
+</details>
+
+<details>
+   <summary><b>Method 2: Using a container (click here)</b></summary>
+
+> We pre-build base containers with all the dependencies you can use `rocker`, `distrobox`, `podman` or any other oci compliant tool to get a base dev environment. For the purposes of this set of instructions we use distrobox:
+> ```bash
+> distrobox create --image ghcr.io/open-rmf/ros2_rust_base:jazzy -n ros2_rust_base
+> distrobox enter ros2_rust_base
+> ```
+</details>
+
+### 2. Import Workspace Dependencies
+Create a workspace and clone the repo:
+```bash
+mkdir -p rmf_ws/src
+cd rmf_ws/src
+git clone https://github.com/open-rmf/next_gen_prototype.git
+cd ..
+```
+
+### 3. Install ROS package dependencies
+```bash
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro jazzy -yr
+```
+
+### 4. Build the PR Packages
+Ensure you are at the workspace root inside the `jazzy` distrobox container, then build the relevant packages:
+```bash
+source /opt/ros/jazzy/setup.bash
+colcon build
+```
 
 ## Running Automated Integration Tests
 Verify core scenario coordination and robust following behavior:
diff --git a/path_server/rmf_path_server_demo/package.xml b/path_server/rmf_path_server_demo/package.xml
index d1f1baa..83001ff 100644
--- a/path_server/rmf_path_server_demo/package.xml
+++ b/path_server/rmf_path_server_demo/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_python</buildtool_depend>
 
   <exec_depend>rclpy</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>rmf_prototype_msgs</exec_depend>
   <exec_depend>rmf_next_gen_reservation_msgs</exec_depend>