diff --git a/docker/Dockerfile.ros2humble b/docker/Dockerfile.ros2humble
new file mode 100644
index 0000000..fdfdcea
--- /dev/null
+++ b/docker/Dockerfile.ros2humble
@@ -0,0 +1,55 @@
+# This is an auto generated Dockerfile for ros:ros-base
+# generated from docker_images_ros2/create_ros_image.Dockerfile.em
+FROM ros:humble-ros-core-jammy
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    git \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+
+# setup colcon mixin and metadata
+RUN colcon mixin add default \
+      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+
+# install ros2 packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-ros-base=0.10.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$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 sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y git-core bash-completion \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
+  && rm -rf /var/lib/apt/lists/* 
+
+
+RUN mkdir /workspace
+
+ENTRYPOINT [ "/bin/bash", "-l", "-c" ]
\ No newline at end of file
diff --git a/docker/Dockerfile.ros2humble.l4t-r32.7.1 b/docker/Dockerfile.ros2humble.l4t-r32.7.1
new file mode 100644
index 0000000..bd2c063
--- /dev/null
+++ b/docker/Dockerfile.ros2humble.l4t-r32.7.1
@@ -0,0 +1,26 @@
+FROM dustynv/ros:humble-ros-base-l4t-r32.7.1
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+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 sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y git-core bash-completion \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
+  && rm -rf /var/lib/apt/lists/* 
+
+
+RUN mkdir /workspace
+
+ENTRYPOINT [ "/bin/bash", "-l", "-c" ]
\ No newline at end of file