diff --git a/scripts/_RosTeamWs_Defines.bash b/scripts/_RosTeamWs_Defines.bash
index 9b0b195a..7264b78c 100755
--- a/scripts/_RosTeamWs_Defines.bash
+++ b/scripts/_RosTeamWs_Defines.bash
@@ -227,14 +227,77 @@ function print_and_exit {
 
   message=$1
   echo ""
-  echo -e "${RTW_COLOR_ERROR}$message!!! Exiting...${TERMINAL_COLOR_NC}"
+  echo -e "${RTW_COLOR_ERROR}$message${TERMINAL_COLOR_NC}"
   if [ ! -z "$2" ]; then
     echo ""
     echo -e "${TERMINAL_COLOR_USER_NOTICE}Usage: '$2'${TERMINAL_COLOR_NC}"
   fi
   echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}Error has happened. Press <CTRL> + C two times...${TERMINAL_COLOR_NC}"
   read -p ""
-  exit 1
+  return 2>/dev/null || exit 1
+}
+
+function print_error {
+  RosTeamWS_setup_exports
+
+  message=$1
+  if [ -n "$message" ]; then
+    echo ""
+    echo "${TERMINAL_COLOR_RED}ERROR: ${message}${RAW_TERMINAL_COLOR_NC}"
+  fi
+}
+
+function print_warning {
+  RosTeamWS_setup_exports
+
+  message=$1
+  if [ -n "$message" ]; then
+    echo ""
+    echo "${TERMINAL_COLOR_YELLOW}WARNING: ${message}${RAW_TERMINAL_COLOR_NC}"
+  fi
+}
+
+function print_info {
+  RosTeamWS_setup_exports
+
+  message=$1
+  if [ -n "$message" ]; then
+    echo ""
+    echo "INFO: ${message}"
+  fi
+}
+
+function print_notifycation {
+  RosTeamWS_setup_exports
+
+  message=$1
+  if [ -n "$message" ]; then
+    echo ""
+    echo "${TERMINAL_COLOR_BLUE}NOTE: ${message}${TERMINAL_COLOR_NC}"
+  fi
+}
+
+function print_success {
+  RosTeamWS_setup_exports
+
+  message=$1
+  if [ -n "$message" ]; then
+    echo ""
+    echo "${TERMINAL_COLOR_GREEN}SUCCESS: ${message}${TERMINAL_COLOR_NC}"
+  fi
+}
+
+function print_usage {
+  RosTeamWS_setup_exports
+
+  usage=$1
+  message=$2
+  if [ -n "$usage" ]; then
+    print_notifycation "$usage"
+  fi
+  if [ -n "$message" ]; then
+    print_info "$message"
+  fi
 }
 
 function framework_default_paths {
diff --git a/scripts/environment/setup.bash b/scripts/environment/setup.bash
index 3b9d0d36..1566b174 100644
--- a/scripts/environment/setup.bash
+++ b/scripts/environment/setup.bash
@@ -69,11 +69,19 @@ if [[ $ros_version == 1 ]]; then
     print_and_exit "'$WS_FOLDER_1' does not exist. Can not find ROS workspace!"
   fi
 
+  # TODO(destogl): update this as below and put into a function
+  export ROS_WS=$WS_FOLDER
+  FILE_TO_SOURCE="$WS_FOLDER/.ros_team_ws_workspace_rc"
+  if [ -f "$FILE_TO_SOURCE" ]; then
+    echo -e "${TERMINAL_COLOR_GRAY}Sourcing custom environment variables for the workspace from file: '$FILE_TO_SOURCE'${TERMINAL_COLOR_NC}"
+    source "$FILE_TO_SOURCE"
+  fi
+
   export ROS_WS=$WS_FOLDER
   source "$WS_FOLDER/devel/setup.bash"
 
   echo ""
-  echo "RosTeamWS: Sourced file: $WS_FOLDER/devel/setup.bash"
+  echo -e "${TERMINAL_COLOR_BLUE}RosTeamWS: Sourced file: $WS_FOLDER/devel/setup.bash${TERMINAL_COLOR_NC}"
 
 
 elif [[ $ros_version == 2 ]]; then
@@ -110,6 +118,12 @@ elif [[ $ros_version == 2 ]]; then
   fi
 
   export ROS_WS=$WS_FOLDER
+  FILE_TO_SOURCE="$WS_FOLDER/.ros_team_ws_workspace_rc"
+  if [ -f "$FILE_TO_SOURCE" ]; then
+    echo -e "${TERMINAL_COLOR_LIGHT_BLUE} sourcing custom environment variables for the workspace from file: '$FILE_TO_SOURCE'."
+    source "$FILE_TO_SOURCE"
+  fi
+
   # TODO: COLCON_WS is deprecated!!
   export COLCON_WS=$ROS_WS
   FILE_TO_SOURCE="$WS_FOLDER/install/setup.bash"
diff --git a/scripts/setup-ros-workspace.bash b/scripts/setup-ros-workspace.bash
index 5e826058..adee3a67 100755
--- a/scripts/setup-ros-workspace.bash
+++ b/scripts/setup-ros-workspace.bash
@@ -5,6 +5,16 @@ setup_ws_script_own_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" > /dev/null &&
 source $setup_ws_script_own_dir/_RosTeamWs_Defines.bash
 source $setup_ws_script_own_dir/docker/_RosTeamWs_Docker_Defines.bash
 
+
+# TODO(destogl): can we somehow reuse this in each and every script: a function? or source?
+if [ -z "$1" ]; then
+  print_and_exit "No input parameters provided" "$usage"
+  return 2>/dev/null || exit
+elif [[ $1 == "--help" || $1 == "-h" ]]; then
+  print_and_exit "Here is the usage help for this script:" "$usage"
+  return 2>/dev/null || exit
+fi
+
 check_user_input () {
   # ros distribution name will be set in ${ros_distro}
   check_ros_distro "$1"