diff --git a/docker-bake.hcl b/docker-bake.hcl
new file mode 100644
index 0000000..d4ada5f
--- /dev/null
+++ b/docker-bake.hcl
@@ -0,0 +1,26 @@
+# docker-bake.hcl
+group "default" {
+  targets = ["base", "overlay_arm64", "overlay_amd64"]
+}
+
+target "base" {
+  dockerfile = "docker/Dockerfile"
+  tags = ["ghcr.io/bjoernellens1/ros2_rmp/rmp:base"]
+}
+
+target "overlay_arm64" {
+  inherits = ["base"]
+  dockerfile = "docker/Dockerfile.arm64"
+  platforms = ["linux/arm64"]
+}
+
+target "overlay_amd64" {
+  inherits = ["base"]
+  dockerfile = "docker/Dockerfile.amd64"
+  platforms = ["linux/amd64"]
+}
+
+target "db" {
+  dockerfile = "Dockerfile.db"
+  tags = ["docker.io/username/db"]
+}
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile.amd64
similarity index 89%
rename from docker/Dockerfile
rename to docker/Dockerfile.amd64
index a1d61d3..bd7c315 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile.amd64
@@ -1,5 +1,5 @@
 ARG ROS_DISTRO=humble
-ARG UNDERLAY_WS=/bot_mini_ws
+ARG UNDERLAY_WS=/rmp_ws
  
 ########################################
 # Base Image for Bot Mini Control #
@@ -9,13 +9,13 @@ 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
+RUN mkdir -p /rmp_ws/src
+WORKDIR /rmp_ws/src
 COPY dependencies.repos .
 RUN vcs import < dependencies.repos
  
 # Build the base Colcon workspace, installing dependencies first.
-WORKDIR /bot_mini_ws
+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 \
@@ -42,7 +42,7 @@ 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 \
+RUN source /rmp_ws/install/setup.bash \
  && colcon build --symlink-install \
  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
 
diff --git a/docker/Dockerfile.arm64 b/docker/Dockerfile.arm64
new file mode 100644
index 0000000..2abdef7
--- /dev/null
+++ b/docker/Dockerfile.arm64
@@ -0,0 +1,59 @@
+ARG ROS_DISTRO=humble
+ARG UNDERLAY_WS=/rmp_ws
+ 
+########################################
+# 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.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 \
+ && 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