diff --git a/dependencies.repos b/dependencies.repos
new file mode 100644
index 0000000..12e6b41
--- /dev/null
+++ b/dependencies.repos
@@ -0,0 +1,13 @@
+repositories:
+
+  # CPS Bot Mini Dependencies
+  
+  odrive_ros2_control:
+    type: git
+    url: https://github.com/bjoernellens1/odrive_ros2_control
+    version: humble-fw-v0.5.1
+  
+  Lslidar_ROS2_driver:
+    type: git
+    url: https://github.com/bjoernellens1/Lslidar_ROS2_driver
+    version: N10_V1.0
\ No newline at end of file
diff --git a/docker-compose.yaml b/docker-compose.yaml
new file mode 100644
index 0000000..2bb5036
--- /dev/null
+++ b/docker-compose.yaml
@@ -0,0 +1,191 @@
+version: "3.9"
+
+services:
+  # Base image containing dependencies.
+  base:
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      args:
+        ROS_DISTRO: humble
+      target: base
+      x-bake:
+        platforms:
+          - linux/arm64
+          - linux/amd64
+
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+    environment:
+      # Allows graphical programs in the container.
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      # Allows graphical programs in the container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+
+  # Overlay image containing the project specific source code.
+  overlay:
+    extends: base
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
+      target: overlay
+      x-bake:
+        platforms:
+          - linux/arm64
+          - linux/amd64
+    volumes:
+      - .:/repo
+
+  # Additional dependencies for GUI applications
+  guis:
+    extends: overlay
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2_rmp/rmp:guis
+      target: guis
+      x-bake:
+        platforms:
+          - linux/arm64
+          - linux/amd64
+    #entrypoint: /bin/bash
+    command: >
+      /bin/bash
+
+  # Robot State Publisher
+  robot_state_publisher:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support rsp.launch.py --ros-args -r __ns:=/probeNamespace 
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+
+  # Controller
+  controller:
+    extends: overlay 
+    command: >
+      ros2 launch cps_rmp220_support robot_controller.launch.py __ns:=/probeNamespace 
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+      - /dev/ttyACM0:/dev/ttyACM0
+      - /dev/input/js0:/dev/input/js0
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+    # depends_on:
+    #   - robot_state_publisher
+
+  # teleop
+  teleop:
+    extends: overlay 
+    command: >
+      ros2 launch cps_rmp220_support robot_joystick.launch.py 
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+      - /dev/ttyACM0:/dev/ttyACM0
+      - /dev/input/js0:/dev/input/js0
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+
+  # lidar
+  lidar:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_lidar.launch.py
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    depends_on:
+      - robot_state_publisher
+
+  # mapping
+  mapping:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_mapping.launch.py
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+
+  # navigation
+  navigation:
+    extends: overlay
+    command: >
+      ros2 launch cps_rmp220_support robot_navigation.launch.py
+      map_subscribe_transient_local:=true
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+  
+  # bash
+  bash:
+    extends: overlay
+    command: >
+      /bin/bash
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+
+  # rviz2
+  rviz2:
+    extends: guis
+    # command: >
+    #   ros2 launch cps_rmp220_support robot_rviz2.launch.py
+    command: >
+      rviz2
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+    environment:
+      # Allows graphical programs in the container.
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      # Allows graphical programs in the container.
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..72a5bb2
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,89 @@
+ARG ROS_DISTRO=humble
+ARG UNDERLAY_WS=/bot_mini_ws
+ARG OVERLAY_WS=/bot_mini_ws
+
+# This file should work for both amd64 and arm64 builds.
+
+########################################
+# Base Image for Bot Mini Control #
+########################################
+FROM ros:${ROS_DISTRO} as base
+ENV ROS_DISTRO=${ROS_DISTRO}
+ENV UNDERLAY_WS=${UNDERLAY_WS}
+
+SHELL ["/bin/bash", "-c"]
+
+# Create Colcon workspace with external dependencies
+RUN mkdir -p /${UNDERLAY_WS}/src
+WORKDIR /${UNDERLAY_WS}/src
+COPY dependencies.repos .
+
+#RUN vcs import < dependencies.repos
+RUN vcs import < dependencies.repos;
+
+# Build the base Colcon workspace, installing dependencies first.
+WORKDIR /${UNDERLAY_WS}
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+ && apt-get update -y \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+ && colcon build --symlink-install \
+ && rm -rf /var/lib/apt/lists/* 
+
+# Use Cyclone DDS as middleware
+RUN apt-get update && apt-get install -y --no-install-recommends \
+ ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+ ros-${ROS_DISTRO}-xacro \
+ && rm -rf /var/lib/apt/lists/*
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+###########################################
+# Overlay Image for Bot Mini Control #
+###########################################
+FROM base AS overlay
+
+ENV OVERLAY_WS=${OVERLAY_WS}
+ 
+# Create an overlay Colcon workspace
+RUN mkdir -p /${OVERLAY_WS}/src
+WORKDIR /${OVERLAY_WS}/src
+COPY overlay.repos .
+RUN vcs import < overlay.repos
+
+WORKDIR /${OVERLAY_WS}
+
+RUN source /${UNDERLAY_WS}/install/setup.bash \
+ && colcon build --symlink-install \
+ && apt-get update \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+ && rm -rf /var/lib/apt/lists/*
+
+# Set up the entrypoint
+COPY ./docker/entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+COPY ./controller_startup.sh /
+RUN chmod +x /controller_startup.sh
+
+COPY ./localization_startup.sh /
+RUN chmod +x /localization_startup.sh
+
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+###########################################
+# GUI Additions for Ros2 #
+###########################################
+FROM overlay AS guis
+
+# Install additional GUI tools
+RUN source /${UNDERLAY_WS}/install/setup.bash \
+ && colcon build --symlink-install \
+ && apt-get update \
+ && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+ && rm -rf /var/lib/apt/lists/*
+
+# Set up the entrypoint
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
\ No newline at end of file