diff --git a/docker-bake.hcl b/bak/docker-bake.hcl
similarity index 100%
rename from docker-bake.hcl
rename to bak/docker-bake.hcl
diff --git a/dependencies.amd64.repos b/dependencies.amd64.repos
new file mode 100644
index 0000000..3daafd6
--- /dev/null
+++ b/dependencies.amd64.repos
@@ -0,0 +1,18 @@
+repositories:
+
+  # CPS RMP lite 220 Dependencies
+  
+  segwayrmp:
+    type: git
+    url: https://github.com/bjoernellens1/segwayrmp
+    version: x86
+  
+  segway_msgs:
+    type: git
+    url: https://github.com/bjoernellens1/segway_msgs
+    version: main
+
+  RPlidar_ROS2:
+    type: git
+    url: https://github.com/bjoernellens1/sllidar_ros2
+    version: main
\ No newline at end of file
diff --git a/dependencies.arm64.repos b/dependencies.arm64.repos
new file mode 100644
index 0000000..68fde00
--- /dev/null
+++ b/dependencies.arm64.repos
@@ -0,0 +1,18 @@
+repositories:
+
+  # CPS RMP lite 220 Dependencies
+  
+  segwayrmp:
+    type: git
+    url: https://github.com/bjoernellens1/segwayrmp
+    version: humble-arm64
+  
+  segway_msgs:
+    type: git
+    url: https://github.com/bjoernellens1/segway_msgs
+    version: main
+
+  RPlidar_ROS2:
+    type: git
+    url: https://github.com/bjoernellens1/sllidar_ros2
+    version: main
\ No newline at end of file
diff --git a/dependencies.repos b/dependencies.repos
deleted file mode 100644
index 2e412e1..0000000
--- a/dependencies.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-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
index 0e51ecc..e0ae3d3 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -5,10 +5,14 @@ services:
     image: ghcr.io/bjoernellens1/ros2_rmp/rmp:base
     build:
       context: .
-      dockerfile: docker/Dockerfile.arm64
+      dockerfile: docker/Dockerfile
       args:
         ROS_DISTRO: humble
       target: base
+      x-bake:
+        platforms:
+          - linux/arm64
+          # - linux/amd64
     # Interactive shell
     stdin_open: true
     tty: true
@@ -27,16 +31,18 @@ services:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
 
-  # Overlay image containing the example source code.
+  # Overlay image containing the project specific source code.
   overlay:
     extends: base
     image: ghcr.io/bjoernellens1/ros2_rmp/rmp:overlay
-    platform: linux/arm64
     build:
       context: .
-      dockerfile: docker/Dockerfile.arm64
+      dockerfile: docker/Dockerfile
       target: overlay
-
+      x-bake:
+        platforms:
+          - linux/arm64
+          # - linux/amd64
 
   # Robot State Publisher
   robot_state_publisher:
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..42d233e
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,78 @@
+ARG ROS_DISTRO=humble
+ARG UNDERLAY_WS=/rmp_ws
+ARG TARGETPLATFORM
+
+
+# This file should work for both amd64 and arm64 builds. Because segway did not release some source code we must copy some binaries for the specific architectures.
+# That is why we must use some conditional statements to copy over the correct files during build process.
+# Variable TARGETPLATFORM should be auomatically created during build process by docker.
+
+########################################
+# Base Image for Bot Mini Control #
+########################################
+FROM ros:${ROS_DISTRO} as base
+ENV ROS_DISTRO=${ROS_DISTRO}
+SHELL ["/bin/bash", "-c"]
+
+# Create Colcon workspace with external dependencies
+RUN mkdir -p /rmp_ws/src
+WORKDIR /rmp_ws/src
+COPY dependencies.arm64.repos .
+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 [ "$TARGETPLATFORM" = "linux/amd64" ]; then \
+      echo "Copying files for linux/amd64"; \
+      mv dependencies.amd64.repos dependencies.repos; \
+    else \
+      echo "Copying files for linux/arm64"; \
+      mv dependencies.arm64.repos dependencies.repos; \
+    fi
+
+RUN vcs import < dependencies.repos
+ 
+# Build the base Colcon workspace, installing dependencies first.
+WORKDIR /rmp_ws
+RUN source /opt/ros/${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 /rmp_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/Dockerfile.amd64 b/docker/Dockerfile.amd64
index bd7c315..be0b9e4 100644
--- a/docker/Dockerfile.amd64
+++ b/docker/Dockerfile.amd64
@@ -12,7 +12,7 @@ SHELL ["/bin/bash", "-c"]
 RUN mkdir -p /rmp_ws/src
 WORKDIR /rmp_ws/src
 COPY dependencies.repos .
-RUN vcs import < dependencies.repos
+RUN vcs import < dependencies.amd64.repos
  
 # Build the base Colcon workspace, installing dependencies first.
 WORKDIR /rmp_ws
diff --git a/docker/Dockerfile.arm64 b/docker/Dockerfile.arm64
index 017f375..3a2db70 100644
--- a/docker/Dockerfile.arm64
+++ b/docker/Dockerfile.arm64
@@ -4,7 +4,8 @@ ARG UNDERLAY_WS=/rmp_ws
 ########################################
 # Base Image for Bot Mini Control #
 ########################################
-FROM --platform=linux/arm64 ros:${ROS_DISTRO} as base
+#FROM --platform=linux/arm64 ros:${ROS_DISTRO} as base
+FROM ros:${ROS_DISTRO} as base
 ENV ROS_DISTRO=${ROS_DISTRO}
 SHELL ["/bin/bash", "-c"]
  
@@ -12,7 +13,7 @@ SHELL ["/bin/bash", "-c"]
 RUN mkdir -p /rmp_ws/src
 WORKDIR /rmp_ws/src
 COPY dependencies.repos .
-RUN vcs import < dependencies.repos
+RUN vcs import < dependencies.arm64.repos
  
 # Build the base Colcon workspace, installing dependencies first.
 WORKDIR /rmp_ws
diff --git a/overlay.repos b/overlay.repos
index 6366047..acb2f94 100644
--- a/overlay.repos
+++ b/overlay.repos
@@ -13,14 +13,4 @@ repositories:
   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