diff --git a/humble/Dockerfile b/humble/Dockerfile
new file mode 100644
index 0000000..f200753
--- /dev/null
+++ b/humble/Dockerfile
@@ -0,0 +1,81 @@
+# Use an official Python runtime as a parent image
+FROM ros:humble
+ARG enable_ssh
+ARG path_to_scripts
+RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
+
+RUN apt-get update && apt upgrade -y && apt-get install -y \
+    cppcheck \
+    cccc \
+    clang-11 \
+    git \
+    libclang-11-dev \
+    python3-pip \
+    llvm-11-dev \
+    wget \
+    netbase \
+    libmagic-dev \
+    python-is-python3
+
+RUN if [ $enable_ssh ] ; then apt-get install -y openssh-server ; fi
+
+ENV LD_LIBRARY_PATH $LD_LIBRARY_PATH:/usr/lib/llvm-11/lib
+
+RUN pip3 install --upgrade pip
+RUN pip3 install -Iv clang==11.0
+RUN pip3 install -e git+https://github.com/timtadh/pyflwor.git#egg=pyflwor
+RUN pip3 install -e git+https://github.com/ipa320/ros_model_parser.git#egg=ros_model_parser
+RUN pip3 install -e git+https://github.com/git-afsantos/bonsai#egg=bonsai-code
+RUN pip3 install -e git+https://github.com/ipa-nhg/haros@FixPythonExtractTopic#egg=haros
+# RUN pip3 install -e git+https://github.com/git-afsantos/haros#egg=haros
+
+RUN apt-get update && apt-get install -y ros-humble-desktop && apt upgrade -y
+
+SHELL ["bash", "-c"]
+
+RUN useradd -rm -d /home/extractor/  -u 1001 extractor
+#RUN useradd -rm -d /home/extractor/ -s /bin/bash -g extractor -G sudo root -u 1001 extractor
+RUN usermod -a -G sudo extractor
+RUN usermod -a -G root extractor
+RUN echo "extractor ALL=(ALL:ALL) NOPASSWD: ALL" | sudo tee /etc/sudoers.d/extractor
+USER extractor
+RUN mkdir -p /home/extractor/ws/src
+
+RUN mkdir -p /home/extractor/results
+RUN chown extractor:extractor /home/extractor/results
+USER extractor
+WORKDIR /home/extractor
+
+# SSH CONFIGURATION
+RUN if [ $enable_ssh ] ; then mkdir -p /home/extractor/.ssh/ && \
+    chmod 0700 /home/extractor/.ssh  && \
+    touch /home/extractor/.ssh/authorized_keys && \
+    chmod 600 /home/extractor/.ssh/authorized_keys && \
+    touch /home/extractor/.ssh/config && \
+    chmod 600 /home/extractor/.ssh/config ; fi
+
+COPY --chown=extractor:root ssh_config/ /keys/
+RUN if [ $enable_ssh ] ; then  cat /keys/ssh_key.pub >> /home/extractor/.ssh/authorized_keys ; fi
+RUN if [ $enable_ssh ] ; then  cat /keys/config >> /home/extractor/.ssh/config ; fi
+####
+USER extractor
+
+ENV CMAKE_CXX_COMPILER /usr/lib/llvm-11/bin/clang++
+RUN source /opt/ros/$ROS_DISTRO/setup.bash;\
+ cd /home/extractor/ws;\
+ colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ;\
+ source /home/extractor/ws/install/setup.bash; \
+ haros init
+
+ENV PYTHON_VERSION 3
+RUN echo 'source /home/extractor/ws/install/setup.bash' >> /home/extractor/.bashrc 
+
+#RUN echo "test"
+COPY ${path_to_scripts}messages_generator_runner.sh /
+COPY ${path_to_scripts}generate_messages_model_helper.sh /
+COPY ${path_to_scripts}haros_runner.sh /
+COPY ${path_to_scripts}ros_model_extractor.py /
+COPY ${path_to_scripts}test.sh /
+
+EXPOSE 4005
+#CMD sudo chown -R extractor:extractor /home/extractor/results
diff --git a/humble/README.md b/humble/README.md
new file mode 100644
index 0000000..ccc85ce
--- /dev/null
+++ b/humble/README.md
@@ -0,0 +1,28 @@
+# Use the docker container to run the ros-model plugin for HAROS
+
+Install docker https://docs.docker.com/install/linux/docker-ce/ubuntu/
+
+Build the HAROS docker image, for your desired ROS distro version:
+```
+cd path-to-ros-model-extractors-repo
+[sudo] docker build --tag=haros_humble -f humble/Dockerfile .
+```
+
+Call the ros-model extractor plugin, remember you have to also clone the repository to be analysed:
+
+```
+[sudo] docker run -it haros_humble:latest /haros_runner.sh *package_name* *node_name* *type* *path_to_resulted_model* *workspace_path* "*github_repositoryA -b branch*" "*github_repositoryB*"...
+```
+
+For example:
+
+```
+[sudo] docker run -it haros_humble:latest /haros_runner.sh sick_safetyscanners2 sick_safetyscanners2_node node . /home/extractor/ws  https://github.com/SICKAG/sick_safetyscanners2
+
+[sudo] docker run -it haros_humble:latest /haros_runner.sh turtlesim turtlesim_node node . /home/extractor/ws "https://github.com/ros/ros_tutorials -b humble"
+
+[sudo] docker run -it haros_humble:latest /haros_runner.sh test_pkg test_node node . /home/extractor/ws "https://github.com/ipa-nhg/test_ros2_code_extractor -b ros2Parameters"
+
+```
+
+