diff --git a/.github/workflows/docker-push.yaml b/.github/workflows/docker-push.yaml
new file mode 100644
index 000000000..1d923bd13
--- /dev/null
+++ b/.github/workflows/docker-push.yaml
@@ -0,0 +1,59 @@
+name: Publish ROS2 CI Base Image
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: 0 0 * * *
+  push:
+    branches:
+      - master
+  release:
+    types: [published]
+jobs:
+  ros2:
+    name: Publish the Basic Image
+    runs-on: ubuntu-20.04
+    timeout-minutes: 20
+    strategy:
+      matrix:
+        rosdistro: [foxy, galactic]
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build and Push Docker Image
+        if: ${{ github.event_name != 'pull_request'}}
+        uses: docker/build-push-action@v2
+        env:
+          DOCKER_BUILDKIT: 1
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+          repository: wamvtan/ros2-ci-base
+          context: ./docker/ci-base
+          file: Dockerfile.${{ matrix.rosdistro }}
+          tags: ${{ matrix.rosdistro }}
+          no-cache: true
+          push: true
+  perception-jetson:
+    name: Publish the Basic Image
+    runs-on: ubuntu-20.04
+    timeout-minutes: 20
+    strategy:
+      matrix:
+        dockerfile: [[Dockerfile, galactic-ros-base-l4t-r32.6], [Dockerfile.trt801, galactic-ros-base-l4t-r32.6-trt]]
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build and Push Docker Image
+        if: ${{ github.event_name != 'pull_request'}}
+        uses: docker/build-push-action@v2
+        env:
+          DOCKER_BUILDKIT: 1
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+          repository: wamvtan/ros
+          context: ./docker/l4t-ros2-base
+          file: ${{ matrix.dockerfile[0] }}
+          tags: ${{ matrix.dockerfile[1] }}
+          platforms: linux/arm64/v8
+          no-cache: true
+          push: true
diff --git a/docker/l4t-ros2-base/Dockerfile b/docker/l4t-ros2-base/Dockerfile
new file mode 100644
index 000000000..37bd2b6ea
--- /dev/null
+++ b/docker/l4t-ros2-base/Dockerfile
@@ -0,0 +1,96 @@
+FROM arm64v8/ros:galactic
+
+ARG CUDA=10.2
+ARG RELEASE="r32.6"
+ARG DEBIAN_FRONTEND=noninteractive
+RUN apt update && apt-get install -qq -y --no-install-recommends gnupg wget ca-certificates
+RUN apt-key adv --fetch-key http://repo.download.nvidia.com/jetson/jetson-ota-public.asc && \
+    echo "deb https://repo.download.nvidia.com/jetson/common $RELEASE main\ndeb https://repo.download.nvidia.com/jetson/t210 r32.6 main" >> \
+    /etc/apt/sources.list.d/nvidia-l4t-apt-source.list && apt update && \
+    CUDAPKG=$(echo $CUDA | sed 's/\./-/'); \
+    apt install -y nvidia-cudnn8 \
+    	cuda-libraries-$CUDAPKG \
+	cuda-nvtx-$CUDAPKG \
+	cuda-libraries-dev-$CUDAPKG \
+	cuda-minimal-build-$CUDAPKG \
+	cuda-license-$CUDAPKG \
+	cuda-command-line-tools-$CUDAPKG \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN ln -s /usr/local/cuda-$CUDA /usr/local/cuda && \
+    ln -s /usr/local/cuda-$CUDA/targets/aarch64-linux/include /usr/local/cuda/include && \
+    ln -s /usr/local/cuda-$CUDA/targets/aarch64-linux/lib /usr/local/cuda/lib64
+
+ENV PATH /usr/local/cuda-$CUDA/bin:/usr/local/cuda/bin:${PATH}
+ENV LD_LIBRARY_PATH /usr/local/cuda-$CUDA/targets/aarch64-linux/lib:${LD_LIBRARY_PATH}
+
+RUN ldconfig
+
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES all
+
+##############################
+### FIXME: NVIDIA's OpenCV ###
+##############################
+RUN wget \
+  http://ports.ubuntu.com/pool/main/libv/libvpx/libvpx5_1.7.0-3ubuntu0.18.04.1_arm64.deb \
+  http://ports.ubuntu.com/pool/universe/f/ffmpeg/libavcodec57_3.4.8-0ubuntu0.2_arm64.deb \
+  http://ports.ubuntu.com/pool/universe/f/ffmpeg/libavformat57_3.4.8-0ubuntu0.2_arm64.deb \
+  http://ports.ubuntu.com/pool/universe/f/ffmpeg/libavutil55_3.4.8-0ubuntu0.2_arm64.deb \
+  http://ports.ubuntu.com/pool/universe/f/ffmpeg/libswresample2_3.4.8-0ubuntu0.2_arm64.deb \
+  http://ports.ubuntu.com/pool/universe/f/ffmpeg/libswscale4_3.4.8-0ubuntu0.2_arm64.deb \
+  http://ports.ubuntu.com/pool/universe/x/x264/libx264-152_0.152.2854+gite9a5903-2_arm64.deb \
+  http://ports.ubuntu.com/pool/universe/x/x265/libx265-146_2.6-3_arm64.deb && \
+  apt update && apt install -y \
+  ./libvpx5_*_arm64.deb \
+  ./libavcodec57_*_arm64.deb \
+  ./libavformat57_*_arm64.deb \
+  ./libavutil55_*_arm64.deb \
+  ./libswresample2_*_arm64.deb \
+  ./libswscale4_*_arm64.deb \
+  ./libx264-152_*_arm64.deb \
+  ./libx265-146_*_arm64.deb && \
+  rm -rf /var/lib/apt/lists/* && apt clean
+
+
+RUN apt update && \
+  apt install -y --allow-downgrades --allow-change-held-packages \
+  nvidia-opencv \
+  libopencv \
+  libopencv-dev=4.1.1-2-gd5a58aa75 \
+  libopencv-python \
+  libopencv-samples \
+  opencv-licenses && \
+  apt-mark hold libopencv-dev && \
+  apt install -y \
+  libnvvpi1 \
+  vpi1-demos \
+  vpi1-dev \
+  vpi1-samples \
+  python-vpi1
+
+#########
+###L4T###
+#########
+
+## If on the real SoC, comment this out. ##
+RUN mkdir -p /opt/nvidia/l4t-packages/.nv-l4t-disable-boot-fw-update-in-preinstall ## Disable check in preinst
+
+RUN wget http://ports.ubuntu.com/pool/main/libf/libffi/libffi6_3.2.1-8_arm64.deb && \
+    apt install -y ./libffi6_*_arm64.deb && \
+    apt install systemd -y &&  apt -o Dpkg::Options::="--force-overwrite" install -y nvidia-l4t-init
+    
+RUN apt install -y \
+  nvidia-l4t-camera \
+  nvidia-l4t-jetson-io \
+  nvidia-l4t-jetson-multimedia-api \
+  nvidia-l4t-multimedia \
+  nvidia-l4t-tools \
+  nvidia-l4t-multimedia-utils \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/* \
+    && ldconfig
+
+CMD ["/bin/bash"]
+
diff --git a/docker/l4t-ros2-base/Dockerfile.trt801 b/docker/l4t-ros2-base/Dockerfile.trt801
new file mode 100644
index 000000000..c4c6aaf66
--- /dev/null
+++ b/docker/l4t-ros2-base/Dockerfile.trt801
@@ -0,0 +1,8 @@
+FROM wamvtan/ros:galactic-ros-base-l4t-r32.6
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt update && \
+    apt install -y tensorrt \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+