diff --git a/rbs_utils/rbs_utils/CMakeLists.txt b/rbs_utils/rbs_utils/CMakeLists.txt
index 840ad4b..a0e4d67 100644
--- a/rbs_utils/rbs_utils/CMakeLists.txt
+++ b/rbs_utils/rbs_utils/CMakeLists.txt
@@ -37,6 +37,7 @@ ament_python_install_package(${PROJECT_NAME})
 install(PROGRAMS
   scripts/assembly_config_service.py
   scripts/recording_demo_via_rosbag.py
+  scripts/example_recording_demo.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -46,7 +47,7 @@ install(PROGRAMS
 # )
 
 install(
-  DIRECTORY launch
+  DIRECTORY launch config
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/rbs_utils/rbs_utils/scripts/example_recording_demo.py b/rbs_utils/rbs_utils/scripts/example_recording_demo.py
new file mode 100644
index 0000000..1e8e2d0
--- /dev/null
+++ b/rbs_utils/rbs_utils/scripts/example_recording_demo.py
@@ -0,0 +1,19 @@
+#!/usr/bin/env python3
+"""
+  Example of using demo recording to rosbag
+  ```bash
+  ros2 run rbs_utils example_recording_demo.py
+
+  @shalenikol release 0.1
+"""
+from rbs_utils.recording_demo import recording_demo, CommandType
+
+if __name__ == '__main__':
+    res = recording_demo() # default: CommandType.RUN
+    print(f"{res=}")
+    res = recording_demo(CommandType.SAVE_AND_NEXT)
+    print(f"{res=}")
+    res = recording_demo(CommandType.CANCEL_AND_NEXT)
+    print(f"{res=}")
+    res = recording_demo(CommandType.STOP_AND_SAVE)
+    print(f"{res=}")