diff --git a/docker/my_entrypoint.sh b/docker/my_entrypoint.sh
new file mode 100644
index 0000000..2317191
--- /dev/null
+++ b/docker/my_entrypoint.sh
@@ -0,0 +1,42 @@
+#!/bin/bash
+# Basic entrypoint for ROS / Colcon Docker containers
+
+UNDERLAY_WS=$UNDERLAY_WS
+
+# Source ROS 2
+source /opt/ros/${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
+  vcs pull ${UNDERLAY_WS}/src
+  echo "Sourced base workspace"
+fi
+
+# Source the overlay workspace, if built
+if [ -f /overlay_ws/install/setup.bash ]
+then
+  source /overlay_ws/install/setup.bash
+  vcs pull /overlay_ws/src
+  echo "Sourced overlay workspace"
+fi
+
+# Implement updating all repositories at launch
+if [ -f ${UNDERLAY_WS}/]
+then
+  cd ${UNDERLAY_WS}
+  vcs pull src
+  echo "Updated base workspace"
+fi
+
+if [ -f /overlay_ws/]
+then
+  cd /overlay_ws
+  vcs pull src
+  echo "Updated overlay workspace"
+fi
+
+# Execute the command passed into this entrypoint
+exec "$@"