diff --git a/doc/README-bbb.md b/doc/README-bbb.md
index a5cf38b..159e92c 100644
--- a/doc/README-bbb.md
+++ b/doc/README-bbb.md
@@ -280,7 +280,7 @@ and running it on the BBB via command line. Navigate into the `fsfw_example` fol
    ```sh
    cmake -G "Unix Makefiles" -DOS_FSFW=linux -DTGT_BSP=arm/beagleboneblack -DLINUX_CROSS_COMPILE=ON -DCMAKE_BUILD_TYPE=Debug ..
    ```
-  
+
    On Windows, replace `-G "Unix Makefiles"` with `-G "MinGW Makefiles"`.
 
    Alternatively, you can use the helper shell scripts located inside `cmake/scripts/BBB/crosscompile`
@@ -310,7 +310,6 @@ The toolchain path needs to be corrected, for example like shown in the followin
 
 <img align="center" src="./images/eclipse/eclipse-cross-compile-win.png" width="50%">
 
-
 ## Setting up the TCF agent on the BBB
 
 It is recommended to set up a [TCF agent](https://wiki.eclipse.org/TCF) for comfortable
@@ -365,11 +364,11 @@ Navigate to the folder containing the symlinks
 cd <rootfs_path>/usr/lib/arm-linux-gnueabihf
 ```
 
- Type `more libpthread`, press  `TAB` and check whether the symbolic 
- link `libpthread.so` is shown. If it is not, we are going to set it up
- manually to avoid issues when linking against `pthread` later. 
- Now you can find out where `libpthread.so` points with `readlink libpthread.so`.
- This information is used to convert the absolute symlink to relative ones, for example with:
+Type `more libpthread`, press  `TAB` and check whether the symbolic 
+link `libpthread.so` is shown. If it is not, we are going to set it up
+manually to avoid issues when linking against `pthread` later. 
+Now you can find out where `libpthread.so` points with `readlink libpthread.so`.
+This information is used to convert the absolute symlink to relative ones, for example with:
 
 Run the following command to copy the symlink `libpthread.so.0` if it does not exist yet:
 
@@ -383,15 +382,15 @@ Alternatively, you can correct the symlinks to use relative paths, for example w
 ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
 ln -s ../../../lib/arm-linux-gnueabihf/librt.so.1 librt.so
 ```
- 
+
 Please note that there might also be issues with some symlinks or libraries not being copied 
 properly, especially on Windows. This has occured with files like `libc.so.6`.
 If there are linker issues at a later stage, you can try to copy the symlinks manually from the
 Linux board to the sysroot with `scp`.
- 
+
 For example, you can copy `libc.so.6` from the Linux board to the sysroot with 
 the following command
- 
+
 If there are issues with the cross-compilation process, manually copying the following
 symlinks can help:
 
diff --git a/doc/README-rpi.md b/doc/README-rpi.md
index 085e38f..7374ed4 100644
--- a/doc/README-rpi.md
+++ b/doc/README-rpi.md
@@ -125,18 +125,35 @@ toolchain binaries are added to the path accordingly.
    ```sh
    rsync -avHAXR --numeric-ids --info=progress2 <username>@<ip-address>:/{lib,usr} <rootfs-path>
    ```
-   
-   Please note that `rsync` sometimes does not copy shared libraries or symlinks properly,
-   which might result in errors when cross-compiling and cross-linking. It is recommended to run
-   the following commands in addition to the `rsync` command:
-   
+
+   On Linux, it is recommended to repair some symlinks which can be problematic:
+   Navigate to the folder containing the symlinks first:
+
    ```sh
-   scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/{libc.so.6,ld-linux-armhf.so.3,libm.so.6} <rootfs_path>/lib/arm-linux-gnueabihf
-   scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/{libpthread.so,libc.so,librt.so} <rootfs_path>/usr/lib/arm-linux-gnueabihf
+   cd <rootfs_path>/usr/lib/arm-linux-gnueabihf
    ```
-   
-   See the [troubleshooting](#troubleshooting) section for more details if the compilation process
-   is problematic.
+
+   You can now use
+
+   ```sh
+   readlink libpthread.so
+   ```
+
+   which will show an absolute location of a shared library the symlinks points to. This location
+   needs to be converted into a relative path.
+
+   Run the following command to create a relative symlinks instead of an absolute ones. The pointed
+   to location might change to check it with `readlink` first before removing the symlinks:
+
+   ```sh
+   rm libpthread.so
+   rm librt.so
+   ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
+   ln -s ../../../lib/arm-linux-gnueabihf/librt.so.1 librt.so
+   ```
+
+   For more information on issues which can occur when cloning the root filesystem,
+   see the [troubleshooting](#troubleshooting) section.
 
 3. It is recommended to install `gdb-multiarch`. This tool will allow remote debugging
    on the host computer. This step is not required if the `tcf-agent` is used.
@@ -202,15 +219,23 @@ toolchain binaries are added to the path accordingly.
    ```sh
    rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
    ```
-   
+
    Please note that `rsync` sometimes does not copy shared libraries or symlinks properly,
-   which might result in errors when cross-compiling and cross-linking. See the
-   [troubleshooting](#troubleshooting) section for more details.
+   which might result in errors when cross-compiling and cross-linking. It is recommended to run
+   the following commands in addition to the `rsync` command on Windows:
+
+   ```sh
+   scp <user_name>@<ip-address>:/lib/arm-linux-gnueabihf/{libc.so.6,ld-linux-armhf.so.3,libm.so.6} <rootfs_path>/lib/arm-linux-gnueabihf
+   scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/{libpthread.so,libc.so,librt.so} <rootfs_path>/usr/lib/arm-linux-gnueabihf
+   ```
+
+   For more information on issues which can occur when cloning the root filesystem,
+   see the [troubleshooting](#troubleshooting) section.
 
 5. It is recommended to install `gdb-multiarch`. This tool will allow remote debugging on the host 
    computer. Replace `x86_64` with the correct processor architecture for other architectures.
    This is not required if the `tcf-agent` is used.
- 
+
    ```sh
    pacman -S mingw-w64-x86_64-gdb-multiarch
    ```
@@ -356,25 +381,36 @@ There might be some issues with the pthread symbolic links.
 Navigate to the folder containing the symlinks
 
 ```sh
-cd /c/User/<UserName>/beaglebone/rootfs/usr/lib/arm-linux-gnueabihf
+cd <rootfs_path>/usr/lib/arm-linux-gnueabihf
 ```
 
 Type `more libpthread`, press  `TAB` and check whether the symbolic 
 link `libpthread.so` is shown. If it is not, we are going to set it up
 manually to avoid issues when linking against `pthread` later. 
+Now you can find out where `libpthread.so` points with `readlink libpthread.so`.
+This information is used to convert the absolute symlink to relative ones, for example with:
 
-Run the following command to create a symlink to `libpthread.so.0`
+Run the following command to copy the symlink `libpthread.so.0` if it does not exist yet:
 
 ```sh
 scp <user_name>@<ip-address>:/usr/lib/arm-linux-gnueabihf/libpthread.so .
 ```
 
-Alternatively, you can also create the symlink pointing to the correct library with
+Alternatively, you can correct the symlinks to use relative paths, for example with:
 
 ```sh
-ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so 
+ln -s ../../../lib/arm-linux-gnueabihf/libpthread.so.0 libpthread.so
+ln -s ../../../lib/arm-linux-gnueabihf/librt.so.1 librt.so
 ```
 
+Please note that there might also be issues with some symlinks or libraries not being copied 
+properly, especially on Windows. This has occured with files like `libc.so.6`.
+If there are linker issues at a later stage, you can try to copy the symlinks manually from the
+Linux board to the sysroot with `scp`.
+
+For example, you can copy `libc.so.6` from the Linux board to the sysroot with 
+the following command
+ 
 If there are issues with the cross-compilation process, manually copying the following
 symlinks can help: