diff --git a/dependencies.repos b/dependencies.repos
new file mode 100644
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--- /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.git
+    version: humble-fw-v0.5.1
+  
+  Lslidar_ROS2:
+    type: git
+    url: https://github.com/bjoernellens1/Lslidar_ROS2_driver
+    version: N10_V1.0
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diff --git a/docker-compose.yaml b/docker-compose.yaml
new file mode 100644
index 0000000..1bffcd9
--- /dev/null
+++ b/docker-compose.yaml
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+version: "3.9"
+services:
+  # Base image containing dependencies.
+  base:
+    image: bot_mini:base
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      args:
+        ROS_DISTRO: humble
+      target: base
+    # 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 example source code.
+  overlay:
+    extends: base
+    image: bot_mini:overlay
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      target: overlay
+ 
+  # Controller and teleop
+  controller:
+    extends: overlay
+    command: >
+      ros2 launch bot_mini_bringup robot_controller.launch.py
+      priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True 
+      &&
+      ros2 launch bot_mini_bringup robot_twist_mux.launch.py
+      &&
+      ros2 launch bot_mini_bringup robot_joy_teleop.launch.py
+ 
+  # # Behavior demo using Python and py_trees
+  # demo-behavior-py:
+  #   extends: overlay
+  #   command: >
+  #     ros2 launch tb3_autonomy tb3_demo_behavior_py.launch.py
+  #     tree_type:=${BT_TYPE:?}
+  #     enable_vision:=${ENABLE_VISION:?}
+  #     target_color:=${TARGET_COLOR:?}
+ 
+  # # Behavior demo using C++ and BehaviorTree.CPP
+  # demo-behavior-cpp:
+  #   extends: overlay
+  #   command: >
+  #     ros2 launch tb3_autonomy tb3_demo_behavior_cpp.launch.py
+  #     tree_type:=${BT_TYPE:?}
+  #     enable_vision:=${ENABLE_VISION:?}
+  #     target_color:=${TARGET_COLOR:?}
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diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..400dd1f
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,53 @@
+ARG ROS_DISTRO=humble
+ARG UNDERLAY_WS=/bot_mini_ws
+ 
+########################################
+# Base Image for Bot Mini Control #
+########################################
+FROM osrf/ros:${ROS_DISTRO}-desktop as base
+ENV ROS_DISTRO=${ROS_DISTRO}
+SHELL ["/bin/bash", "-c"]
+ 
+# Create Colcon workspace with external dependencies
+RUN mkdir -p /bot_mini_ws/src
+WORKDIR /bot_mini_ws/src
+COPY dependencies.repos .
+RUN vcs import < dependencies.repos
+ 
+# Build the base Colcon workspace, installing dependencies first.
+WORKDIR /bot_mini_ws
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+ && apt-get update -y \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
+ && colcon build --symlink-install
+
+# Use Cyclone DDS as middleware
+RUN apt-get update && apt-get install -y --no-install-recommends \
+ ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+ENV UNDERLAY_WS=${UNDERLAY_WS}
+
+###########################################
+# Overlay Image for Bot Mini Control #
+###########################################
+FROM base AS overlay
+ 
+# 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
+# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
+# COPY ./tb3_worlds/ ./src/tb3_worlds/
+RUN source /bot_mini_ws/install/setup.bash \
+ && colcon build --symlink-install \
+ && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
+
+# Set up the entrypoint
+COPY ./docker/entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+ENTRYPOINT [ "/entrypoint.sh" ]
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diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
new file mode 100644
index 0000000..14fbec7
--- /dev/null
+++ b/docker/entrypoint.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+# Basic entrypoint for ROS / Colcon Docker containers
+
+# Source ROS 2
+source /opt/ros/${ROS_DISTRO}/setup.bash
+echo "Sourced ROS 2 ${ROS_DISTRO}"
+
+# Source the base workspace, if built
+if [ -f ${UNDERLAY_WS}/install/setup.bash ]
+then
+  source ${UNDERLAY_WS}/install/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
+  echo "Sourced Bot Mini base workspace"
+fi
+
+# Source the overlay workspace, if built
+if [ -f /overlay_ws/install/setup.bash ]
+then
+  source /overlay_ws/install/setup.bash
+  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
+  echo "Sourced Bot Mini overlay workspace"
+fi
+
+# Execute the command passed into this entrypoint
+exec "$@"
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diff --git a/overlay.repos b/overlay.repos
new file mode 100644
index 0000000..05cf594
--- /dev/null
+++ b/overlay.repos
@@ -0,0 +1,21 @@
+repositories:  
+  
+  bot_mini_description:
+    type: git
+    url: https://github.com/bjoernellens1/bot_mini_description.git
+    version: main
+
+  bot_mini_bringup:
+    type: git
+    url: https://github.com/bjoernellens1/bot_mini_bringup.git
+    version: imu
+
+  rmp220_teleop:
+    type: git
+    url: https://github.com/bjoernellens1/rmp220_teleop.git
+    version: bot_mini
+
+  cam_openCV:
+    type: git
+    url: https://github.com/bjoernellens1/ros2_cam_openCV.git
+    version: main
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