diff --git a/docs/tutorials/planning-simulation/autoware_1_rviz.png b/docs/tutorials/planning-simulation/autoware_1_rviz.png
new file mode 100644
index 0000000..1f59f65
Binary files /dev/null and b/docs/tutorials/planning-simulation/autoware_1_rviz.png differ
diff --git a/docs/tutorials/planning-simulation/index.md b/docs/tutorials/planning-simulation/index.md
index 8a43208..39ab86c 100644
--- a/docs/tutorials/planning-simulation/index.md
+++ b/docs/tutorials/planning-simulation/index.md
@@ -42,7 +42,7 @@ In `autoware_1`:
 
 ```
 cd ~/workspace/autoware_docker
-source ~/autoware_docker/install/setup.bash
+source install/setup.bash
 export AWID=1 # autoware_1
 source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh
 ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
@@ -55,11 +55,13 @@ Note that you can make the dummy cars to be static by changing its `Velocity` to
 
 ![](./tools-properties.png)
 
+![](./autoware_1_rviz.png)
+
 In `autoware_2`:
 
 ```
 cd ~/workspace/autoware_docker
-source ~/autoware_docker/install/setup.bash
+source install/setup.bash
 export AWID=2 # autoware_2
 source ~/workspace/autoware_docker/src/v2x/autowarev2x/setup.sh
 ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/data/maps/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
@@ -74,8 +76,8 @@ In `autoware_1`:
 ```
 docker exec -it autoware_1 bash
 sudo su
-cd ~/workspace/autoware_docker
-source ~/workspace/autoware_docker/install/setup.bash
+cd workspace/autoware_docker
+source install/setup.bash
 export AWID=1
 source ./src/v2x/autowarev2x/setup.sh
 ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0
@@ -89,8 +91,8 @@ In `autoware_2`:
 ```
 docker exec -it autoware_2 bash
 sudo su
-cd ~/workspace/autoware_docker
-source ~/workspace/autoware_docker/install/setup.bash
+cd workspace/autoware_docker
+source install/setup.bash
 export AWID=2
 source ./src/v2x/autowarev2x/setup.sh
 ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth0 is_sender:=false
@@ -104,9 +106,9 @@ When both the sender and receiver is launched, you should see that the receiver
 
 1. Press "Add" from the Displays Panel <br>
 ![](./add-v2x-rviz-1.png)
-2. Choose "By topic", then select PredictedObjects from /v2x/cpm/objects
+2. Choose "By topic", then select PredictedObjects from /v2x/cpm/objects <br>
 ![](./add-v2x-rviz-2.png)
-3. The CPM-shared objects are shown in Rviz!
+3. The CPM-shared objects are shown in Rviz for `autoware_2`! <br>
 ![](./add-v2x-rviz-3.png)
 
 ## Run scenarios
diff --git a/docs/tutorials/planning-simulation/rosbag-and-analysis.md b/docs/tutorials/planning-simulation/rosbag-and-analysis.md
index ecc1831..34e05f6 100644
--- a/docs/tutorials/planning-simulation/rosbag-and-analysis.md
+++ b/docs/tutorials/planning-simulation/rosbag-and-analysis.md
@@ -4,18 +4,30 @@
 
 In `autoware_1`:
 ```
+docker exec -it autoware_1 bash
 cd ~/workspace/autoware_docker
 ros2 bag record -o test_sender_rosbag /perception/object_recognition/objects /tf
-tcpdump -i eth0 -w test_sender_tcpdump
+
+sudo apt update
+sudo apt install tcpdump
+sudo tcpdump -i eth0 -w test_sender_tcpdump.pcap
 ```
 
 In `autoware_2`:
 ```
+docker exec -it autoware_2 bash
 cd ~/workspace/autoware_docker
 ros2 bag record -o test_receiver_rosbag /v2x/cpm/objects /tf
-tcpdump -i eth0 -w test_receiver_tcpdump
+
+sudo apt update
+sudo apt install tcpdump
+sudo tcpdump -i eth0 -w test_receiver_tcpdump.pcap
 ```
 
+## Open PCAP file in Wireshark
+
+![](./wireshark_awv2x.png)
+
 ## Analyze in JupyteLab
 
 ### Plot the x,y coordinates of objects in test_sender_rosbag
diff --git a/docs/tutorials/planning-simulation/wireshark_awv2x.png b/docs/tutorials/planning-simulation/wireshark_awv2x.png
new file mode 100644
index 0000000..8dd949c
Binary files /dev/null and b/docs/tutorials/planning-simulation/wireshark_awv2x.png differ