diff --git a/DockerfileLatest b/Dockerfile
similarity index 100%
rename from DockerfileLatest
rename to Dockerfile
diff --git a/DockerfileMinimal b/DockerfileMinimal
deleted file mode 100644
index 9416dbc9..00000000
--- a/DockerfileMinimal
+++ /dev/null
@@ -1,32 +0,0 @@
-FROM nvidia/cuda:11.2.0-devel-ubuntu20.04
-
-ARG DEBIAN_FRONTEND=noninteractive
-
-RUN apt update
-
-# Install cmake from PIP since 3.17 is needed
-RUN apt install -y \
-    python3-pip
-RUN pip3 install cmake --upgrade
-
-# Install vcpkg dependencies
-RUN apt install -y \
-    git \
-    curl \
-    zip \
-    unzip \
-    tar \
-    pkg-config \
-    freeglut3-dev \
-    libglew-dev \
-    libglfw3-dev \
-    python3
-
-# Install RGL dependencies via vcpkg
-COPY setup.py /
-RUN /setup.py --install-pcl-deps
-RUN rm /setup.py
-
-WORKDIR /code
-
-RUN git config --system --add safe.directory /code
diff --git a/README.md b/README.md
index 7474e4ca..d49637fd 100644
--- a/README.md
+++ b/README.md
@@ -63,17 +63,14 @@ An introduction to the RGL API along with an example can be found [here](docs/Us
 
 ## Building in Docker (Linux)
 
-Two dockerfiles are prepared:
-- `DockerfileMinimal` - image designed to meet RGL minimal requirements
-- `DockerfileLatest` - image with latest Ubuntu and CUDA Toolkit version
-
-Build instructions:
 1. Set up [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker)
 2. Download [NVidia OptiX](https://developer.nvidia.com/designworks/optix/downloads/legacy) **7.2**
 3. `export OptiX_INSTALL_DIR=<Path to OptiX>`
-4. `docker build . -f DockerfileMinimal --tag rgl:minimal`
-5. `docker run --net=host --gpus all -v $(pwd):/code -v ${OptiX_INSTALL_DIR}:/optix -e OptiX_INSTALL_DIR=/optix -e NVIDIA_DRIVER_CAPABILITIES=all -it rgl:minimal /bin/bash`
-6. `./setup.py --make="-j"`
+4. `docker build . --tag rgl:latest`
+5. `docker run --net=host --gpus all -v $(pwd):/code -v ${OptiX_INSTALL_DIR}:/optix -e OptiX_INSTALL_DIR=/optix -e NVIDIA_DRIVER_CAPABILITIES=all -it rgl:latest /bin/bash`
+6. `./setup.py --clean-build --with-pcl`
+
+*Note: Currently dockerfile doesn't contain ROS2 installation to support ROS2 extension.*
 
 ## Building on Ubuntu 22