diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml
new file mode 100644
index 0000000..23832aa
--- /dev/null
+++ b/.github/workflows/_build-image.yaml
@@ -0,0 +1,82 @@
+name: Build a single Docker image (reusable)
+
+on:
+  workflow_call:
+    inputs:
+      base_image:
+        description: The FROM base image
+        required: true
+        type: string
+      push_image:
+        description: Image name on the LCAS registry
+        required: true
+        type: string
+      ros_distro:
+        required: true
+        type: string
+      dockerfile:
+        required: true
+        type: string
+      architectures:
+        required: true
+        type: string
+    outputs:
+      digest:
+        description: Image digest from the build
+        value: ${{ jobs.build.outputs.digest }}
+    secrets:
+      LCAS_REGISTRY_PUSHER:
+        required: true
+      LCAS_REGISTRY_TOKEN:
+        required: true
+
+jobs:
+  build:
+    runs-on: [lcas, qemu]
+    outputs:
+      digest: ${{ steps.build.outputs.digest }}
+    steps:
+      - uses: actions/setup-node@v4
+      - uses: actions/checkout@v3
+      - run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+
+      - uses: docker/login-action@v3
+        with:
+          registry: lcas.lincoln.ac.uk
+          username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
+          password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          flavor: latest=false
+          labels: |
+            org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}, ${{ inputs.ros_distro }})
+            org.opencontainers.image.authors=L-CAS Team
+          images: lcas.lincoln.ac.uk/${{ inputs.push_image }}
+          tags: |
+            type=raw,value=${{ inputs.ros_distro }}-staging
+            type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ inputs.ros_distro }}-latest
+            type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ inputs.ros_distro }}-
+            type=semver,pattern={{version}},prefix=${{ inputs.ros_distro }}-
+            type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_distro }}-
+            type=semver,pattern={{major}},prefix=${{ inputs.ros_distro }}-
+
+      - uses: docker/setup-buildx-action@v3
+
+      - name: Build and push
+        id: build
+        uses: docker/build-push-action@v6
+        with:
+          context: ./docker
+          file: ./${{ inputs.dockerfile }}
+          platforms: ${{ inputs.architectures }}
+          push: true
+          cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }}
+          cache-to:   type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          build-args: |
+            BASE_IMAGE=${{ inputs.base_image }}
+            ROS_DISTRO=${{ inputs.ros_distro }}
\ No newline at end of file
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
new file mode 100644
index 0000000..f2c6942
--- /dev/null
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -0,0 +1,78 @@
+name: Build AOC Docker Images
+
+on:
+  push:
+    branches: [ main ]
+    tags: [ '*' ]
+  pull_request:
+    branches: [ main ]
+  workflow_dispatch:
+
+jobs:
+
+  # ── Level 0: no dependencies ──────────────────────────────────────────────
+
+  ros-humble:
+    uses: ./.github/workflows/_build-image.yaml
+    with:
+      base_image:    ros:humble
+      push_image:    ros
+      ros_distro:    humble
+      dockerfile:    base.dockerfile
+      architectures: linux/amd64,linux/arm64
+    secrets: inherit
+
+  ros-jazzy:
+    uses: ./.github/workflows/_build-image.yaml
+    with:
+      base_image:    ros:jazzy
+      push_image:    ros
+      ros_distro:    jazzy
+      dockerfile:    base.dockerfile
+      architectures: linux/amd64,linux/arm64
+    secrets: inherit
+
+  ros-cuda-humble:
+    uses: ./.github/workflows/_build-image.yaml
+    with:
+      base_image:    nvidia/cuda:11.8.0-runtime-ubuntu22.04
+      push_image:    ros_cuda
+      ros_distro:      humble
+      dockerfile:    cuda.dockerfile
+      architectures: linux/amd64
+    secrets: inherit
+
+  ros-cuda-jazzy:
+    uses: ./.github/workflows/_build-image.yaml
+    with:
+      base_image:    nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04
+      push_image:    ros_cuda
+      ros_distro:    jazzy
+      dockerfile:    cuda.dockerfile
+      architectures: linux/amd64
+    secrets: inherit
+
+  # ── Level 1: base_image is the exact digest from level 0 ─────────────────
+
+  ros-cuda-desktop-humble:
+    needs: ros-cuda-humble
+    uses: ./.github/workflows/_build-image.yaml
+    with:
+      # Digest is immutable — no staging tag, no race condition, no cleanup
+      base_image:    lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-humble.outputs.digest }}
+      push_image:    ros_cuda_desktop
+      ros_distro:      humble
+      dockerfile:    cuda_desktop.dockerfile
+      architectures: linux/amd64
+    secrets: inherit
+
+  ros-cuda-desktop-jazzy:
+    needs: ros-cuda-jazzy
+    uses: ./.github/workflows/_build-image.yaml
+    with:
+      base_image:    lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-jazzy.outputs.digest }}
+      push_image:    ros_cuda_desktop
+      ros_distro:      jazzy
+      dockerfile:    cuda_desktop.dockerfile
+      architectures: linux/amd64
+    secrets: inherit
\ No newline at end of file
diff --git a/README.md b/README.md
index e78a415..1e97aee 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,9 @@
 # aoc_container_base
-A repository of verstile ROS-enabled Docker containers
+
+A repository of verstile ROS-enabled Docker containers, orginally developed as apart of the [Agri-OpenCore (AOC) project](https://agri-opencore.org).
+
+| Container Name                        | Tags                  | Purpose                                                                                                                           |
+| ------------------------------------- | --------------------- | --------------------------------------------------------------------------------------------------------------------------------- |
+| `lcas.lincoln.ac.uk/ros`              | { `humble`, `jazzy` } | Base ROS Container, the minimal environment you need for ROS                                                                      |
+| `lcas.lincoln.ac.uk/ros_cuda`         | { `humble`, `jazzy` } | ROS + Nvidia. When you need to use a GPU in your ROS environment for either better quality simulation or AI workloads.            |
+| `lcas.lincoln.ac.uk/ros_cuda_desktop` | { `humble`, `jazzy` } | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available.                    |
\ No newline at end of file
diff --git a/base.dockerfile b/base.dockerfile
new file mode 100644
index 0000000..ba655d9
--- /dev/null
+++ b/base.dockerfile
@@ -0,0 +1,39 @@
+ARG BASE_IMAGE=ros:humble
+ARG ROS_DISTRO=humble
+
+FROM ${BASE_IMAGE} AS base
+ARG BASE_IMAGE
+ARG ROS_DISTRO
+
+ENV BASE_IMAGE=${BASE_IMAGE}
+ENV ROS_DISTRO=${ROS_DISTRO}
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+    build-essential \
+    cmake \
+    git \
+    curl \
+    wget \
+    unzip \
+    ros-${ROS_DISTRO}-ros-base \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
+
+ARG USERNAME=ros
+ARG USER_UID=1001
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y --no-install-recommends sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+
diff --git a/cuda.dockerfile b/cuda.dockerfile
new file mode 100644
index 0000000..a25af0d
--- /dev/null
+++ b/cuda.dockerfile
@@ -0,0 +1,62 @@
+ARG BASE_IMAGE=nvidia/cuda:11.8.0-runtime-ubuntu22.04
+ARG ROS_DISTRO=humble
+
+
+###########################################
+FROM ${BASE_IMAGE} AS base
+ARG BASE_IMAGE
+ARG ROS_DISTRO
+ 
+ENV BASE_IMAGE=${BASE_IMAGE}
+ENV ROS_DISTRO=${ROS_DISTRO}
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update ; \
+  apt-get upgrade -y && \
+  apt-get install -y --no-install-recommends \
+  locales \
+  curl \
+  gnupg2 \
+  lsb-release \
+  git \
+  nano \
+  python3-setuptools \
+  software-properties-common \
+  wget \
+  tzdata \
+  && locale-gen en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && rm -rf /var/lib/apt/lists/*
+ENV LANG=en_US.UTF-8
+
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+# Prepare ROS2
+RUN add-apt-repository universe \
+  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-ros-base \
+    python3-rosdep \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update
+
+ARG USERNAME=ros
+ARG USER_UID=1001
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y --no-install-recommends sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
diff --git a/cuda_desktop.dockerfile b/cuda_desktop.dockerfile
new file mode 100644
index 0000000..9e36983
--- /dev/null
+++ b/cuda_desktop.dockerfile
@@ -0,0 +1,8 @@
+ARG BASE_IMAGE
+
+###########################################
+FROM ${BASE_IMAGE} AS base
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-desktop \
+    && rm -rf /var/lib/apt/lists/*
diff --git a/docker/.dockerignore b/docker/.dockerignore
new file mode 100644
index 0000000..e69de29