diff --git a/.gitignore b/.gitignore
index 7f40370..e74d266 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,4 +7,5 @@ Makefile
 *.s
 *.ld
 build
-.vscode
\ No newline at end of file
+.vscode
+libmicroros
\ No newline at end of file
diff --git a/README.md b/README.md
index 30f5ec7..fd21d6b 100644
--- a/README.md
+++ b/README.md
@@ -18,38 +18,32 @@ C_SOURCES := $(filter-out Middlewares/Third_Party/FreeRTOS/Source/portable/MemMa
 #######################################
 # micro-ROS addons
 #######################################
-LDFLAGS += microros_component/libmicroros.a
-C_INCLUDES += -Imicroros_component/microros_include
+LDFLAGS += microros_static_library/libmicroros/libmicroros.a
+C_INCLUDES += -Imicroros_static_library/libmicroros/microros_include
 
 # Add micro-ROS utils
-C_SOURCES += microros_component/custom_memory_manager.c
-C_SOURCES += microros_component/microros_allocators.c
-C_SOURCES += microros_component/microros_time.c
+C_SOURCES += extra_sources/custom_memory_manager.c
+C_SOURCES += extra_sources/microros_allocators.c
+C_SOURCES += extra_sources/microros_time.c
 
 # Set here the custom transport implementation
-C_SOURCES += microros_component/microros_transports/dma_transport.c
+C_SOURCES += extra_sources/microros_transports/dma_transport.c
 
 print_cflags:
 	@echo $(CFLAGS)
 ```
 
-6. Go to `microros_component` and execute the static library generation tool. Compiler flags will retrieved automatically from your `Makefile` and user will be prompted to check if they are correct.
+6. Execute the static library generation tool. Compiler flags will retrieved automatically from your `Makefile` and user will be prompted to check if they are correct.
 
-<!-- 
-pushd microros_component
-docker build . -t micro_ros_cubemx_builder:foxy
-popd
- -->
 
 ```bash
-cd microros_component
-docker pull microros/micro_ros_cubemx_builder:foxy
-docker run -it --rm -v $(pwd)/../:/microros_library microros/micro_ros_cubemx_builder:foxy
+docker pull microros/micro_ros_static_library_builder:foxy
+docker run -it --rm -v $(pwd):/project microros/micro_ros_static_library_builder:foxy
 cd ..
 ```
 
-7. Modify your `main.c` to use micro-ROS. An example application can be found in `sample_main.c`.
-8. Continue your usual workflow building your project and flashing the binary:
+1. Modify your `main.c` to use micro-ROS. An example application can be found in `sample_main.c`.
+2. Continue your usual workflow building your project and flashing the binary:
 
 ```bash
 make -j$(nproc)
@@ -83,16 +77,25 @@ Note that folders added to `microros_component/extra_packages` and entries added
 micro-ROS precompiled library can be used in an SMT32CubeIDE but SMT32CubeIMX should be used for generating it.
 Once you have followed the steps in this first section:
 
-1. Add micro-ROS include directory. In `Project -> Settings -> C/C++ Build -> Settings -> MCU GCC Compiler -> Include paths` add `microros_component/include`
-2. Add the micro-ROS precompiled library. In `Project -> Settings -> C/C++ Build -> Settings -> MCU GCC Linker -> Libraries`
-      - add `microros_component` in `Library search path (-L)`
+1. Clone this repo in your project
+2. Go to `Project -> Settings -> C/C++ Build -> Settings -> Build Steps Tab` and in `Pre-build steps` add:
+
+```bash
+docker pull microros/micro_ros_static_library_builder:foxy && docker run --rm -v ${workspace_loc:/${ProjName}}:/project --env MICROROS_LIBRARY_FOLDER=micro_ros_stm32cubemx_utils/microros_static_library_ide microros/micro_ros_static_library_builder:foxy
+```
+
+3. Add micro-ROS include directory. In `Project -> Settings -> C/C++ Build -> Settings -> Tool Settings Tab -> MCU GCC Compiler -> Include paths` add `micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/include`
+4. Add the micro-ROS precompiled library. In `Project -> Settings -> C/C++ Build -> Settings -> MCU GCC Linker -> Libraries`
+      - add `micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros` in `Library search path (-L)`
       - add `microros` in `Libraries (-l)`
-3. Add the following source code files to your project:
-      - `microros_component/microros_time.c`
-      - `microros_component/microros_allocators.c`
-      - `microros_component/microros_custom_memory_manager.c`
-      - `microros_component/microros_transports/dma_transport.c` or your transport selection.
-4. Build and run your project
+5. Add the following source code files to your project, dragging them to source folder:
+      - `extra_sources/microros_time.c`
+      - `extra_sources/microros_allocators.c`
+      - `extra_sources/custom_memory_manager.c`
+      - `extra_sources/microros_transports/dma_transport.c` or your transport selection.
+6. Make sure that if you are using FreeRTOS, the micro-ROS task **has more than 10 kB of stack**: [Detail](.images/Set_freertos_stack.jpg)
+7. Configure the transport interface on the STM32CubeMX project, check the [Transport configuration](#Transport-configuration) section for instructions on the custom transports provided.
+8. Build and run your project
 
 ## Purpose of the Project
 
diff --git a/microros_component/custom_memory_manager.c b/extra_sources/custom_memory_manager.c
similarity index 100%
rename from microros_component/custom_memory_manager.c
rename to extra_sources/custom_memory_manager.c
diff --git a/microros_component/microros_allocators.c b/extra_sources/microros_allocators.c
similarity index 94%
rename from microros_component/microros_allocators.c
rename to extra_sources/microros_allocators.c
index 9b984af..aaf7a17 100644
--- a/microros_component/microros_allocators.c
+++ b/extra_sources/microros_allocators.c
@@ -5,6 +5,8 @@
 int absoluteUsedMemory = 0;
 int usedMemory = 0;
 
+void *pvPortMallocMicroROS( size_t xWantedSize );
+void vPortFreeMicroROS( void *pv );
 void *pvPortReallocMicroROS( void *pv, size_t xWantedSize );
 size_t getBlockSize( void *pv );
 void *pvPortCallocMicroROS( size_t num, size_t xWantedSize );
diff --git a/microros_component/microros_time.c b/extra_sources/microros_time.c
similarity index 100%
rename from microros_component/microros_time.c
rename to extra_sources/microros_time.c
diff --git a/microros_component/microros_transports/dma_transport.c b/extra_sources/microros_transports/dma_transport.c
similarity index 100%
rename from microros_component/microros_transports/dma_transport.c
rename to extra_sources/microros_transports/dma_transport.c
diff --git a/microros_component/microros_transports/it_transport.c b/extra_sources/microros_transports/it_transport.c
similarity index 100%
rename from microros_component/microros_transports/it_transport.c
rename to extra_sources/microros_transports/it_transport.c
diff --git a/microros_component/.gitignore b/microros_component/.gitignore
deleted file mode 100644
index 3747a73..0000000
--- a/microros_component/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-libmicroros.a
-microros_include
-built_packages
-available_ros2_types
\ No newline at end of file
diff --git a/microros_component/Dockerfile b/microros_component/Dockerfile
deleted file mode 100644
index cd58e3e..0000000
--- a/microros_component/Dockerfile
+++ /dev/null
@@ -1,19 +0,0 @@
-FROM ros:foxy 
-
-RUN mkdir -p uros_ws
-WORKDIR uros_ws
-RUN git clone https://github.com/micro-ROS/micro-ros-build.git src/micro-ros-build \
-    &&  . /opt/ros/$ROS_DISTRO/setup.sh \
-    &&  apt update \
-    &&  apt install -y python3-pip wget clang-format pyflakes3 python3-mypy python3-pytest-mock gperf ros-foxy-osrf-testing-tools-cpp python3-lttng ros-foxy-mimick-vendor ros-foxy-rmw-cyclonedds-cpp python3-babeltrace \
-    &&  apt install -y gcc-arm-none-eabi \
-    &&  rosdep update \
-    &&  rosdep install --from-paths src --ignore-src -y \
-    &&  colcon build \
-    &&  . install/local_setup.sh \
-    &&  rm -rf log/ build/ src/* \
-    &&  rm -rf /var/lib/apt/lists/* 
-
-COPY ./library_generation.sh /library_generation.sh
-
-ENTRYPOINT ["/library_generation.sh"]
\ No newline at end of file
diff --git a/microros_component/colcon.meta b/microros_static_library/library_generation/colcon.meta
similarity index 100%
rename from microros_component/colcon.meta
rename to microros_static_library/library_generation/colcon.meta
diff --git a/microros_component/extra_packages/extra_packages.repos b/microros_static_library/library_generation/extra_packages/extra_packages.repos
similarity index 100%
rename from microros_component/extra_packages/extra_packages.repos
rename to microros_static_library/library_generation/extra_packages/extra_packages.repos
diff --git a/microros_component/library_generation.sh b/microros_static_library/library_generation/library_generation.sh
similarity index 56%
rename from microros_component/library_generation.sh
rename to microros_static_library/library_generation/library_generation.sh
index 52333b1..d170bc2 100755
--- a/microros_component/library_generation.sh
+++ b/microros_static_library/library_generation/library_generation.sh
@@ -4,6 +4,7 @@ set -e
 ######## Init ########
 
 apt update 
+apt install -y gcc-arm-none-eabi
 
 cd /uros_ws
 
@@ -23,14 +24,14 @@ pushd firmware/mcu_ws > /dev/null
     # Import user defined packages
     mkdir extra_packages
     pushd extra_packages > /dev/null
-        cp -R /microros_library/microros_component/extra_packages/* .
+        cp -R /project/microros_static_library/library_generation/extra_packages/* .
         vcs import --input extra_packages.repos
     popd > /dev/null
 
 popd > /dev/null
 
 ######## Trying to retrieve CFLAGS ########
-pushd /microros_library > /dev/null
+pushd /project > /dev/null
 export RET_CFLAGS=$(make print_cflags)
 RET_CODE=$?
 
@@ -50,27 +51,29 @@ if [ $RET_CODE = "0" ]; then
     fi
 else
     echo "Please read README.md to update your Makefile"
+    exit 1;
 fi
 popd > /dev/null
 
 ######## Build  ########
 export TOOLCHAIN_PREFIX=/usr/bin/arm-none-eabi-
-ros2 run micro_ros_setup build_firmware.sh /microros_library/microros_component/toolchain.cmake /microros_library/microros_component/colcon.meta
+ros2 run micro_ros_setup build_firmware.sh /project/microros_static_library/library_generation/toolchain.cmake /project/microros_static_library/library_generation/colcon.meta
 
 find firmware/build/include/ -name "*.c"  -delete
-rm -rf /microros_library/microros_component/microros_include
-mkdir /microros_library/microros_component/microros_include
-cp -R firmware/build/include/* /microros_library/microros_component/microros_include/ 
-cp -R firmware/build/libmicroros.a /microros_library/microros_component/libmicroros.a
+rm -rf /project/microros_static_library/libmicroros
+mkdir -p /project/microros_static_library/libmicroros/microros_include
+cp -R firmware/build/include/* /project/microros_static_library/libmicroros/microros_include/ 
+cp -R firmware/build/libmicroros.a /project/microros_static_library/libmicroros/libmicroros.a
 
 ######## Generate extra files ########
-find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > /microros_library/microros_component/available_ros2_types
-find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> /microros_library/microros_component/available_ros2_types
+find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > /project/microros_static_library/libmicroros/available_ros2_types
+find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> /project/microros_static_library/libmicroros/available_ros2_types
 
 cd firmware
-echo "" > /microros_library/microros_component/built_packages
-for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git config --get remote.origin.url) $(git rev-parse HEAD) >> /microros_library/microros_component/built_packages; popd > /dev/null; done;
+echo "" > /project/microros_static_library/libmicroros/built_packages
+for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git config --get remote.origin.url) $(git rev-parse HEAD) >> /project/microros_static_library/libmicroros/built_packages; popd > /dev/null; done;
 
 ######## Fix permissions ########
-sudo chmod -R 777 /microros_library/microros_component/microros_include/ 
-sudo chmod -R 777 /microros_library/microros_component/libmicroros.a
\ No newline at end of file
+sudo chmod -R 777 /project/microros_static_library/libmicroros/libmicroros/ 
+sudo chmod -R 777 /project/microros_static_library/libmicroros/libmicroros/include/ 
+sudo chmod -R 777 /project/microros_static_library/libmicroros/libmicroros/libmicroros.a
\ No newline at end of file
diff --git a/microros_component/toolchain.cmake b/microros_static_library/library_generation/toolchain.cmake
similarity index 100%
rename from microros_component/toolchain.cmake
rename to microros_static_library/library_generation/toolchain.cmake
diff --git a/microros_static_library_ide/library_generation/colcon.meta b/microros_static_library_ide/library_generation/colcon.meta
new file mode 100755
index 0000000..5bb8eff
--- /dev/null
+++ b/microros_static_library_ide/library_generation/colcon.meta
@@ -0,0 +1,53 @@
+{
+    "names": {
+        "tracetools": {
+            "cmake-args": [
+                "-DTRACETOOLS_DISABLED=ON",
+                "-DTRACETOOLS_STATUS_CHECKING_TOOL=OFF"
+            ]
+        },
+        "rosidl_typesupport": {
+            "cmake-args": [
+                "-DROSIDL_TYPESUPPORT_SINGLE_TYPESUPPORT=ON"
+            ]
+        },
+        "rcl": {
+            "cmake-args": [
+                "-DBUILD_TESTING=OFF",
+                "-DRCL_COMMAND_LINE_ENABLED=OFF",
+                "-DRCL_LOGGING_ENABLED=OFF"
+            ]
+        }, 
+        "rcutils": {
+            "cmake-args": [
+                "-DENABLE_TESTING=OFF",
+                "-DRCUTILS_NO_FILESYSTEM=ON",
+                "-DRCUTILS_NO_THREAD_SUPPORT=ON",
+                "-DRCUTILS_NO_64_ATOMIC=ON",
+                "-DRCUTILS_AVOID_DYNAMIC_ALLOCATION=ON"
+            ]
+        },
+        "microxrcedds_client": {
+            "cmake-args": [
+                "-DUCLIENT_PIC=OFF",
+                "-DUCLIENT_PROFILE_UDP=OFF",
+                "-DUCLIENT_PROFILE_TCP=OFF",
+                "-DUCLIENT_PROFILE_DISCOVERY=OFF",
+                "-DUCLIENT_PROFILE_SERIAL=OFF",
+                "-UCLIENT_PROFILE_STREAM_FRAMING=ON",
+                "-DUCLIENT_PROFILE_CUSTOM_TRANSPORT=ON"
+            ]
+        },
+        "rmw_microxrcedds": {
+            "cmake-args": [
+                "-DRMW_UXRCE_MAX_NODES=1",
+                "-DRMW_UXRCE_MAX_PUBLISHERS=10",
+                "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5",
+                "-DRMW_UXRCE_MAX_SERVICES=1",
+                "-DRMW_UXRCE_MAX_CLIENTS=1",
+                "-DRMW_UXRCE_MAX_HISTORY=4",
+                "-DRMW_UXRCE_TRANSPORT=custom"
+            ]
+        }
+    }
+}
diff --git a/microros_static_library_ide/library_generation/extra_packages/extra_packages.repos b/microros_static_library_ide/library_generation/extra_packages/extra_packages.repos
new file mode 100755
index 0000000..7ce2b93
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extra_packages/extra_packages.repos
@@ -0,0 +1,5 @@
+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs
+    version: foxy-devel
\ No newline at end of file
diff --git a/microros_static_library_ide/library_generation/extract_flags.py b/microros_static_library_ide/library_generation/extract_flags.py
new file mode 100644
index 0000000..070dd06
--- /dev/null
+++ b/microros_static_library_ide/library_generation/extract_flags.py
@@ -0,0 +1,21 @@
+import sys
+
+text = sys.stdin.read().replace('\n', ' ').split(' ')
+
+mcpu = [x for x in text if x.startswith("-mcpu")]
+mfpu = [x for x in text if x.startswith("-mfpu")]
+mfloatabi = [x for x in text if x.startswith("-mfloat-abi")]
+mthumb = [x for x in text if x.startswith("-mthumb")]
+optimization = [x for x in text if x.startswith("-O")]
+
+out = "-ffunction-sections -fdata-sections"
+if len(mcpu) and len(mfpu) and len(mfloatabi):
+    out = out + " " + mcpu[0] + " " + mfpu[0] + " " + mfloatabi[0]
+    if len(mthumb):
+        out = out + " " + mthumb[0]
+    if len(optimization):
+        out = out + " " + optimization[0]
+    print(out)
+    sys.exit(0)
+else:
+    sys.exit(1)
diff --git a/microros_static_library_ide/library_generation/library_generation.sh b/microros_static_library_ide/library_generation/library_generation.sh
new file mode 100755
index 0000000..27a3702
--- /dev/null
+++ b/microros_static_library_ide/library_generation/library_generation.sh
@@ -0,0 +1,75 @@
+#!/bin/bash
+set -e
+
+export BASE_PATH=/project/micro_ros_stm32cubemx_utils/microros_static_library_ide
+
+######## Check existing library ########
+if [ -f "$BASE_PATH/libmicroros/libmicroros.a" ]; then
+    echo "micro-ROS library found. Skipping..."
+    echo "Delete micro_ros_stm32cubemx_utils/microros_static_library_ide/libmicroros/ for rebuild."
+    exit 0
+fi
+######## Trying to retrieve CFLAGS ########
+export RET_CFLAGS=$(find /project -type f -name *.mk -exec cat {} \; | python3 $BASE_PATH/library_generation/extract_flags.py)
+RET_CODE=$?
+
+if [ $RET_CODE = "0" ]; then
+    echo "Found CFLAGS:"
+    echo "-------------"
+    echo $RET_CFLAGS
+    echo "-------------"
+else
+    echo "Error retrieving croscompiler flags"
+    exit 1;
+fi
+
+######## Init ########
+apt update 
+apt install -y gcc-arm-none-eabi
+
+cd /uros_ws
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+source install/local_setup.bash
+
+ros2 run micro_ros_setup create_firmware_ws.sh generate_lib
+
+######## Adding extra packages ########
+pushd firmware/mcu_ws > /dev/null
+
+    # Workaround: Copy just tf2_msgs
+    git clone -b foxy https://github.com/ros2/geometry2
+    cp -R geometry2/tf2_msgs ros2/tf2_msgs
+    rm -rf geometry2
+
+    # Import user defined packages
+    mkdir extra_packages
+    pushd extra_packages > /dev/null
+        cp -R $BASE_PATH/library_generation/extra_packages/* .
+        vcs import --input extra_packages.repos
+    popd > /dev/null
+
+popd > /dev/null
+
+######## Build  ########
+export TOOLCHAIN_PREFIX=/usr/bin/arm-none-eabi-
+ros2 run micro_ros_setup build_firmware.sh $BASE_PATH/library_generation/toolchain.cmake $BASE_PATH/library_generation/colcon.meta
+
+find firmware/build/include/ -name "*.c"  -delete
+rm -rf $BASE_PATH/libmicroros
+mkdir -p $BASE_PATH/libmicroros/include
+cp -R firmware/build/include/* $BASE_PATH/libmicroros/include/ 
+cp -R firmware/build/libmicroros.a $BASE_PATH/libmicroros/libmicroros.a
+
+######## Generate extra files ########
+find firmware/mcu_ws/ros2 \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' > $BASE_PATH/libmicroros/available_ros2_types
+find firmware/mcu_ws/extra_packages \( -name "*.srv" -o -name "*.msg" -o -name "*.action" \) | awk -F"/" '{print $(NF-2)"/"$NF}' >> $BASE_PATH/libmicroros/available_ros2_types
+
+cd firmware
+echo "" > $BASE_PATH/libmicroros/built_packages
+for f in $(find $(pwd) -name .git -type d); do pushd $f > /dev/null; echo $(git config --get remote.origin.url) $(git rev-parse HEAD) >> $BASE_PATH/libmicroros/built_packages; popd > /dev/null; done;
+
+######## Fix permissions ########
+sudo chmod -R 777 $BASE_PATH/libmicroros/ 
+sudo chmod -R 777 $BASE_PATH/libmicroros/include/ 
+sudo chmod -R 777 $BASE_PATH/libmicroros/libmicroros.a
\ No newline at end of file
diff --git a/microros_static_library_ide/library_generation/toolchain.cmake b/microros_static_library_ide/library_generation/toolchain.cmake
new file mode 100755
index 0000000..731fe18
--- /dev/null
+++ b/microros_static_library_ide/library_generation/toolchain.cmake
@@ -0,0 +1,17 @@
+SET(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_CROSSCOMPILING 1)
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+set(CMAKE_C_COMPILER $ENV{TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_CXX_COMPILER $ENV{TOOLCHAIN_PREFIX}g++)
+
+SET(CMAKE_C_COMPILER_WORKS 1 CACHE INTERNAL "")
+SET(CMAKE_CXX_COMPILER_WORKS 1 CACHE INTERNAL "")
+
+set(FLAGS $ENV{RET_CFLAGS} CACHE STRING "" FORCE)
+set(MICROROSFLAGS "-DCLOCK_MONOTONIC=0 -D'__attribute__(x)='" CACHE STRING "" FORCE)
+
+set(CMAKE_C_FLAGS_INIT "-std=c11 ${FLAGS} ${MICROROSFLAGS} " CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_INIT "-std=c++14 ${FLAGS} -fno-rtti ${MICROROSFLAGS} " CACHE STRING "" FORCE)
+
+set(__BIG_ENDIAN__ 0)