diff --git a/README.md b/README.md
index e8ca7cfe44fc5cd1c3835d90c03012ebea555475..b2a9a3219a33eea9aaf167a50aabc2aa2390b46a 100644
--- a/README.md
+++ b/README.md
@@ -141,7 +141,10 @@ The Robot Behavior project is an [actionlib](http://wiki.ros.org/actionlib) base
 
 ### ROS Modules Required
 
-
+The Behavior Generator pipeline is at the end of the even bigger pipeline (perception pipeline and human robot interaction (HRI) person manager pipeline). Therefore, a lot of other ROS modules should be running before running our [Planning Manager](#planning-manager) which will run all the Robot Behaviors actions. The following services of the [docker-compose.yml](https://gitlab.inria.fr/spring/dockers/-/blob/devel/docker-compose.yml?ref_type=heads) file should be running:
+* `hri`: you can run the `hri` pipeline by using the [registry.gitlab.inria.fr/spring/dockers/wp7_ros4hri_human_perception:latest](https://gitlab.inria.fr/spring/dockers/container_registry/1537) docker image or by manually installing [hri](https://github.com/ros4hri/hri_person_manager) repository and all its dependencies using the [README.md](https://github.com/ros4hri/hri_person_manager/blob/master/README.md)
+* `tracker`: you can run the `tracker` pipeline by using the [registry.gitlab.inria.fr/spring/dockers/wp3_tracker:12.0](https://gitlab.inria.fr/spring/dockers/container_registry/1203) docker image or by manually installing [tracker](https://gitlab.inria.fr/spring/wp3_av_perception/docker-tracking/-/tree/devel?ref_type=heads) repository (devel branch ) and all its dependencies using the [README.md](https://gitlab.inria.fr/spring/wp3_av_perception/docker-tracking/-/blob/devel/README.md?ref_type=heads)
+* `body_perception`: you can run the `body_perception` pipeline by using the [registry.gitlab.inria.fr/spring/dockers/body_perception:0.1.10](https://gitlab.inria.fr/spring/dockers/container_registry/1667) docker image or by manually installing [docker_body_perception](https://gitlab.inria.fr/spring/wp3_av_perception/docker_body_perception) repository and all its dependencies using the [README.md](https://gitlab.inria.fr/spring/wp3_av_perception/docker_body_perception/-/blob/main/README.md?ref_type=heads)
 
 
 ### Planning Manager