diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 0000000..d048962
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,36 @@
+{
+    "name": "vortex-image-segmentation-devcontainer",
+    "image": "vortex-image-segmentation:latest",
+    "customizations": {
+        "vscode": {
+            "settings": {
+                "terminal.integrated.defaultProfile.linux": "bash"
+            },
+            "extensions": [
+                "ms-azuretools.vscode-docker",
+                "ms-vscode.cpptools",
+                "ranch-hand-robotics.rde-pack",
+                "ms-python.vscode-pylance",
+                "twxs.cmake",
+                "ms-vsliveshare.vsliveshare",
+                "eamodio.gitlens",
+                "njpwerner.autodocstring",
+                "cschlosser.doxdocgen",
+                "xaver.clang-format",
+                "visualstudioexptteam.vscodeintellicode",
+                "ms-vscode-remote.remote-ssh",
+                "gxl.git-graph-3",
+                "ms-vscode-remote.remote-containers",
+                "gruntfuggly.todo-tree"
+            ]
+        }
+    },
+    "remoteUser": "devuser",
+    "workspaceFolder": "/ros2_ws",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/ros2_ws,type=bind,consistency=cached",
+    "runArgs": [
+        "--privileged",
+        "--network=host",
+        "--ipc=host"
+    ]
+}
diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..ab2a35e
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,30 @@
+# Ignore build artifacts and large/runtime folders
+build/
+install/
+log/
+*.log
+
+# Docker and local config
+docker/
+.dockerignore
+
+# VCS
+.git
+.gitignore
+
+# VS Code
+.vscode/
+
+# Python
+__pycache__/
+*.pyc
+*.pyo
+*.pyd
+venv/
+.env
+
+# Misc
+*.swp
+*.swo
+node_modules/
+bags/
diff --git a/.gitignore b/.gitignore
index b24b6e0..a8f5dd0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -163,5 +163,10 @@ runs/
 *.pt
 *jpg
 
+# ROS 2 build artifacts
+install/
+build/
+log/
+
 # data
 data/
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..963557d
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,75 @@
+# ----------------------------------------------------------------------------
+# Base Image
+# ----------------------------------------------------------------------------
+ARG BASE_IMAGE=ros:humble
+FROM ${BASE_IMAGE}
+
+# ----------------------------------------------------------------------------
+# Setup Arguments & Environment
+# ----------------------------------------------------------------------------
+USER root
+SHELL ["/bin/bash", "-c"]
+ARG DEBIAN_FRONTEND=noninteractive
+ARG ROS_DISTRO=humble
+
+# Define User Args
+ARG USER_ID=1000
+ARG GROUP_ID=1000
+ARG USERNAME=devuser
+
+ENV WORKSPACE=/ros2_ws
+WORKDIR ${WORKSPACE}
+
+# ----------------------------------------------------------------------------
+# Create non-root user
+# ----------------------------------------------------------------------------
+RUN groupadd --gid ${GROUP_ID} ${USERNAME} || true && \
+    useradd --uid ${USER_ID} --gid ${GROUP_ID} -m -s /bin/bash ${USERNAME} || true && \
+    apt-get update && apt-get install -y sudo && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers && \
+    apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# ----------------------------------------------------------------------------
+# Install System Dependencies
+# ----------------------------------------------------------------------------
+RUN apt-get update && apt-get install -y \
+    git \
+    python3-vcstool \
+    python3-pip \
+    ros-${ROS_DISTRO}-cv-bridge \
+    ros-${ROS_DISTRO}-vision-msgs \
+    ros-${ROS_DISTRO}-pcl-conversions \
+    libopencv-dev \
+    libpcl-dev \
+    python3-colcon-common-extensions \
+    && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install cython
+
+# ----------------------------------------------------------------------------
+# Copy & Install Requirements
+# ----------------------------------------------------------------------------
+COPY requirements.txt ${WORKSPACE}/requirements.txt
+RUN pip3 install -r ${WORKSPACE}/requirements.txt
+
+# ----------------------------------------------------------------------------
+# Copy Workspace Files
+# ----------------------------------------------------------------------------
+COPY . ${WORKSPACE}
+RUN chown -R ${USER_ID}:${GROUP_ID} ${WORKSPACE}
+
+# ----------------------------------------------------------------------------
+# Install ROS dependencies
+# ----------------------------------------------------------------------------
+RUN rosdep update && rosdep install --from-paths . --ignore-src -r -y
+
+# ----------------------------------------------------------------------------
+# User Configuration
+# ----------------------------------------------------------------------------
+RUN echo "if [ -f /ros2_ws/scripts/bashrc_extra.sh ]; then source /ros2_ws/scripts/bashrc_extra.sh; fi" >> /home/${USERNAME}/.bashrc
+
+# Switch to the user
+USER ${USERNAME}
+WORKDIR /home/${USERNAME}
+
+CMD ["bash"]
diff --git a/docker/build.sh b/docker/build.sh
new file mode 100755
index 0000000..b21da45
--- /dev/null
+++ b/docker/build.sh
@@ -0,0 +1,57 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# ------------------------------------------------------------------------------
+# Environment Variables
+# ------------------------------------------------------------------------------
+IMAGE="vortex-image-segmentation:latest"   # Docker image name/tag
+BASE_IMAGE="ros:humble"                    # Base image for Docker builds
+
+# ------------------------------------------------------------------------------
+# Platform Detection
+# ------------------------------------------------------------------------------
+ARCHITECTURE="$(uname -m)"
+if [[ "$ARCHITECTURE" == "arm64" || "$ARCHITECTURE" == "aarch64" ]]; then
+    PLATFORM="linux/arm64"
+elif [[ "$ARCHITECTURE" == "x86_64" ]]; then
+    PLATFORM="linux/amd64"
+else
+    echo "Unsupported architecture: $ARCHITECTURE" >&2
+    exit 1
+fi
+
+# ------------------------------------------------------------------------------
+# Locate Script and Workspace Root
+# ------------------------------------------------------------------------------
+SCRIPT_DIR="$(dirname "$(realpath "$0")")"
+WORKSPACE="$(realpath "$SCRIPT_DIR/..")"
+
+# ------------------------------------------------------------------------------
+# Build Start Info
+# ------------------------------------------------------------------------------
+echo "======================================================================"
+echo " Building Docker Image"
+echo "   • PLATFORM:       $PLATFORM"
+echo "   • BASE_IMAGE:     $BASE_IMAGE"
+echo "   • IMAGE:          $IMAGE"
+echo "   • BUILD CONTEXT:  $WORKSPACE"
+echo "======================================================================"
+echo ""
+
+# ------------------------------------------------------------------------------
+# Build Docker Image with Buildx
+# ------------------------------------------------------------------------------
+docker buildx build \
+    --platform "$PLATFORM" \
+    --build-arg BASE_IMAGE="$BASE_IMAGE" \
+    --build-arg USER_ID="$(id -u)" \
+    --build-arg GROUP_ID="$(id -g)" \
+    --tag "$IMAGE" \
+    --file "$SCRIPT_DIR/Dockerfile" \
+    --load \
+    "$WORKSPACE"
+
+echo ""
+echo "======================================================================"
+echo " Successfully built image '$IMAGE' for platform '$PLATFORM'"
+echo "======================================================================"
diff --git a/docker/run.sh b/docker/run.sh
new file mode 100755
index 0000000..2aecefe
--- /dev/null
+++ b/docker/run.sh
@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# ------------------------------------------------------------------------------
+# Image Configuration
+# ------------------------------------------------------------------------------
+IMAGE="vortex-image-segmentation:latest"  # Default Docker image name/tag
+
+# ------------------------------------------------------------------------------
+# Locate Script Directory and Workspace Root
+# ------------------------------------------------------------------------------
+SCRIPT_DIR="$(dirname "$(realpath "$0")")"
+WORKSPACE="$(realpath "$SCRIPT_DIR/..")"
+
+echo "======================================================================"
+echo " Running Container"
+echo "   • IMAGE:          $IMAGE"
+echo "   • Volume mount:   $WORKSPACE -> /ros2_ws"
+echo "======================================================================"
+echo ""
+
+# ------------------------------------------------------------------------------
+# Run Docker Container
+# ------------------------------------------------------------------------------
+docker run -it --rm \
+    --privileged \
+    --network host \
+    --ipc=host \
+    -v "$WORKSPACE":/ros2_ws \
+    -w /ros2_ws \
+    "$IMAGE" \
+    /bin/bash
diff --git a/scripts/bashrc_extra.sh b/scripts/bashrc_extra.sh
new file mode 100644
index 0000000..93c565e
--- /dev/null
+++ b/scripts/bashrc_extra.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+# /ros2_ws/scripts/bashrc_extra.sh for ROS 2 container
+
+# Print actions for clarity
+if [ -f /opt/ros/humble/setup.bash ]; then
+    echo "[bashrc_extra] Sourcing ROS 2 underlay: /opt/ros/humble/setup.bash"
+    source /opt/ros/humble/setup.bash
+else
+    echo "[bashrc_extra] ROS 2 underlay not found: /opt/ros/humble/setup.bash"
+fi
+
+if [ -f /ros2_ws/install/setup.bash ]; then
+    echo "[bashrc_extra] Sourcing workspace overlay: /ros2_ws/install/setup.bash"
+    source /ros2_ws/install/setup.bash
+else
+    echo "[bashrc_extra] Workspace overlay not found: /ros2_ws/install/setup.bash"
+fi
+
+# Add your custom shell commands, aliases, or environment variables below