diff --git a/CMakeLists.txt b/CMakeLists.txt
index b362b9c..2f53b7b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,4 +37,9 @@ foreach(idl_file IN LISTS DLS_IDL_FILES)
     WORKING_DIRECTORY ${DLS2_ROS2_INTERFACE_DIR}
     RESULT_VARIABLE result
   )
-endforeach()
\ No newline at end of file
+endforeach()
+
+# install setup_ros2_for_dls2.bash
+install(FILES dls2_ros2_interface/ros2_ws/src/dls2_interface/scripts/setup_ros2_for_dls2.bash
+  DESTINATION /usr/bin/dls2/scripts/
+)
\ No newline at end of file
diff --git a/dls2_ros2_interface b/dls2_ros2_interface
index f313538..521f83f 160000
--- a/dls2_ros2_interface
+++ b/dls2_ros2_interface
@@ -1 +1 @@
-Subproject commit f313538afe5a82de7100e2b800d0b6dbeb5e829d
+Subproject commit 521f83fd682e7aa349ab503cb15c12735ff7d80f
diff --git a/pinocchio-gluecode b/pinocchio-gluecode
index c2ed6f9..48ff074 160000
--- a/pinocchio-gluecode
+++ b/pinocchio-gluecode
@@ -1 +1 @@
-Subproject commit c2ed6f98258dfccad57a62b0a851b62291f94604
+Subproject commit 48ff07409342e083f7ff2673698efed9bf6f5f58
diff --git a/visualizers/README.md b/visualizers/README.md
index 9c61e74..f8676be 100644
--- a/visualizers/README.md
+++ b/visualizers/README.md
@@ -2,6 +2,7 @@
 Fist step is to build and install dls2-barebone.
 
 ## rviz_interface
+- compile the ros2 package containing the robot you want to display and source the related install/setup.bash
 - add the _rviz\_interface_ periodic plugin in the `generic_periodic_app_plugins` entry in your startup file and in the `activate` entry too
 - launch the startup file
 - in another terminal follow the instructions [Build](../dls2_ros2_interface/README.md#build) and [Network](../dls2_ros2_interface/README.md#network). Then launch rviz with `ros2 run rviz2 rviz2`