diff --git a/charts/robot-operator/Chart.yaml b/charts/robot-operator/Chart.yaml
index a890afc..80d28e6 100644
--- a/charts/robot-operator/Chart.yaml
+++ b/charts/robot-operator/Chart.yaml
@@ -13,9 +13,9 @@ type: application
 # This is the chart version. This version number should be incremented each time you make changes
 # to the chart and its templates, including the app version.
 # Versions are expected to follow Semantic Versioning (https://semver.org/)
-version: 0.2.5-alpha.6
+version: 0.2.5-alpha.7
 # This is the version number of the application being deployed. This version number should be
 # incremented each time you make changes to the application. Versions are not expected to
 # follow Semantic Versioning. They should reflect the version the application is using.
 # It is recommended to use it with quotes.
-appVersion: "v0.2.5-alpha.6"
+appVersion: "v0.2.5-alpha.7"
diff --git a/charts/robot-operator/templates/discoveryserver-crd.yaml b/charts/robot-operator/templates/discoveryserver-crd.yaml
index 9d1547d..e6a8be8 100644
--- a/charts/robot-operator/templates/discoveryserver-crd.yaml
+++ b/charts/robot-operator/templates/discoveryserver-crd.yaml
@@ -36,28 +36,22 @@ spec:
           spec:
             description: Specification of the desired behavior of the DiscoveryServer.
             properties:
-              args:
-                description: Entrypoint of the DiscoveryServer. Applied if the instance
-                  type is `Server`.
-                items:
-                  type: string
-                type: array
               cluster:
                 description: Cloud instance name that holds DiscoveryServer instance
-                  with `Server` type.
+                  with `Server` type. Should be empty if the type is `Server` since
+                  it takes cloud instance's name automatically. Should be set if the
+                  type is `Client`.
                 type: string
               hostname:
                 description: If instance type is `Server`, it can be an arbitrary value.
                   If instance type is `Client`, it should be the same with Server's
                   hostname. Used for getting Server's IP over DNS.
                 type: string
-              image:
-                description: Image for discovery server. Recommended to use images which
-                  has configured ROS 2.
-                type: string
               reference:
                 description: Reference to the `Server` instance. It is used if `.spec.type`
-                  is `Client`. Referenced object can be provisioned in another cluster.
+                  is `Client`. Referenced object can be previously provisioned in another
+                  cluster. In that case, cluster's name can be specified in `.spec.cluster`
+                  field.
                 properties:
                   apiVersion:
                     description: API version of the referent.
@@ -170,6 +164,10 @@ spec:
                       the DNS name, which is being built according to the discovery
                       server configuration.
                     type: string
+                  uri:
+                    description: URI of the discovery server. Discovery server instance
+                      tries to ping this address to see if it's reachable.
+                    type: string
                 type: object
               phase:
                 description: Phase of the DiscoveryServer.
diff --git a/charts/robot-operator/templates/robot-crd.yaml b/charts/robot-operator/templates/robot-crd.yaml
index 114cf12..a26e36b 100644
--- a/charts/robot-operator/templates/robot-crd.yaml
+++ b/charts/robot-operator/templates/robot-crd.yaml
@@ -222,28 +222,22 @@ spec:
               discoveryServerTemplate:
                 description: Discovery server configurational parameters.
                 properties:
-                  args:
-                    description: Entrypoint of the DiscoveryServer. Applied if the instance
-                      type is `Server`.
-                    items:
-                      type: string
-                    type: array
                   cluster:
                     description: Cloud instance name that holds DiscoveryServer instance
-                      with `Server` type.
+                      with `Server` type. Should be empty if the type is `Server` since
+                      it takes cloud instance's name automatically. Should be set if
+                      the type is `Client`.
                     type: string
                   hostname:
                     description: If instance type is `Server`, it can be an arbitrary
                       value. If instance type is `Client`, it should be the same with
                       Server's hostname. Used for getting Server's IP over DNS.
                     type: string
-                  image:
-                    description: Image for discovery server. Recommended to use images
-                      which has configured ROS 2.
-                    type: string
                   reference:
                     description: Reference to the `Server` instance. It is used if `.spec.type`
-                      is `Client`. Referenced object can be provisioned in another cluster.
+                      is `Client`. Referenced object can be previously provisioned in
+                      another cluster. In that case, cluster's name can be specified
+                      in `.spec.cluster` field.
                     properties:
                       apiVersion:
                         description: API version of the referent.
@@ -829,9 +823,6 @@ spec:
               rosBridgeTemplate:
                 description: ROS bridge configurational parameters.
                 properties:
-                  image:
-                    description: Image contains ROS/2 bridge packages.
-                    type: string
                   ros:
                     description: Configurational parameters for ROS bridge.
                     properties:
@@ -1897,6 +1888,10 @@ spec:
                               from the DNS name, which is being built according to the
                               discovery server configuration.
                             type: string
+                          uri:
+                            description: URI of the discovery server. Discovery server
+                              instance tries to ping this address to see if it's reachable.
+                            type: string
                         type: object
                       phase:
                         description: Phase of the DiscoveryServer.
diff --git a/charts/robot-operator/templates/robotartifact-crd.yaml b/charts/robot-operator/templates/robotartifact-crd.yaml
index 2be2653..db89eb8 100644
--- a/charts/robot-operator/templates/robotartifact-crd.yaml
+++ b/charts/robot-operator/templates/robotartifact-crd.yaml
@@ -201,28 +201,22 @@ spec:
               discoveryServerTemplate:
                 description: Discovery server configurational parameters.
                 properties:
-                  args:
-                    description: Entrypoint of the DiscoveryServer. Applied if the instance
-                      type is `Server`.
-                    items:
-                      type: string
-                    type: array
                   cluster:
                     description: Cloud instance name that holds DiscoveryServer instance
-                      with `Server` type.
+                      with `Server` type. Should be empty if the type is `Server` since
+                      it takes cloud instance's name automatically. Should be set if
+                      the type is `Client`.
                     type: string
                   hostname:
                     description: If instance type is `Server`, it can be an arbitrary
                       value. If instance type is `Client`, it should be the same with
                       Server's hostname. Used for getting Server's IP over DNS.
                     type: string
-                  image:
-                    description: Image for discovery server. Recommended to use images
-                      which has configured ROS 2.
-                    type: string
                   reference:
                     description: Reference to the `Server` instance. It is used if `.spec.type`
-                      is `Client`. Referenced object can be provisioned in another cluster.
+                      is `Client`. Referenced object can be previously provisioned in
+                      another cluster. In that case, cluster's name can be specified
+                      in `.spec.cluster` field.
                     properties:
                       apiVersion:
                         description: API version of the referent.
@@ -808,9 +802,6 @@ spec:
               rosBridgeTemplate:
                 description: ROS bridge configurational parameters.
                 properties:
-                  image:
-                    description: Image contains ROS/2 bridge packages.
-                    type: string
                   ros:
                     description: Configurational parameters for ROS bridge.
                     properties:
diff --git a/charts/robot-operator/templates/rosbridge-crd.yaml b/charts/robot-operator/templates/rosbridge-crd.yaml
index d480045..46d4e0a 100644
--- a/charts/robot-operator/templates/rosbridge-crd.yaml
+++ b/charts/robot-operator/templates/rosbridge-crd.yaml
@@ -37,9 +37,6 @@ spec:
           spec:
             description: Specification of the desired behavior of the ROSBridge.
             properties:
-              image:
-                description: Image contains ROS/2 bridge packages.
-                type: string
               ros:
                 description: Configurational parameters for ROS bridge.
                 properties:
diff --git a/charts/robot-operator/values.yaml b/charts/robot-operator/values.yaml
index 0a39e3e..f6e8575 100644
--- a/charts/robot-operator/values.yaml
+++ b/charts/robot-operator/values.yaml
@@ -23,7 +23,7 @@ controllerManager:
         - ALL
     image:
       repository: robolaunchio/robot-controller-manager
-      tag: v0.2.5-alpha.6
+      tag: v0.2.5-alpha.7
     resources:
       limits:
         cpu: 500m