diff --git a/Dockerfile b/Dockerfile
index 15cfef6..73d5aca 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -12,6 +12,8 @@ ENV WS_INSTALL_DIR=${WS_DIR}/install
 ENV WS_LOG_DIR=${WS_DIR}/log
 WORKDIR ${WS_DIR}
 
+COPY config.yaml ${WS_DIR}/
+
 ### Install Gazebo
 ARG IGNITION_VERSION=fortress
 ENV IGNITION_VERSION=${IGNITION_VERSION}
diff --git a/README.md b/README.md
index 5316fce..5bac279 100644
--- a/README.md
+++ b/README.md
@@ -79,22 +79,22 @@ AxidrawController draws on the axidraw robot.
 Find the serial device in "/dev/", it is usually named "/dev/ttyACMX" where X is usually 0.
 Try a different serial port if the axidraw_controller continuously logs a message about failing to connect.
 ``` sh
-ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0
+ros2 launch axidraw_controller axidraw_controller.launch.py serial_port:=/dev/ttyACM0 config:=./config.yaml
 ```
 
 This starts the simulated lite6
 ``` sh
-ros2 launch lite6_controller lite6_gazebo.launch.py
+ros2 launch lite6_controller lite6_gazebo.launch.py config:=./config.yaml
 ```
 
 This runs the real lite6
 ``` sh
-ros2 launch lite6_controller lite6_real.launch.py
+ros2 launch lite6_controller lite6_real.launch.py config:=./config.yaml
 ```
 
 This runs the real lite6 without Rviz (can be run on headless device over ssh)
 ``` sh
-ros2 launch lite6_controller lite6_real_no_gui.launch.py
+ros2 launch lite6_controller lite6_real_no_gui.launch.py config:=./config.yaml
 ```
 
 ### DrawingController