diff --git a/docker/.coderabbit.yaml b/docker/.coderabbit.yaml
new file mode 100644
index 00000000..8c9c45d2
--- /dev/null
+++ b/docker/.coderabbit.yaml
@@ -0,0 +1,18 @@
+---
+# yaml-language-server: $schema=https://coderabbit.ai/integrations/schema.v2.json
+language: en-US
+early_access: false
+reviews:
+  profile: chill
+  request_changes_workflow: false
+  high_level_summary: true
+  poem: false
+  review_status: true
+  collapse_walkthrough: false
+  auto_review:
+    enabled: true
+    drafts: false
+    base_branches:
+      - ros2-devel
+chat:
+  auto_reply: true
diff --git a/docker/.dockerignore b/docker/.dockerignore
new file mode 100644
index 00000000..06a4227a
--- /dev/null
+++ b/docker/.dockerignore
@@ -0,0 +1,8 @@
+.devcontainer/
+.github/
+.git/
+.vscode/
+.dockerignore
+.gitignore
+Dockerfile.*
+README.md
diff --git a/docker/.github/workflows/protect-default-branch.yaml b/docker/.github/workflows/protect-default-branch.yaml
new file mode 100644
index 00000000..678daebe
--- /dev/null
+++ b/docker/.github/workflows/protect-default-branch.yaml
@@ -0,0 +1,24 @@
+---
+name: Validate PR head branch
+on:
+  pull_request:
+    branches:
+      - ros2
+
+jobs:
+  check-head-branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check allowed branches
+        run: |
+          pattern="^[0-9]+\.[0-9]+\.[0-9]+-[0-9]{8}$" # This regex matches the X.X.X-YYYYMMDD pattern
+          if [[ "${{ github.head_ref }}" == *"hotfix"* ]]; then
+            echo "PR from a branch containing 'hotfix' is allowed."
+            exit 0
+          elif [[ "${{ github.head_ref }}" =~ $pattern ]]; then
+            echo "PR from a branch matching X.X.X-YYYYMMDD pattern is allowed."
+            exit 0
+          else
+            echo "PRs must come from branches containing 'hotfix' phrase or matching X.X.X-YYYYMMDD pattern."
+            exit 1
+          fi
diff --git a/docker/.github/workflows/release-repository.yaml b/docker/.github/workflows/release-repository.yaml
new file mode 100644
index 00000000..c742d184
--- /dev/null
+++ b/docker/.github/workflows/release-repository.yaml
@@ -0,0 +1,105 @@
+---
+name: Release repository
+
+on:
+  workflow_dispatch:
+    inputs:
+      release_candidate:
+        description: Branch name of the release candidate.
+        required: true
+      version:
+        description: New version (used for tag).
+        required: true
+      release_name:
+        description: Name of the release to be created. Version in the first place is recommended (e.g.
+          `2.0.0-alpha`).
+        required: true
+      automatic_mode:
+        type: boolean
+        default: false
+        description: Automatically merge PR and create release.
+      prerelease:
+        type: boolean
+        default: false
+        description: Mark the release as a prerelease.
+
+jobs:
+  release:
+    name: Release repository
+    runs-on: ubuntu-22.04
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      MAIN_BRANCH: ros2
+      DEVEL_BRANCH: ros2-devel
+    steps:
+      - name: Checkout to main branch
+        if: ${{ github.event.inputs.release_candidate != env.MAIN_BRANCH }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ env.MAIN_BRANCH }}
+          fetch-depth: 0
+
+      - name: Get git diff between main and release candidate
+        id: git_diff
+        run: |
+          git fetch origin ${{ github.event.inputs.release_candidate }}:${{ github.event.inputs.release_candidate }}
+          DIFF=$(git diff --name-only ${{ github.event.inputs.release_candidate }}) # Change to "master.." to diff against last common commit
+          if [ -z "$DIFF" ]; then
+            echo "DIFF=false" >> $GITHUB_ENV
+          else
+            echo "DIFF=true" >> $GITHUB_ENV
+          fi
+
+      - name: Create PR to main branch
+        if: ${{ github.event.inputs.release_candidate != env.MAIN_BRANCH && env.DIFF == 'true' }}
+        run: |
+          gh pr create \
+          --base ${{ env.MAIN_BRANCH }} \
+          --head ${{ github.event.inputs.release_candidate }} \
+          --title "Release ${{ github.event.inputs.version}} to ${{ env.MAIN_BRANCH }}" \
+          --body "This PR incorporates release updates."
+
+      - name: Merge PR to main branch
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && github.event.inputs.release_candidate
+          != env.MAIN_BRANCH && env.DIFF == 'true' }}
+        run: |
+          gh pr merge ${{ github.event.inputs.release_candidate }} \
+          --merge --delete-branch
+
+      - name: Delete branch
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && github.event.inputs.release_candidate
+          != env.MAIN_BRANCH && env.DIFF == 'false' }}
+        run: |
+          git push origin --delete ${{ github.event.inputs.release_candidate }}
+
+      - name: Create prerelease
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease)
+          == true}}
+        run: |
+          gh release create ${{ github.event.inputs.version }} \
+          --target ${{ env.MAIN_BRANCH }} \
+          --title ${{ github.event.inputs.release_name }} \
+          --generate-notes \
+          --prerelease
+
+      - name: Create release
+        if: ${{ fromJSON(github.event.inputs.automatic_mode) == true && fromJSON(github.event.inputs.prerelease)
+          == false}}
+        run: |
+          gh release create ${{ github.event.inputs.version }} \
+          --target ${{ env.MAIN_BRANCH }} \
+          --title ${{ github.event.inputs.release_name }} \
+          --generate-notes
+
+      - name: Checkout to devel branch
+        if: ${{ env.DEVEL_BRANCH != env.MAIN_BRANCH && fromJSON(inputs.automatic_mode) == true }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ env.DEVEL_BRANCH }}
+          fetch-depth: 0
+
+      - name: Update devel branch
+        if: ${{ env.DEVEL_BRANCH != env.MAIN_BRANCH && fromJSON(inputs.automatic_mode) == true }}
+        run: |
+          git pull origin ${{ env.MAIN_BRANCH }}
+          git push origin ${{ env.DEVEL_BRANCH }}
diff --git a/docker/.github/workflows/ros-docker-image.yaml b/docker/.github/workflows/ros-docker-image.yaml
new file mode 100644
index 00000000..7152f1e3
--- /dev/null
+++ b/docker/.github/workflows/ros-docker-image.yaml
@@ -0,0 +1,77 @@
+---
+name: Build/Publish ROS Docker Image
+
+on:
+  workflow_dispatch:
+    inputs:
+      panther_codebase_version:
+        description: Version of the panther_ros to be used in the docker image (branch/tag/commit).
+        required: true
+        type: string
+        default: ros2-devel
+      build_type:
+        description: Is it a "development" or a "stable" release?
+        required: true
+        default: development
+        type: choice
+        options:
+          - development
+          - stable
+      target_distro:
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
+        type: string
+        default: humble
+      target_release:
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
+        type: string
+        default: 0.0.0
+      target_date:
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
+        type: string
+        default: '20131206'
+      feature_branch_tag_suffix:
+        description: In case of "development" release from a feature branch specify the custom tag suffix
+          for the docker image
+        type: string
+        default: ''
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - dockerfile: Dockerfile.hardware
+            platforms: linux/arm64
+            ros_distro: humble
+          - dockerfile: Dockerfile.simulation
+            repo_name: panther-gazebo
+            platforms: linux/amd64
+            ros_distro: humble
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Build Docker Image
+        uses: husarion-ci/ros-docker-img-action@v0.8
+        with:
+          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+          main_branch_name: ros2
+          dockerfile: ${{ matrix.dockerfile }}
+          repo_name: ${{ matrix.repo_name }}
+          branch_name: ${{ inputs.panther_codebase_version }}
+          build_type: ${{ inputs.build_type }}
+          ros_distro: ${{ matrix.ros_distro }}
+          platforms: ${{ matrix.platforms }}
+          # variables important only for stable release
+          target_distro: ${{ inputs.target_distro }}
+          target_release: ${{ inputs.target_release }}
+          target_date: ${{ inputs.target_date }}
+          # variables important only for development release
+          feature_branch_tag_suffix: ${{ inputs.feature_branch_tag_suffix }}
diff --git a/docker/.github/workflows/update-tags-in-compose.yaml b/docker/.github/workflows/update-tags-in-compose.yaml
new file mode 100644
index 00000000..2a42bbad
--- /dev/null
+++ b/docker/.github/workflows/update-tags-in-compose.yaml
@@ -0,0 +1,38 @@
+---
+name: Update tags in compose files
+
+on:
+    workflow_dispatch:
+        inputs:
+            branch_name:
+                description: Target branch for the update.
+                required: true
+            image_tag:
+                description: Docker image tag to be replaced with.
+                required: true
+
+jobs:
+    release:
+        name: Release repository
+        runs-on: ubuntu-22.04
+        env:
+            GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v4
+              with:
+                  ref: ${{ github.event.inputs.branch_name }}
+
+            - name: Update docker image tag
+              uses: mikefarah/yq@v4.43.1
+              with:
+                  cmd: |
+                      yq -i '.services.panther_ros.image = "husarion/panther:${{ github.event.inputs.image_tag }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.minimal-setup.yaml
+                      yq -i '.services.panther_gazebo.image = "husarion/panther-gazebo:${{ github.event.inputs.image_tag }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.simulation.yaml
+
+            - name: Commit changes to target branch
+              uses: EndBug/add-and-commit@v9
+              with:
+                  message: Update docker image tag
+                  author_name: action-bot
+                  author_email: action-bot@action-bot.com
diff --git a/docker/.gitignore b/docker/.gitignore
new file mode 100644
index 00000000..126153b9
--- /dev/null
+++ b/docker/.gitignore
@@ -0,0 +1,28 @@
+# Docker project generated files to ignore
+#  if you want to ignore files created by your editor/tools,
+#  please consider a global .gitignore https://help.github.com/articles/ignoring-files
+.vagrant*
+bin
+docker/docker
+.*.swp
+a.out
+*.orig
+build_src
+.flymake*
+.idea
+.DS_Store
+docs/_build
+docs/_static
+docs/_templates
+.gopath/
+.dotcloud
+*.test
+bundles/
+.hg/
+.git/
+vendor/pkg/
+pyenv
+Vagrantfile
+
+.vscode
+__pycache__/
diff --git a/docker/.pre-commit-config.yaml b/docker/.pre-commit-config.yaml
new file mode 100644
index 00000000..533c059e
--- /dev/null
+++ b/docker/.pre-commit-config.yaml
@@ -0,0 +1,37 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-xml
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-json
+      - id: name-tests-test
+        files: ^.*\/test\/.*$
+        args: [--pytest-test-first]
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        entry: codespell
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+    # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: [--max-line-length=100, --ignore=D001]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
diff --git a/docker/Dockerfile.hardware b/docker/Dockerfile.hardware
new file mode 100644
index 00000000..0ef0d060
--- /dev/null
+++ b/docker/Dockerfile.hardware
@@ -0,0 +1,44 @@
+ARG ROS_DISTRO=humble
+
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
+
+ARG BRANCH_NAME=ros2-devel
+ARG BUILD_TEST=OFF
+
+ENV HUSARION_ROS_BUILD_TYPE=hardware
+
+STOPSIGNAL SIGINT
+
+WORKDIR /ros2_ws
+
+RUN apt-get update  && \
+    apt-get install -y \
+        ros-dev-tools && \
+    # Setup workspace
+    git clone -b ${BRANCH_NAME} https://github.com/husarion/panther_ros.git src/panther_ros && \
+    vcs import src < src/panther_ros/husarion_ugv/${HUSARION_ROS_BUILD_TYPE}_deps.repos && \
+    cp -r src/ros2_controllers/diff_drive_controller src && \
+    cp -r src/ros2_controllers/imu_sensor_broadcaster src && \
+    rm -rf src/ros2_controllers && \
+    # Install dependencies
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --from-paths src -y -i && \
+    # Build
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$BUILD_TEST && \
+    # Get version
+    echo $(cat /ros2_ws/src/panther_ros/husarion_ugv/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimalization
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        ros-dev-tools && \
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY update_config_directory.sh /usr/local/sbin/update_config_directory
+COPY setup_environment.sh /usr/local/sbin/setup_environment
+
+# Setup envs from eeprom
+RUN sed -i "/# <additional-user-commands>/i set -e -a && source setup_environment" /*_entrypoint.sh
diff --git a/docker/Dockerfile.simulation b/docker/Dockerfile.simulation
new file mode 100644
index 00000000..881af7bc
--- /dev/null
+++ b/docker/Dockerfile.simulation
@@ -0,0 +1,38 @@
+ARG ROS_DISTRO=humble
+
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
+
+ARG BRANCH_NAME=ros2-devel
+ARG BUILD_TEST=OFF
+
+ENV HUSARION_ROS_BUILD_TYPE=simulation
+
+STOPSIGNAL SIGINT
+
+WORKDIR /ros2_ws
+
+RUN apt-get update  && \
+    apt-get install -y \
+        ros-dev-tools && \
+    # Setup workspace
+    git clone -b ${BRANCH_NAME} https://github.com/husarion/panther_ros.git src/panther_ros && \
+    vcs import src < src/panther_ros/husarion_ugv/${HUSARION_ROS_BUILD_TYPE}_deps.repos && \
+    cp -r src/ros2_controllers/diff_drive_controller src && \
+    cp -r src/ros2_controllers/imu_sensor_broadcaster src && \
+    rm -rf src/ros2_controllers && \
+    # Install dependencies
+    rosdep init && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --from-paths src -y -i && \
+    # Build
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --symlink-install --packages-up-to husarion_ugv --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=$BUILD_TEST && \
+    # Get version
+    echo $(cat /ros2_ws/src/panther_ros/husarion_ugv/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') >> /version.txt && \
+    # Size optimalization
+    export SUDO_FORCE_REMOVE=yes && \
+    apt-get remove -y \
+        ros-dev-tools && \
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
diff --git a/docker/LICENSE b/docker/LICENSE
new file mode 100644
index 00000000..261eeb9e
--- /dev/null
+++ b/docker/LICENSE
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
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+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
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+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
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+      "Contributor" shall mean Licensor and any individual or Legal Entity
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+   2. Grant of Copyright License. Subject to the terms and conditions of
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+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
diff --git a/docker/README.md b/docker/README.md
new file mode 100644
index 00000000..0a6c3b21
--- /dev/null
+++ b/docker/README.md
@@ -0,0 +1,72 @@
+# panther-docker
+
+Docker images dedicated to Husarion Panther ROS system and simulation.
+
+## Docker Images
+
+Docker images are automatically deployed to Docker Hub. The image tag includes information about the ROS distribution, the version of the [panther_ros](https://github.com/husarion/panther_ros/tree/ros2) repository, and the date of release. Additionally, stable image versions are tagged with `stable` and recommended for production use.
+Below, you can find a list of available Docker images. To access the latest tag, simply follow the provided links:
+
+- [husarion/panther](https://hub.docker.com/r/husarion/panther) - ROS packages for Panther robot,
+- [husarion/panther-gazebo](https://hub.docker.com/r/husarion/panther-gazebo) - Simulation for Panther robot in Gazebo-classic.
+
+## Updating Panther Software
+
+> [!Note]
+> Latest Panther Docker images are compatible with Built-in Computer OS version 2.0.0 and newer. If your operating system is older, please ensure you update it before proceeding. **[COMING SOON]** Follow [operating system reinstallation](ros2-os-instalation-link) for more info.
+
+Connect to Panther's Built-in Computer:
+
+```bash
+ssh husarion@10.15.20.2
+```
+
+## Quick Start
+
+Depending on your needs, you can run Docker to quickly launch the physical robot or run a simulation. To do this, clone this repository to your robot or computer.
+
+```bash
+git clone -b ros2 https://github.com/husarion/panther-docker.git
+cd panther-docker/demo
+```
+
+### 🤖 Robot
+
+1. (Optional) Updating configuration files.
+
+   > [!NOTE]
+   > This may overwrite your changes made in the `config` directory. If you want to keep your configuration you should skip this step or create backup of the `config` directory.
+
+   ```bash
+   docker run --rm -v /home/husarion/config:/config husarion/panther:humble-<newest_tag> update_config_directory
+   ```
+
+2. Activate Panther
+
+   ```bash
+   docker compose -f compose.minimal-setup.yaml up
+   ```
+
+3. Launch Visualization on PC
+
+   ```bash
+   xhost local:root
+   docker compose -f compose.rviz.yaml up
+   ```
+
+> [!NOTE]
+> To use the latest version of the image, run the `docker compose pull` command and rerun above commands.
+
+### 💻 Gazebo Simulation
+
+To give Docker access to your screen run:
+
+```bash
+xhost local:docker
+docker compose -f compose.simulation.yaml up
+```
+
+> [!NOTE]
+>
+> 1. You can change robot model and namespace by editing the launch command in `compose.simulation.yaml`.
+> 2. If you have an NVIDIA GPU, it is worth changing the compose configuration from `cpu-config` to `gpu-config`. For this purpose, it is necessary to install [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html). With NVIDIA Container Toolkit installed, modify following Docker compose file by replacing `*cpu-config` with `*gpu-config`: [compose.simulation.yaml](./demo/compose.simulation.yaml).
diff --git a/docker/demo/.env.cpu b/docker/demo/.env.cpu
new file mode 100644
index 00000000..08406af9
--- /dev/null
+++ b/docker/demo/.env.cpu
@@ -0,0 +1,3 @@
+DISPLAY=${DISPLAY:?You need to define display env}
+LIBGL_ALWAYS_SOFTWARE=1
+QT_X11_NO_MITSHM=1
diff --git a/docker/demo/.env.gpu b/docker/demo/.env.gpu
new file mode 100644
index 00000000..4bec972a
--- /dev/null
+++ b/docker/demo/.env.gpu
@@ -0,0 +1,3 @@
+DISPLAY=${DISPLAY:?You need to define display env}
+NVIDIA_VISIBLE_DEVICES=all
+NVIDIA_DRIVER_CAPABILITIES=all
diff --git a/docker/demo/compose.minimal-setup.yaml b/docker/demo/compose.minimal-setup.yaml
new file mode 100644
index 00000000..dba0f388
--- /dev/null
+++ b/docker/demo/compose.minimal-setup.yaml
@@ -0,0 +1,51 @@
+x-common-config: &common-config
+  network_mode: host
+  ipc: host
+  restart: always
+  env_file:
+    - /home/husarion/config/common/.env # env configuration including namespace, domain id, DDS, etc.
+
+services:
+  husarion_ugv_ros:
+    image: husarion/panther:humble-ros2-devel
+    container_name: husarion_ugv_ros
+    <<: *common-config
+    devices:
+      - /dev/bus/usb
+      - /dev/gpiochip0
+      - /dev/spiled-channel1
+      - /dev/spiled-channel2
+    device_cgroup_rules:
+      - 'c 189:* rmw' # USB devices
+      - 'c 254:0 rmw' # gpiochip0
+      - 'c 153:* rmw' # spiled-channel1, spiled-channel2
+    volumes:
+      - /run/husarion/robot_config.env:/run/husarion/robot_config.env
+      - /run/husarion/robot_config.yaml:/run/husarion/robot_config.yaml
+      - /sys/bus/iio/devices:/sys/bus/iio/devices:ro # Read-only access to IIO devices
+      - ~/.ssh/id_rsa:/root/.ssh/id_rsa
+      - /home/husarion/config:/config
+    # Realtime hardware (https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html#determinism)
+    ulimits:
+      rtprio:
+        soft: 99
+        hard: 99
+      memlock:
+        soft: 102400
+        hard: 102400
+    command: >
+      ros2 launch husarion_ugv_bringup bringup.launch.py common_dir_path:=/config
+
+  gamepad_controller:
+    image: husarion/joy2twist:humble-1.0.0-20241003-stable
+    container_name: gamepad_controller
+    <<: *common-config
+    volumes:
+      - /home/husarion/config/common/joy2twist.yaml:/joy2twist.yaml
+    devices:
+      - /dev/input/js0
+    device_cgroup_rules:
+      - 'c 13:0 rmw' # gamepad
+    stop_signal: SIGINT
+    command: >
+      ros2 launch joy2twist gamepad_controller.launch.py joy2twist_params_file:=/joy2twist.yaml
diff --git a/docker/demo/compose.rviz.yaml b/docker/demo/compose.rviz.yaml
new file mode 100644
index 00000000..928368ea
--- /dev/null
+++ b/docker/demo/compose.rviz.yaml
@@ -0,0 +1,28 @@
+x-common-config:
+  &common-config
+  network_mode: host
+  ipc: host
+  environment:
+    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp # Default FastDDS do not work
+    - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+
+x-cpu-config:
+  &cpu-config
+  env_file: .env.cpu
+
+x-gpu-config:
+  &gpu-config
+  runtime: nvidia
+  env_file: .env.gpu
+
+services:
+  rviz:
+    image: husarion/rviz2:humble-nightly
+    container_name: rviz2
+    <<:
+      - *common-config
+      - *cpu-config
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./config/panther.rviz:/root/.rviz2/default.rviz
+    stop_signal: SIGINT
diff --git a/docker/demo/compose.simulation.yaml b/docker/demo/compose.simulation.yaml
new file mode 100644
index 00000000..24d35c3b
--- /dev/null
+++ b/docker/demo/compose.simulation.yaml
@@ -0,0 +1,22 @@
+x-common-config: &common-config
+  network_mode: host
+  ipc: host
+  environment:
+    - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+x-cpu-config: &cpu-config
+  env_file: .env.cpu
+x-gpu-config: &gpu-config
+  runtime: nvidia
+  env_file: .env.gpu
+services:
+  panther_gazebo:
+    image: husarion/panther-gazebo:humble-2.1.2-20241125
+    container_name: panther_gazebo
+    <<:
+      - *common-config
+      - *cpu-config
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+    command: >
+      ros2 launch panther_gazebo simulation.launch.py robot_model:=panther namespace:=panther
diff --git a/docker/demo/config/panther.rviz b/docker/demo/config/panther.rviz
new file mode 100644
index 00000000..67415133
--- /dev/null
+++ b/docker/demo/config/panther.rviz
@@ -0,0 +1,218 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 725
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+      - /Current View1/Focal Point1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /panther/robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        body_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        cover_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        fl_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        fr_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_bumper_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_light_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_bumper_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_light_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rl_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rr_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: panther
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: panther/odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/ThirdPersonFollower
+      Distance: 3.5
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.10000000149011612
+        Y: -0.05000000074505806
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5750001072883606
+      Target Frame: base_link
+      Value: ThirdPersonFollower (rviz_default_plugins)
+      Yaw: 2.9749996662139893
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035efc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000035e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000026b000001470000000000000000fb0000000c00430061006d0065007200610000000233000000970000000000000000fb0000000a0049006d00610067006501000002a3000000f40000000000000000000000010000010f000002aafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002aa000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000005ca0000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1850
+  X: 70
+  Y: 27
diff --git a/docker/setup_environment.sh b/docker/setup_environment.sh
new file mode 100755
index 00000000..4a2d6c23
--- /dev/null
+++ b/docker/setup_environment.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+set -e
+
+# source robot environment
+source /run/husarion/robot_config.env
+
+# check if /config directory is empty except it may contain common directory inside
+if [ ! "$(ls -A /config | grep -v common)" ]; then
+    echo "Config directory is empty, copying files."
+    update_config_directory
+fi
diff --git a/docker/update_config_directory.sh b/docker/update_config_directory.sh
new file mode 100755
index 00000000..aabd7782
--- /dev/null
+++ b/docker/update_config_directory.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+set -e
+
+# method to copy directory/file using package name
+copy_package_file() {
+  local package_name=$1
+  local file_name=$2
+  local package_file_path=$(ros2 pkg prefix $package_name)/share/$package_name/$file_name
+
+  if [ ! -d "/config/$package_name" ]; then
+    mkdir -p /config/$package_name
+  fi
+
+  # create subdirectories for files with subdirectories
+  if [[ $file_name == */* ]]; then
+    local subdirectory=$(dirname $file_name)
+    if [ ! -d "/config/$package_name/$subdirectory" ]; then
+      mkdir -p /config/$package_name/$subdirectory
+    fi
+  fi
+
+  if [ -d "$package_file_path" ]; then
+    cp -rL $package_file_path /config/$package_name || true
+  else
+    cp -L $package_file_path /config/$package_name/$file_name || true
+  fi
+}
+
+copy_package_file husarion_ugv_controller config
+copy_package_file husarion_ugv_lights config/user_animations.yaml
+copy_package_file husarion_ugv_localization config
+rm /config/husarion_ugv_localization/config/nmea_navsat.yaml || true
+copy_package_file husarion_ugv_manager behavior_trees/lights.xml
+copy_package_file husarion_ugv_manager behavior_trees/LightsBT.btproj
+copy_package_file panther_description config/components.yaml
+copy_package_file lynx_description config/components.yaml
+
+# Change ownership of the copied files to host user
+chown -R 1000:1001 /config