diff --git a/README.md b/README.md
index 4de0221..86c1f88 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,7 @@ ROS 2 package for differential-drive motor control on the Yahboom Raspbot V2 pla
 ## Architecture
 
 ```
-                      ┌──────────────────────────────────┐
+                      ┌───────────────────────────────────┐
                       │      MotorControllerNode          │
                       │                                   │
  /cmd_vel  ──────────>│  Twist → differential kinematics  │
@@ -18,14 +18,14 @@ ROS 2 package for differential-drive motor control on the Yahboom Raspbot V2 pla
  (Float32MultiArray   │  [FL, FR, RL, RR]                 │
   4 × float32)        │                                   │
                       │         ▼                         │
-                      │   raspbot_v2_interface             │
+                      │   raspbot_v2_interface            │
                       │   I²C bus 1, addr 0x2B            │
                       │         ▼                         │
                       │   /dev/i2c-1 ─────────> Motors    │
                       │                                   │
  /current_wheel_speeds│<─ telemetry @ 10 Hz               │
  (Float32MultiArray)  │   [FL, FR, RL, RR]                │
-                      └──────────────────────────────────┘
+                      └───────────────────────────────────┘
 ```
 
 ### Topics
@@ -72,18 +72,6 @@ The [ansible/](ansible/) directory contains a playbook that handles the remainin
 
 ---
 
-## Deploying
-
-Once the image is built, pipe it directly to the target over SSH — no intermediate file or registry needed:
-
-```bash
-docker save my_robot:latest | ssh matt@raspbot-v2.local docker load
-```
-
-Replace `matt` with the username configured in [ansible/inventory.ini](ansible/inventory.ini).
-
----
-
 ## Building
 
 ### Prerequisites
@@ -112,13 +100,27 @@ The build is split into two stages:
 
 ---
 
+## Deploying
+
+Once the image is built, pipe it directly to the target over SSH — no intermediate file or registry needed:
+
+```bash
+docker save my_robot:latest | ssh matt@raspbot-v2.local docker load
+```
+
+Replace `matt` with the username configured in [ansible/inventory.ini](ansible/inventory.ini).
+
+---
+
 ## Launching
 
 The container needs access to the I²C bus that the motor controller is wired to. Pass only that device rather than running the container in privileged mode:
 
 ```bash
 docker run --rm \
+  --network=host \
   --device /dev/i2c-1 \
+  --env ROS_DOMAIN_ID=0 \
   my_robot:latest
 ```
 
@@ -130,7 +132,9 @@ ROS 2 parameters can be passed through `--ros-args`:
 
 ```bash
 docker run --rm \
+  --network=host \
   --device /dev/i2c-1 \
+  --env ROS_DOMAIN_ID=0 \
   my_robot:latest \
   ros2 run my_robot motor_controller \
     --ros-args -p wheel_base:=0.25 -p max_speed:=0.8
@@ -143,7 +147,7 @@ With the container running, publish a `cmd_vel` message from another terminal (r
 ```bash
 # Drive forward at 0.2 m/s
 ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist \
-  "{linear: {x: 0.2}, angular: {z: 0.0}}"
+  "{linear: {x: 0.02}, angular: {z: 0.0}}"
 
 # Turn on the spot
 ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist \