diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml
index 23832aa..1241d02 100644
--- a/.github/workflows/_build-image.yaml
+++ b/.github/workflows/_build-image.yaml
@@ -12,7 +12,7 @@ on:
         required: true
         type: string
       ros_distro:
-        required: true
+        required: false
         type: string
       dockerfile:
         required: true
@@ -79,4 +79,4 @@ jobs:
           labels: ${{ steps.meta.outputs.labels }}
           build-args: |
             BASE_IMAGE=${{ inputs.base_image }}
-            ROS_DISTRO=${{ inputs.ros_distro }}
\ No newline at end of file
+            ROS_DISTRO=${{ inputs.ros_distro }}
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index f2c6942..2219392 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -10,6 +10,16 @@ on:
 
 jobs:
 
+  # ── VNC Container Building  ──────────────────────-────────────────────────
+  # vnc:
+  #   uses: ./.github/workflows/_build-image.yaml
+  #   with:
+  #     base_image:    debian:trixie-slim
+  #     push_image:    vnc
+  #     dockerfile:    vnc.dockerfile
+  #     architectures: linux/amd64,linux/arm64
+  #   secrets: inherit
+
   # ── Level 0: no dependencies ──────────────────────────────────────────────
 
   ros-humble:
diff --git a/docker/vnc-entrypoint.sh b/docker/vnc-entrypoint.sh
new file mode 100644
index 0000000..e6016f4
--- /dev/null
+++ b/docker/vnc-entrypoint.sh
@@ -0,0 +1,79 @@
+#!/bin/bash
+
+echo
+echo "****************************************************************************************************************************************"
+echo "AOC VNC container starting..."
+echo "****************************************************************************************************************************************"
+
+
+echo "starting turbovnc"
+sudo rm -rf /tmp/.X1-lock /tmp/.X11-unix/X1 > /dev/null 2>&1
+# screen -dmS turbovnc bash -c 'VGL_DISPLAY=egl VGL_FPS=30 /opt/TurboVNC/bin/vncserver :1 -depth 24 -noxstartup -securitytypes TLSNone,X509None,None 2>&1 | tee /tmp/vnc.log; read -p "Press any key to continue..."'
+screen -dmS turbovnc bash -c '/opt/TurboVNC/bin/vncserver :1 -depth 24 -noxstartup -securitytypes TLSNone,X509None,None 2>&1 | tee /tmp/vnc.log; read -p "Press any key to continue..."'
+# wait for VNC to be running
+
+echo "waiting for display to be up"
+while ! xdpyinfo -display :1 2> /dev/null > /dev/null; do
+    sleep .1
+done
+echo "display is up"
+
+echo "starting xfce4"
+screen -dmS xfce4 bash -c 'DISPLAY=:1 /usr/bin/xfce4-session 2>&1 | tee /tmp/xfce4.log'
+while [ -z "$DBUS_SESSION_BUS_ADDRESS" ]; do
+    if pgrep xfce4-session > /dev/null; then
+        XFCE_PID=$(pgrep xfce4-session)
+        export DBUS_SESSION_BUS_ADDRESS=$(grep -z DBUS_SESSION_BUS_ADDRESS /proc/$XFCE_PID/environ|cut -d= -f2-|tr -d '\0')
+    fi
+    sleep .1
+done
+echo "xfce4 up"
+
+echo "starting novnc ${NOVNC_VERSION}"
+screen -dmS novnc bash -c '/usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/novnc_proxy --vnc localhost:5901 --listen 5801 2>&1 | tee /tmp/novnc.log'
+
+DISPLAY=:1 xhost +local: 2>/dev/null
+echo "xhost +local: applied to :1"
+
+# # ensure wallpaper/panels are applied; start xfdesktop if missing
+# ( 
+#   sleep 8
+#   export DISPLAY=:1
+#   export DBUS_SESSION_BUS_ADDRESS="$DBUS_SESSION_BUS_ADDRESS"
+
+#   # start xfdesktop if not running so it can apply the wallpaper
+#   if ! pgrep -u "$USER" xfdesktop > /dev/null 2>&1; then
+#     xfdesktop --daemon > /dev/null 2>&1 || true
+#   fi
+
+#   WALLPAPER="/usr/share/backgrounds/xfce/aoc_wallpaper.jpg"
+
+#   # apply wallpaper for monitor0 (add others if needed)
+#   xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-path -t string -s "$WALLPAPER" > /dev/null 2>&1
+#   xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1
+#   xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/workspace0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1
+#   xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-show -t bool -s true > /dev/null 2>&1
+
+#   # remove secondary panel if present
+#   xfconf-query -c xfce4-panel -p /panels/panel-2 -r > /dev/null 2>&1 || true
+#   xfce4-panel --reload > /dev/null 2>&1 || true
+
+#   xfdesktop --reload > /dev/null 2>&1 || true
+# ) &
+
+echo 
+echo "****************************************************************************************************************************************"
+echo "VNC Desktop ready. Open your browser at http://localhost:5801/vnc.html?autoconnect=true or another hostname and port you may have forwarded."
+echo "****************************************************************************************************************************************"
+echo
+
+echo >&2
+
+# This script can either be a wrapper around arbitrary command lines,
+# or it will simply exec bash if no arguments were given
+if [[ $# -eq 0 ]]; then
+  exec "/bin/bash"
+else
+  exec "$@"
+fi
+
diff --git a/vnc.dockerfile b/vnc.dockerfile
new file mode 100644
index 0000000..c509cd1
--- /dev/null
+++ b/vnc.dockerfile
@@ -0,0 +1,143 @@
+ARG BASE_IMAGE=debian:trixie-slim
+FROM ${BASE_IMAGE} AS base
+
+ARG BASE_IMAGE
+ARG username=lcas
+ENV BASE_IMAGE=${BASE_IMAGE}
+
+ENV DEBIAN_FRONTEND=noninteractive \
+    DISPLAY=:1 \
+    VNC_PORT=5900 \
+    NOVNC_PORT=5801 \
+    RESOLUTION=1366x768x24
+
+# Install timezone
+RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
+    && export DEBIAN_FRONTEND=noninteractive \
+    && apt-get update \
+    && apt-get install -y --no-install-recommends tzdata \
+    && dpkg-reconfigure --frontend noninteractive tzdata \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ca-certificates \
+    curl \
+    gnupg2 \
+    lsb-release \
+    sudo \
+    wget \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6 \
+    x11-utils \
+    less \
+    screen \
+    unzip \
+    x11-apps \
+    && rm -rf /var/lib/apt/lists/*
+
+# Create non-root user
+RUN useradd -m -s /bin/bash -G video,sudo ${username} && \
+    echo "${username} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+# Fix /tmp/.X11-unix permissions
+RUN mkdir -p /tmp/.X11-unix && \
+    chmod 1777 /tmp/.X11-unix
+
+# Install VirtualGL
+RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg && \
+    echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >> /etc/apt/sources.list.d/virtualgl.list && \
+    apt update && apt install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/*
+
+RUN cat <<EOF > /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+{
+    "file_format_version" : "1.0.0",
+    "ICD" : {
+        "library_path" : "libEGL_nvidia.so.0"
+    }
+}
+EOF
+
+# Install TurboVNC
+RUN wget -q -O- https://packagecloud.io/dcommander/turbovnc/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/TurboVNC.gpg && \
+    echo "deb [signed-by=/etc/apt/trusted.gpg.d/TurboVNC.gpg] https://packagecloud.io/dcommander/turbovnc/any/ any main" >> /etc/apt/sources.list.d/TurboVNC.list && \
+    apt update && apt install -y turbovnc && rm -rf /var/lib/apt/lists/*
+
+# Install noVNC
+ENV NOVNC_VERSION=1.4.0
+ENV WEBSOCKETIFY_VERSION=0.10.0
+RUN mkdir -p /usr/local/novnc && \
+    curl -sSL https://github.com/novnc/noVNC/archive/v${NOVNC_VERSION}.zip -o /tmp/novnc-install.zip && \
+    unzip /tmp/novnc-install.zip -d /usr/local/novnc && \
+    cp /usr/local/novnc/noVNC-${NOVNC_VERSION}/vnc.html /usr/local/novnc/noVNC-${NOVNC_VERSION}/index.html && \
+    curl -sSL https://github.com/novnc/websockify/archive/v${WEBSOCKETIFY_VERSION}.zip -o /tmp/websockify-install.zip && \
+    unzip /tmp/websockify-install.zip -d /usr/local/novnc && \
+    ln -s /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION} /usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/websockify && \
+    rm -f /tmp/websockify-install.zip /tmp/novnc-install.zip && \
+    sed -i -E 's/^python /python3 /' /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION}/run
+
+FROM base AS xfce
+
+# Install XFCE4
+RUN apt-get update && \
+    apt-get -y install \
+    xfce4-session \
+    xfce4-panel \
+    xfdesktop4 \
+    konsole \
+    && rm -rf /var/lib/apt/lists/*
+RUN apt-get purge -y xfce4-screensaver
+
+COPY docker/vnc-entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT [ "/entrypoint.sh" ]
+
+# Set default XFCE wallpaper -- doesnt work
+# COPY aoc_wallpaper.jpg /usr/share/backgrounds/xfce/aoc_wallpaper.jpg
+
+# Allow other containers to share windows into this display
+RUN echo 'xhost +local: 2>/dev/null' >> ~/.bashrc && \
+    echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \
+    echo "alias cls='clear'" >> /etc/bash.bashrc && \
+    echo 'echo -e "$(printf "%80s" | tr " " "-") \nYou are inside the VNC container,\n - You do not have access to ROS in this terminal\n - You may docker exec into other containers.\n$(printf "%80s" | tr " " "-")\n"' >> /etc/bash.bashrc
+
+EXPOSE 5801
+
+USER ${username}
+ENV HOME=/home/${username}
+WORKDIR ${HOME}
+RUN mkdir -p ${HOME}/.local/bin 
+
+ENV DISPLAY=:1
+ENV TVNC_VGL=1
+ENV VGL_ISACTIVE=1
+ENV VGL_FPS=25
+ENV VGL_COMPRESS=0
+ENV VGL_DISPLAY=egl
+ENV VGL_WM=1
+ENV VGL_PROBEGLX=0
+ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so
+ENV SHELL=/bin/bash
+
+FROM xfce AS docker-tools
+
+ARG DOCKER_GID=984
+
+# Install Docker (for docker exec etc)
+USER root
+RUN apt-get update && \
+    apt-get install -y ca-certificates curl && \
+    install -m 0755 -d /etc/apt/keyrings && \
+    curl -fsSL https://download.docker.com/linux/debian/gpg -o /etc/apt/keyrings/docker.asc && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/debian $(. /etc/os-release && echo $VERSION_CODENAME) stable" > /etc/apt/sources.list.d/docker.list && \
+    apt-get update && \
+    apt-get install -y docker-ce-cli && \
+    rm -rf /var/lib/apt/lists/* && \
+    groupadd -g $DOCKER_GID docker && \
+    usermod -aG docker ${username}
+
+USER ${username}