diff --git a/docker/my_example.Dockerfile b/docker/my_example.Dockerfile
index ab72ff2..3f0c10c 100644
--- a/docker/my_example.Dockerfile
+++ b/docker/my_example.Dockerfile
@@ -1,9 +1,40 @@
-# explicitly use Debian for maximum cross-architecture compatibility
-FROM debian:bullseye-slim AS hello-world
+ARG ROS_DISTRO=humble
+ARG UNDERLAY_WS=/rmp_ws
 
-WORKDIR /APP
+########################################
+# Custom ROS2 Base Image               #
+########################################
 
-COPY ./docker .
-RUN chmod +x hello.sh
+FROM osrf/ros:${ROS_DISTRO}-desktop as base
+#ENV ROS_DISTRO=${ROS_DISTRO}
 
-CMD ["/APP/hello.sh"]
+SHELL ["/bin/bash", "-c"] # change shell to bash because of better compatibility (standard shell would be sh otherwise).
+
+# Create Colcon workspace with external dependencies
+RUN mkdir -p /${UNDERLAY_WS}/src
+WORKDIR /${UNDERLAY_WS}/src
+COPY my.repos .
+RUN mv my.repos 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 \
+  && apt-get install -y --no-install-recommends \
+   ros-${ROS_DISTRO}-turtlesim \
+   ros-${ROS_DISTRO}-rqt \
+  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && colcon build --symlink-install
+
+#ENV UNDERLAY_WS=${UNDERLAY_WS}
+
+# Set up the entrypoint
+COPY ./docker/my_entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+# Update repository at the end of this build stage
+RUN vcs pull src
+
+ENTRYPOINT [ "/entrypoint.sh" ]