diff --git a/dependencies.amd64.repos b/dependencies.amd64.repos
index 3daafd6..2536029 100644
--- a/dependencies.amd64.repos
+++ b/dependencies.amd64.repos
@@ -5,7 +5,7 @@ repositories:
   segwayrmp:
     type: git
     url: https://github.com/bjoernellens1/segwayrmp
-    version: x86
+    version: humble
   
   segway_msgs:
     type: git
diff --git a/docker-compose.yaml b/docker-compose.yaml
index f2320a4..e65e215 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -12,7 +12,8 @@ services:
       x-bake:
         platforms:
           - linux/arm64
-          #- linux/amd64
+          - linux/amd64
+
     # Interactive shell
     stdin_open: true
     tty: true
@@ -44,7 +45,24 @@ services:
       x-bake:
         platforms:
           - linux/arm64
-          # - linux/amd64
+          - linux/amd64
+
+  # Overlay image containing the project specific source code.
+  final:
+    extends: overlay
+    image: ghcr.io/bjoernellens1/ros2_rmp/rmp:final
+    build:
+      context: .
+      dockerfile: docker/Dockerfile
+      tags:
+        - ghcr.io/bjoernellens1/ros2_rmp/rmp:final
+      target: final
+      x-bake:
+        platforms:
+          - linux/arm64
+          - linux/amd64
+    command: >
+      ros2 launch cps_rmp220_support rsp.launch.py
 
   # Robot State Publisher
   robot_state_publisher:
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 5049515..bdf2976 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -12,6 +12,8 @@ ARG TARGETPLATFORM
 ########################################
 FROM ros:${ROS_DISTRO} as base
 ENV ROS_DISTRO=${ROS_DISTRO}
+#ENV TARGETPLATFORM=$TARGETPLATFORM
+
 SHELL ["/bin/bash", "-c"]
 
 # Create Colcon workspace with external dependencies
@@ -23,7 +25,11 @@ COPY dependencies.amd64.repos .
 # Choose correct sources for architecture:
 # Copy platform-specific files
 # Use if condition to copy different files for different platforms
-RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then \
+#RUN echo "TARGETPLATFORM is $TARGETPLATFORM"
+RUN echo "Hardware platform is: $(uname -m)"
+RUN uname -a
+
+RUN if [ "$(uname -m)" = "x86_64" ]; then \
       echo "Copying files for linux/amd64"; \
       mv dependencies.amd64.repos dependencies.repos; \
     else \
@@ -31,8 +37,9 @@ RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then \
       mv dependencies.arm64.repos dependencies.repos; \
     fi
 
-RUN vcs import < dependencies.repos
- 
+#RUN vcs import < dependencies.repos
+RUN vcs import < dependencies.repos;
+
 # Build the base Colcon workspace, installing dependencies first.
 WORKDIR /rmp_ws
 RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
@@ -63,8 +70,7 @@ 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 /rmp_ws/install/setup.bash \
  && colcon build --symlink-install \
  && apt-get update \
@@ -83,4 +89,34 @@ RUN chmod +x /localization_startup.sh
 
 ENTRYPOINT [ "/entrypoint.sh" ]
 
+###########################################
+# Packing it up into a smaller image by starting from scratch and copying related stuff #
+###########################################
+FROM ros:${ROS_DISTRO}-ros-core AS final
+COPY --from=overlay /overlay_ws/ /overlay_ws/
+COPY --from=overlay /opt/ros /opt/ros/
+COPY --from=overlay /usr/local/ /usr/local/
+# COPY --from=overlay /lib/x86_64-linux-gnu/libm.so.6 /lib/x86_64-linux-gnu/
+# COPY --from=overlay /lib/x86_64-linux-gnu/libdl.so.2 /lib/x86_64-linux-gnu/
+# COPY --from=overlay /lib/x86_64-linux-gnu/libpthread.so.0 /lib/x86_64-linux-gnu/
+# COPY --from=overlay /lib/x86_64-linux-gnu/librt.so.1 /lib/x86_64-linux-gnu/
+# COPY --from=overlay /lib/x86_64-linux-gnu/libgcc_s.so.1 /lib/x86_64-linux-gnu/
+# COPY --from=overlay /lib/x86_64-linux-gnu/libc.so.6 /lib/x86_64-linux-gnu/
+# COPY --from=overlay /lib64/ld-linux-x86-64.so.2 /lib64/
+
+# Set up environment variables
+ENV LD_LIBRARY_PATH=/usr/local/lib:/opt/ros/${ROS_DISTRO}/lib:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH
+ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
+
+# Copy necessary entrypoint and scripts
+COPY ./docker/entrypoint.sh /
+COPY ./controller_startup.sh /
+COPY ./localization_startup.sh /
+
+# Set permissions for scripts
+RUN chmod +x /entrypoint.sh /controller_startup.sh /localization_startup.sh
+
+# Set up the entrypoint
+ENTRYPOINT [ "/entrypoint.sh" ]
+
 LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
\ No newline at end of file