diff --git a/controller_startup.sh b/controller_startup.sh
new file mode 100644
index 0000000..abc593c
--- /dev/null
+++ b/controller_startup.sh
@@ -0,0 +1,29 @@
+#!/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:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
+  echo "Sourced Bot Mini overlay workspace"
+fi
+
+# Start Robot ROS2 Nodes
+ros2 launch bot_mini_bringup robot_controller.launch.py priority:=80 cpu-affinity:=4 lock-memory-size:=100 config-child-threads:=True &
+ros2 launch bot_mini_bringup robot_twist_mux.launch.py &
+ros2 launch bot_mini_bringup robot_joy_teleop.launch.py
+
+wait
\ No newline at end of file
diff --git a/dependencies.repos b/dependencies.repos
new file mode 100644
index 0000000..2e412e1
--- /dev/null
+++ b/dependencies.repos
@@ -0,0 +1,13 @@
+repositories:
+
+  # CPS Bot Mini Dependencies
+  
+  odrive_ros2_control:
+    type: git
+    url: https://github.com/bjoernellens1/odrive_ros2_control.git
+    version: humble-fw-v0.5.1
+  
+  Lslidar_ROS2:
+    type: git
+    url: https://github.com/bjoernellens1/Lslidar_ROS2_driver
+    version: N10_V1.0
\ No newline at end of file
diff --git a/docker-compose.yaml b/docker-compose.yaml
new file mode 100644
index 0000000..20a2328
--- /dev/null
+++ b/docker-compose.yaml
@@ -0,0 +1,166 @@
+version: "3.9"
+services:
+  # Base image containing dependencies.
+  base:
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
+    build:
+      context: .
+      dockerfile: docker/Dockerfile_arm64
+      args:
+        ROS_DISTRO: humble
+      target: base
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    # Needed to display graphical applications
+    privileged: true
+    environment:
+      # Allows graphical programs in the container.
+      - DISPLAY=${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: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
+    build:
+      context: .
+      dockerfile: docker/Dockerfile_arm64
+      target: overlay
+
+
+  # Robot State Publisher
+  robot_state_publisher:
+    extends: overlay
+    command: >
+      ros2 launch rmp_bringup rsp.launch.py
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+
+  # Controller and teleop
+  controller:
+    extends: overlay 
+    command: >
+      /controller_startup.sh
+    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
+
+  # MicroRos Agent
+  microros_agent:
+    image: microros/micro-ros-agent:humble
+    command: >
+      serial --dev /dev/ttyUSB1 -v6
+    devices:
+      - /dev/ttyUSB1:/dev/ttyUSB1
+    # 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
+
+  # sensors
+  sensors:
+    extends: overlay
+    command: >
+      ros2 launch bot_mini_bringup 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
+
+  # Localization
+  localization:
+    extends: overlay
+    command: >
+      ros2 launch bot_mini_bringup robot_localization.launch.py
+    devices:
+      - /dev/ttyUSB0:/dev/ttyUSB0
+      - /dev/ttyUSB1:/dev/ttyUSB1
+      - /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:
+      - controller
+      - microros_agent
+
+  # mapping
+  mapping:
+    extends: overlay
+    command: >
+      ros2 launch bot_mini_bringup robot_mapper.launch.py
+    # Interactive shell
+    stdin_open: true
+    tty: true
+    # Networking and IPC for ROS 2
+    network_mode: host
+    ipc: host
+    depends_on:
+      - localization
+
+  # navigation
+  navigation:
+    extends: overlay
+    command: >
+      ros2 launch bot_mini_bringup 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
+    depends_on:
+      - localization
+
+    # # 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:?}
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..a1d61d3
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,59 @@
+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 ${ROS_DISTRO} -y
+
+# Set up the entrypoint
+COPY ./docker/entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+
+COPY ./controller_startup.sh /
+RUN chmod +x /controller_startup.sh
+
+COPY ./localization_startup.sh /
+RUN chmod +x /localization_startup.sh
+
+ENTRYPOINT [ "/entrypoint.sh" ]
\ No newline at end of file
diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
new file mode 100644
index 0000000..14fbec7
--- /dev/null
+++ b/docker/entrypoint.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+# Basic entrypoint for ROS / Colcon Docker containers
+
+# Source ROS 2
+source /opt/ros/${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:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
+  echo "Sourced Bot Mini overlay workspace"
+fi
+
+# Execute the command passed into this entrypoint
+exec "$@"
\ No newline at end of file
diff --git a/localization_startup.sh b/localization_startup.sh
new file mode 100644
index 0000000..5f6475a
--- /dev/null
+++ b/localization_startup.sh
@@ -0,0 +1,28 @@
+#!/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
+
+# Start Robot ROS2 Nodes
+ros2 launch bot_mini_bringup robot_lidar.launch.py &
+ros2 launch bot_mini_bringup robot_localization.launch.py
+
+wait
\ No newline at end of file
diff --git a/overlay.repos b/overlay.repos
new file mode 100644
index 0000000..6366047
--- /dev/null
+++ b/overlay.repos
@@ -0,0 +1,26 @@
+repositories:  
+  
+  cps_rmp220_support:
+    type: git
+    url: https://github.com/bjoernellens1/cps_rmp220_support.git
+    version: main
+
+  rmp220_teleop:
+    type: git
+    url: https://github.com/bjoernellens1/rmp220_teleop.git
+    version: main
+
+  cam_openCV:
+    type: git
+    url: https://github.com/bjoernellens1/ros2_cam_openCV.git
+    version: main
+
+  segwayrmp:
+    type: git
+    url: https://github.com/bjoernellens1/segwayrmp.git
+    version: humble-arm64
+
+  segway_msgs:
+    type: git
+    url: https://github.com/bjoernellens1/segway_msgs.git
+    version: main
\ No newline at end of file