diff --git a/README-UBUNTU.md b/README-UBUNTU.md
index 00b67d3..2a67197 100644
--- a/README-UBUNTU.md
+++ b/README-UBUNTU.md
@@ -15,10 +15,11 @@ Start with installation of dependencies. Make sure to complete each step of `ros
 *  Run `pull_repositories.sh`. This will pull `ros2cs` as well as your custom messages. You might be asked for gitlab credentials. Remember to **pull this repository with each update** (e.g. with `vcs pull`).
 *  Run `build.sh` script.
     * You can build tests by adding `--with-tests` argument to `build` command.
+    * You can build with `--clean-install` to make sure your installation directory is cleaned before deploying.
     * It invokes `colcon_build` with `--merge-install` argument to simplify libraries installation.
     * It deploys built plugins into the Asset directory. Note that only plugins built for the current platform will be deployed (there is no cross-compilation).
-    * It prepares Unity Asset that is ready to import into your Unity project.
-* Run `create_unity_asset.sh -u <your-path-to-unity-editor-executable>` to generate .unitypackage file in `install/unity_package`
+    * It prepares Unity Asset that is ready to import into your Unity project (`install/asset/` directory).
+* Run `create_unity_package.sh -u <your-path-to-unity-editor-executable>` to generate .unitypackage file in `install/unity_package`
 
 ## OS-Specific usage remarks
 
diff --git a/README-WINDOWS.md b/README-WINDOWS.md
index e463e02..4276aed 100644
--- a/README-WINDOWS.md
+++ b/README-WINDOWS.md
@@ -20,14 +20,15 @@ It is necessary to complete all the steps for `ros2cs` [Prerequisites](https://g
 * Run `pull_repositories.ps1`. This will pull `ros2cs` as well as your custom messages. You might be asked for github credentials.
 * Run `build.ps1` script.
   * Optionally, you can build tests by adding `--with-tests` argument to `build` command.
+  * You can build with `--clean-install` to make sure your installation directory is cleaned before deploying.
   * This ivokes `colcon_build` with `--merge-install` argument to simplify libraries installation.
   * It deploys built plugins into the Asset directory. Note that only plugins built for the current platform will be deployed (there is no cross-compilation).
-  * It prepares Unity Asset that is ready to import into your Unity project.
+  * It prepares Unity Asset that is ready to import into your Unity project (`install/asset/` directory).
   * By default, build process generates standalone libraries on Windows.
       You can disable this feature by setting CMake option `STANDALONE_BUILD` to `OFF` (e.g. through editing `build.ps1`).
-* In order to generate `Ros2ForUnity.unitypackage` please run `create_unity_asset.ps1`. Please provide path to your Unity executable when prompted.
+* In order to generate `Ros2ForUnity.unitypackage` please run `create_unity_package.ps1`. Please provide path to your Unity executable when prompted.
   * Asset can be found in `install\unity_package` directory
-  * In case your Unity license has expired, the `create_unity_asset.ps1` won't throw any errors but `Ros2ForUnity.unitypackage` won't be generated too.
+  * In case your Unity license has expired, the `create_unity_package.ps1` won't throw any errors but `Ros2ForUnity.unitypackage` won't be generated too.
 * At this moment you have two valid forms of the Asset.
   * One is available as `src\Ros2ForUnity` folder which you can simply copy to Unity3D `Assets` directory.
   * Second one is `Ros2ForUnity.unitypackage` which you can import in Unity3D.
diff --git a/README.md b/README.md
index 82bec6f..93eacb9 100644
--- a/README.md
+++ b/README.md
@@ -47,7 +47,7 @@ Please see OS-specific instructions:
 2. Open or create Unity project.
 3. Go to Assets in the menu bar (at the top of the Unity Window).
 4. Select `Import Package` → `Custom Package`.
-5. In the file browser, select the .unitypackage file built by `create_unity_asset` script (by default located in `install/unity_package`) and follow the instructions on the screen.
+5. In the file browser, select the .unitypackage file built by `create_unity_package` script (by default located in `install/unity_package`) and follow the instructions on the screen.
 6. Create a top-level object containing `ROS2UnityComponent.cs`. This is the central Monobehavior for `ROS2 For Unity` that manages all the nodes. Refer to class documentation for details.
 7. Add example script to any object in the hierarchy tab, e.g. by dragging `ROS2TalkerExample.cs` to the object in the inspector tab.
 8. Select another object in the hierarchy tab and add repeat the previous step using `ROS2ListenerExample.cs`.
diff --git a/build.ps1 b/build.ps1
index 8196947..c240111 100644
--- a/build.ps1
+++ b/build.ps1
@@ -1,30 +1,50 @@
-$scriptPath = split-path -parent $MyInvocation.MyCommand.Definition
 
-function Print-Help {
-"
-Usage: 
-build.ps1 [--with-tests]
+<#
+.SYNOPSIS
+    Builds Ros2ForUnity asset
+.DESCRIPTION
+    This script builds Ros2DorUnity asset
+.PARAMETER with_tests
+    Build tests
+.PARAMETER standalone
+    Add ros2 binaries. Currently standalone flag is fixed to true, so there is no way to build without standalone libs. Parameter kept for future releases
+.PARAMETER clean_install
+    Makes a clean installation. Removes install dir before deploying
+#>
+Param (
+    [Parameter(Mandatory=$false)][switch]$with_tests=$false,
+    [Parameter(Mandatory=$false)][switch]$standalone=$true,
+    [Parameter(Mandatory=$false)][switch]$clean_install=$false
+)
+
+$scriptPath = split-path -parent $MyInvocation.MyCommand.Definition
 
-Options:
---with-tests - build with tests.
-"
+if(-Not (Test-Path -Path "$scriptPath\src\ros2cs")) {
+    Write-Host "Pull repositories with 'pull_repositories.ps1' first." -ForegroundColor Red
+    exit 1
 }
 
-$tests=0
-$msg="Build started."
-if ($args[0] -eq "--with-tests") {
-    $tests=1
-    $msg+=" (with tests)"
-} elseif ($args[0] -eq "--help" -Or $args[0] -eq "-h") {
-    Print-Help
-    exit
+Write-Host $msg -ForegroundColor Green
+$options = @{
+    with_tests = $with_tests
+    standalone = $standalone
 }
 
-$tests_info=0
-$plugin_path=Join-Path -Path $scriptPath -ChildPath "\src\Ros2ForUnity\Plugins\"
+if($clean_install) {
+    Write-Host "Cleaning install directory..." -ForegroundColor White
+    Remove-Item -Path "$scriptPath\install" -Force -Recurse -ErrorAction Ignore
+}
+& "$scriptPath\src\ros2cs\build.ps1" @options
+if($?) {
+    md -Force $scriptPath\install\asset | Out-Null
+    Copy-Item -Path $scriptPath\src\Ros2ForUnity -Destination $scriptPath\install\asset\ -Recurse -Force
+    
+    $plugin_path=Join-Path -Path $scriptPath -ChildPath "\install\asset\Ros2ForUnity\Plugins\"
+    Write-Host "Deploying build to $plugin_path" -ForegroundColor Green
+    & "$scriptPath\deploy_unity_plugins.ps1" $plugin_path
+} else {
+    Write-Host "Ros2cs build failed!" -ForegroundColor Red
+    exit 1
+}
 
-Write-Host $msg -ForegroundColor Green
-colcon build --merge-install --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$tests
 
-Write-Host "Deploying build to $plugin_path" -ForegroundColor Green
-& "$scriptPath\deploy_unity_plugins.ps1" $plugin_path
diff --git a/build.sh b/build.sh
index 5362242..bc2ab3c 100755
--- a/build.sh
+++ b/build.sh
@@ -2,25 +2,63 @@
 SCRIPT=$(readlink -f $0)
 SCRIPTPATH=`dirname $SCRIPT`
 
-if [ -z "${ROS_DISTRO}" ]; then
-    echo "Source your ros2 distro first (Foxy and Galactic are supported)"
-    exit 1
-fi
-
-TESTS=0
-MSG="Build started."
-if [ "$1" = "--with-tests" ]; then
-    TESTS=1
-    MSG="$MSG (with tests)"
-elif [ "$1" = "-h" ] || [ "$1" = "--help" ]; then
+display_usage() {
     echo "Usage: "
-    echo "build.sh [--with-tests]"
+    echo ""
+    echo "build.sh [--with-tests] [--standalone] [--clean-install]"
     echo ""
     echo "Options:"
-    echo "--with-tests - build with tests."
+    echo "--with-tests - build with tests"
+    echo "--standalone - standalone version"
+    echo "--clean-install - makes a clean installation, removes install directory before deploying"
+}
+
+if [ ! -d "$SCRIPTPATH/src/ros2cs" ]; then
+    echo "Pull repositories with 'pull_repositories.sh' first."
     exit 1
 fi
 
-echo $MSG
-#TODO - call ros2cs ./build.sh instead, but with this workspace directory (parametrize the script)
-colcon build --merge-install --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$TESTS -DCMAKE_SHARED_LINKER_FLAGS="-Wl,-rpath=." && $SCRIPTPATH/deploy_unity_plugins.sh $SCRIPTPATH/src/Ros2ForUnity/Plugins/
+OPTIONS=""
+STANDALONE=0
+TESTS=0
+CLEAN_INSTALL=0
+
+while [[ $# -gt 0 ]]; do
+  key="$1"
+  case $key in
+    -t|--with-tests)
+      OPTIONS="$OPTIONS --with-tests"
+      TESTS=1
+      shift # past argument
+      ;;
+    -s|--standalone)
+      OPTIONS="$OPTIONS --standalone"
+      STANDALONE=1
+      shift # past argument
+      ;;
+    -c|--clean-install)
+      CLEAN_INSTALL=1
+      shift # past argument
+      ;;
+    -h|--help)
+      display_usage
+      exit 0
+      shift # past argument
+      ;;
+    *)    # unknown option
+      shift # past argument
+      ;;
+  esac
+done
+
+if [ $CLEAN_INSTALL == 1 ]; then
+    echo "Cleaning install directory..."
+    rm -rf "$SCRIPTPATH/install"
+fi
+if $SCRIPTPATH/src/ros2cs/build.sh $OPTIONS; then
+    mkdir -p $SCRIPTPATH/install/asset && cp -R $SCRIPTPATH/src/Ros2ForUnity $SCRIPTPATH/install/asset/Ros2ForUnity
+    $SCRIPTPATH/deploy_unity_plugins.sh $SCRIPTPATH/install/asset/Ros2ForUnity/Plugins/
+else
+    echo "Ros2cs build failed!"
+    exit 1
+fi
diff --git a/create_unity_asset.ps1 b/create_unity_package.ps1
similarity index 90%
rename from create_unity_asset.ps1
rename to create_unity_package.ps1
index 1353766..52cd71d 100644
--- a/create_unity_asset.ps1
+++ b/create_unity_package.ps1
@@ -24,13 +24,18 @@ $scriptPath = split-path -parent $MyInvocation.MyCommand.Definition
 $temp_dir = $Env:TEMP
 
 if(-Not $PSBoundParameters.ContainsKey('input_asset')) {
-    $input_asset= Join-Path -Path $scriptPath -ChildPath "\src\Ros2ForUnity"
+    $input_asset= Join-Path -Path $scriptPath -ChildPath "\install\asset\Ros2ForUnity"
 }
 
 if(-Not $PSBoundParameters.ContainsKey('output_dir')) {
     $output_dir= Join-Path -Path $scriptPath -ChildPath "\install\unity_package"
 }
 
+if(-Not (Test-Path -Path "$input_asset")) {
+    Write-Host "Input asset '$input_asset' doesn't exist! Use 'build.ps1' to build project first." -ForegroundColor Red
+    exit 1
+}
+
 if(-Not (Test-Path -Path "$output_dir")) {
     mkdir ${output_dir} | Out-Null
 }
diff --git a/create_unity_asset.sh b/create_unity_package.sh
similarity index 88%
rename from create_unity_asset.sh
rename to create_unity_package.sh
index 238ae76..f51efd9 100755
--- a/create_unity_asset.sh
+++ b/create_unity_package.sh
@@ -7,16 +7,16 @@ display_usage() {
   echo "This script creates a temporary Unity project in '/tmp' directory, copy input asset and makes an unity package out of it. Valid Unity license is required."
   echo ""
   echo "Usage:" 
-  echo "create_unity_asset.sh -u <UNITY_PATH> -i [INPUT_ASSET] -p [PACKAGE_NAME] -o [OUTPUT_DIR]"
+  echo "create_unity_package.sh -u <UNITY_PATH> -i [INPUT_ASSET] -p [PACKAGE_NAME] -o [OUTPUT_DIR]"
   echo ""
   echo "UNITY_PATH - Unity editor executable path"
-  echo "INPUT_ASSET - input asset to pack into unity package, default = 'src/Ros2ForUnity'"
+  echo "INPUT_ASSET - input asset to pack into unity package, default = 'install/asset/Ros2ForUnity'"
   echo "PACKAGE_NAME - unity package name, default = 'Ros2ForUnity'"
   echo "OUTPUT_DIR - output file directory, default = 'install/unity_package'"
 }
 
 UNITY_PATH=""
-INPUT_ASSET="src/Ros2ForUnity"
+INPUT_ASSET="install/asset/Ros2ForUnity"
 PACKAGE_NAME="Ros2ForUnity"
 OUTPUT_DIR="$SCRIPTPATH/install/unity_package"
 
@@ -48,7 +48,6 @@ while [[ $# -gt 0 ]]; do
       display_usage
       exit 0
       shift # past argument
-      shift # past value
       ;;
     *)    # unknown option
       shift # past argument
@@ -63,6 +62,11 @@ if [ -z "$UNITY_PATH" ] || [ -z "$PACKAGE_NAME" ] || [ -z "$INPUT_ASSET" ] || [
     exit 1
 fi
 
+if [ ! -d "$INPUT_ASSET" ]; then
+    echo "Input asset '$INPUT_ASSET' doesn't exist!  Use 'build.sh' to build project first."
+    exit 1
+fi
+
 UNITY_VERSION=`$UNITY_PATH -version`
 
 # Test if unity editor is valid