diff --git a/docker/Dockerfile b/docker/Dockerfile
index 131e4ccbf..7d63139cf 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -4,54 +4,56 @@ ARG branch="development"
 ARG robocomp_version="dsr"
 
 FROM ${base_image}:${base_tag} AS dependencies-version
+ARG USERNAME=demo
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
 # Disable Prompt During Packages Installation
 ARG DEBIAN_FRONTEND=noninteractive
 ENV TZ=Europe/Madrid
 RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
 ARG branch
-# DEFAULT LD_LIBRARY_PATH vaiables from the nvidia/opengl image confuses pyside2 about the qt5 Library paths
+# DEFAULT LD_LIBRARY_PATH variables from the nvidia/opengl image confuses pyside2 about the qt5 Library paths
 ENV LD_LIBRARY_PATH="/lib:/usr/lib"
 RUN export LD_LIBRARY_PATH="/lib:/usr/lib"
+# Create the user
+RUN groupadd --gid $USER_GID $USERNAME \
+    && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME --create-home \
+    && apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+# Install main dependencies
 RUN apt-get update && apt-get install -y --no-install-recommends  \
       ca-certificates \
       curl \
-      sudo \
     && rm -rf /var/lib/apt/lists/*
 RUN cd ~ && export branch=$branch \
     && curl -sL https://raw.githubusercontent.com/grupo-avispa/robocomp/$branch/tools/install/resources/robocomp_prerequisites_install.sh | bash -s $branch
-RUN export uid=1000 gid=1000 && \
-    mkdir -p /home/demo && \
-    echo "demo:x:${uid}:${gid}:demo,,,:/home/demo:/bin/bash" >> /etc/passwd && \
-    echo "demo:x:${uid}:" >> /etc/group && \
-    echo "demo:demo"|chpasswd && \
-    echo "demo ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/demo-user && \
-    chown ${uid}:${gid} -R /home/demo
-USER demo
-WORKDIR /home/demo/
+USER $USERNAME
+WORKDIR /home/$USERNAME/
 
 
 FROM dependencies-version AS base-version
 ARG branch
+ARG USERNAME=demo
 # Using robocomp installation script
-RUN cd ~ && export branch=$branch \
+RUN cd $HOME && export branch=$branch \
     && curl -sL https://raw.githubusercontent.com/grupo-avispa/robocomp/$branch/tools/install/robocomp_install.sh | bash -s $branch
-ENV PATH=$PATH:/opt/robocomp/bin/:'/home/demo/.local/bin'
-ENV ROBOCOMP=/home/demo/robocomp
-RUN export ROBOCOMP=/home/demo/robocomp
-RUN export PATH=$PATH:/opt/robocomp/bin/:'/home/demo/.local/bin'
-USER demo
-RUN cd /home/demo/robocomp && mkdir -p build && cd build && cmake .. && make -j$(nproc)
+RUN export ROBOCOMP=/home/$USERNAME/robocomp
+USER $USERNAME
+WORKDIR /home/$USERNAME/robocomp
+RUN mkdir -p build && cd build && cmake .. && make -j$(nproc)
 USER root
-RUN cd /home/demo/robocomp/build && make install
-USER demo
-WORKDIR robocomp
+RUN cd build && make install
+USER $USERNAME
+WORKDIR /home/$USERNAME/robocomp
 RUN git annex get \
   files/innermodel/simpleworld.xml \
   files/osgModels/textures/wood.jpg \
   files/innermodel/tar36h11-*.png \
   files/osgModels/textures/Metal.jpg \
   files/osgModels/robex/robex.ive
-RUN cp -r -L files /home/demo/files 2>/dev/null || :
+RUN cp -r -L files /home/$USERNAME/files 2>/dev/null || :
 
 FROM base-version AS dsr-version
 USER root
@@ -68,9 +70,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 # ICE fix
 COPY Connection.h /usr/include/Ice/Connection.h
 
-### Third party dependencies
+# Third party dependencies
 RUN curl -S https://raw.githubusercontent.com/grupo-avispa/cortex/development/installation.sh | bash -x
-USER demo
+USER $USERNAME
 
 
 FROM ${robocomp_version}-version AS final