diff --git a/.github/workflows/reusable-build-push.yml b/.github/workflows/reusable-build-push.yml
index 62a8463..184fa79 100644
--- a/.github/workflows/reusable-build-push.yml
+++ b/.github/workflows/reusable-build-push.yml
@@ -67,17 +67,21 @@ jobs:
 
       - id: tags
         run: |
-          BUILD_FLAGS=()    
+          BUILD_FLAGS=()
+
           BASE_TAG=${{ inputs.ros_distro }}
           BUILD_FLAGS+=(--build-arg BASE_TAG=${BASE_TAG})
-          echo "::debug::Using base image tag ${BASE_TAG}"
-          echo "build_flags=${BUILD_FLAGS[@]}" >> $GITHUB_OUTPUT
 
           VERSION_TAG="v${{ needs.check-version.outputs.version }}"
           IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${{ inputs.ros_distro}}","${{ inputs.ros_distro}}"
           GIT_TAG="${VERSION_TAG}-${{ inputs.ros_distro}}"
+          BUILD_FLAGS+=(--build-arg VERSION=${GIT_TAG})
+
+          echo "::debug::Using base image tag ${BASE_TAG}"
+          echo "Build flags: ${BUILD_FLAGS[@]}"
           echo "Image tags: ${IMAGE_TAGS}"
           echo "Git tag: ${GIT_TAG}"
+          echo "build_flags=${BUILD_FLAGS[@]}" >> $GITHUB_OUTPUT
           echo "image_tags=${IMAGE_TAGS}" >> $GITHUB_OUTPUT
           echo "git_tag=${GIT_TAG}" >> $GITHUB_OUTPUT
 
diff --git a/ros2_control/Dockerfile.galactic b/ros2_control/Dockerfile.galactic
deleted file mode 100644
index fdfc26b..0000000
--- a/ros2_control/Dockerfile.galactic
+++ /dev/null
@@ -1,25 +0,0 @@
-ARG BASE_IMAGE=ghcr.io/aica-technology/ros2-ws
-ARG BASE_TAG=humble
-FROM ${BASE_IMAGE}:${BASE_TAG} as ros2-control-build
-
-RUN mkdir -p ${ROS2_WORKSPACE}/src/ros2_control
-WORKDIR ${ROS2_WORKSPACE}/src/ros2_control
-
-RUN git clone -b 1.0.0 --depth 1 https://github.com/ros-controls/ros2_control.git
-RUN git clone -b 1.0.0 --depth 1 https://github.com/ros-controls/ros2_controllers.git
-
-# get additional interface dependencies manually
-RUN git clone -b galactic-devel --depth 1 https://github.com/ros-controls/control_msgs.git
-RUN git clone -b ros2-master --depth 1 https://github.com/ros-controls/control_toolbox.git
-RUN git clone -b 2.1.1 --depth 1 https://github.com/ros-controls/realtime_tools.git
-RUN git clone -b galactic --depth 1 https://github.com/ros2/rcl_interfaces.git
-RUN git clone -b galactic --depth 1 https://github.com/ros2/test_interface_files.git
-RUN git clone -b ros2 --depth 1 https://github.com/ros/angles.git
-
-WORKDIR ${ROS2_WORKSPACE}
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
-RUN rm -rf ./src
-
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as final
-COPY --from=ros2-control-build ${ROS2_WORKSPACE} ${ROS2_WORKSPACE}
diff --git a/ros2_control/Dockerfile.humble b/ros2_control/Dockerfile.humble
deleted file mode 100644
index c7ffc14..0000000
--- a/ros2_control/Dockerfile.humble
+++ /dev/null
@@ -1,26 +0,0 @@
-ARG BASE_IMAGE=ghcr.io/aica-technology/ros2-ws
-ARG BASE_TAG=humble
-FROM ${BASE_IMAGE}:${BASE_TAG} as ros2-control-build
-
-RUN mkdir -p ${ROS2_WORKSPACE}/src/ros2_control
-WORKDIR ${ROS2_WORKSPACE}/src/ros2_control
-
-RUN git clone -b 2.11.0 --depth 1 https://github.com/ros-controls/ros2_control.git
-RUN git clone -b 2.11.0 --depth 1 https://github.com/ros-controls/ros2_controllers.git
-
-# get additional interface dependencies manually
-RUN git clone -b humble --depth 1 https://github.com/ros-controls/control_msgs.git
-RUN git clone -b 3.1.0 --depth 1 https://github.com/ros-controls/control_toolbox.git
-RUN git clone -b 2.2.0 --depth 1 https://github.com/ros-controls/realtime_tools.git
-RUN git clone -b humble --depth 1 https://github.com/ros2/rcl_interfaces.git
-RUN git clone -b humble --depth 1 https://github.com/ros2/test_interface_files.git
-RUN git clone -b ros2 --depth 1 https://github.com/ros/angles.git
-RUN git clone -b ros2 --depth 1 https://github.com/ros-drivers/ackermann_msgs.git
-
-WORKDIR ${ROS2_WORKSPACE}
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
-RUN rm -rf ./src
-
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as final
-COPY --from=ros2-control-build ${ROS2_WORKSPACE} ${ROS2_WORKSPACE}
diff --git a/ros2_control/Dockerfile.iron b/ros2_control/Dockerfile.iron
deleted file mode 100644
index 329e68b..0000000
--- a/ros2_control/Dockerfile.iron
+++ /dev/null
@@ -1,38 +0,0 @@
-ARG BASE_IMAGE=ghcr.io/aica-technology/ros2-ws
-ARG BASE_TAG=iron
-FROM ${BASE_IMAGE}:${BASE_TAG} as ros2-control-build
-
-RUN sudo apt-get update && sudo apt-get install --no-install-recommends -y \
-  doxygen \
-  librange-v3-dev \
-  python3-jinja2 \
-  python3-typeguard \
-  && sudo rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p ${ROS2_WORKSPACE}/src/ros2_control
-WORKDIR ${ROS2_WORKSPACE}/src/ros2_control
-
-RUN git clone -b 3.18.0 --depth 1 https://github.com/ros-controls/ros2_control.git
-RUN git clone -b 3.14.0 --depth 1 https://github.com/ros-controls/ros2_controllers.git
-# get additional interface dependencies manually
-RUN git clone -b 5.0.0 --depth 1 https://github.com/ros-controls/control_msgs.git
-RUN git clone -b 1.0.2 --depth 1 https://github.com/pal-robotics/backward_ros.git
-RUN git clone -b 3.1.2 --depth 1 https://github.com/ros/diagnostics.git
-RUN git clone -b 2.5.0 --depth 1 https://github.com/ros-controls/realtime_tools.git
-RUN git clone -b 1.7.0 --depth 1 https://github.com/ros2/rcl_interfaces.git
-RUN git clone -b 0.11.0 --depth 1 https://github.com/ros2/test_interface_files.git
-RUN git clone -b 1.16.0 --depth 1 https://github.com/ros/angles.git
-RUN git clone -b ros2 --depth 1 https://github.com/ros-drivers/ackermann_msgs.git
-RUN git clone -b 0.3.3 --depth 1 https://github.com/PickNikRobotics/generate_parameter_library.git
-RUN git clone -b 0.2.2 --depth 1 https://github.com/PickNikRobotics/RSL.git
-RUN git clone -b 1.0.2 --depth 1 https://github.com/PickNikRobotics/cpp_polyfills.git
-RUN git clone -b 3.1.0 --depth 1 https://github.com/ros-controls/control_toolbox.git
-RUN git clone -b 0.1.0 --depth 1 https://github.com/ros-controls/kinematics_interface.git
-
-WORKDIR ${ROS2_WORKSPACE}
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build"
-RUN rm -rf ./src
-
-
-FROM ${BASE_IMAGE}:${BASE_TAG} as final
-COPY --from=ros2-control-build / /
diff --git a/ros2_control/build.sh b/ros2_control/build.sh
deleted file mode 100755
index 8c80bac..0000000
--- a/ros2_control/build.sh
+++ /dev/null
@@ -1,65 +0,0 @@
-#!/bin/bash
-
-IMAGE_NAME=aica-technology/ros2-control
-
-LOCAL_BASE_IMAGE=false
-BASE_IMAGE=ghcr.io/aica-technology/ros2-ws
-BASE_TAG=humble
-OUTPUT_TAG=""
-
-BUILD_FLAGS=()
-while [ "$#" -gt 0 ]; do
-  case "$1" in
-  --local-base)
-    LOCAL_BASE_IMAGE=true
-    shift 1
-    ;;
-  --base-tag)
-    BASE_TAG=$2
-    shift 2
-    ;;
-  --output-tag)
-    OUTPUT_TAG=$2
-    shift 2
-    ;;
-  -r | --rebuild)
-    BUILD_FLAGS+=(--no-cache)
-    shift 1
-    ;;
-  -v | --verbose)
-    BUILD_FLAGS+=(--progress=plain)
-    shift 1
-    ;;
-  *)
-    echo "Unknown option: $1" >&2
-    exit 1
-    ;;
-  esac
-done
-
-if [ -z "${OUTPUT_TAG}" ]; then
-  echo "Output tag is empty, using the base tag as output tag."
-  OUTPUT_TAG="${BASE_TAG}"
-fi
-
-if [ "${LOCAL_BASE_IMAGE}" = true ]; then
-  BUILD_FLAGS+=(--build-arg BASE_IMAGE=aica-technology/ros2-ws)
-else
-  docker pull "${BASE_IMAGE}:${BASE_TAG}"
-fi
-
-BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
-BUILD_FLAGS+=(-t "${IMAGE_NAME}:${OUTPUT_TAG}")
-
-if [[ "${BASE_TAG}" == *"galactic"* ]]; then
-  DOCKERFILE=Dockerfile.galactic
-elif [[ "${BASE_TAG}" == *"humble"* ]]; then
-  DOCKERFILE=Dockerfile.humble
-elif [[ "${BASE_TAG}" == *"iron"* ]]; then
-  DOCKERFILE=Dockerfile.iron
-else
-  echo "Invalid base tag. Base tag needs to contain either 'galactic', 'humble' or 'iron'."
-  exit 1
-fi
-
-DOCKER_BUILDKIT=1 docker build -f "${DOCKERFILE}" "${BUILD_FLAGS[@]}" .
diff --git a/ros2_ws/Dockerfile b/ros2_ws/Dockerfile
index a1bd983..604211b 100644
--- a/ros2_ws/Dockerfile
+++ b/ros2_ws/Dockerfile
@@ -1,108 +1,10 @@
-ARG BASE_TAG=humble
-FROM ros:${BASE_TAG} as environment-variables
-ENV DEBIAN_FRONTEND=noninteractive
-ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
-ENV PIP_NO_CACHE_DIR 1
-ENV USER ros2
-ENV HOME /home/${USER}
-ENV ROS2_WORKSPACE /home/${USER}/ros2_ws
-ENV COLCON_HOME ${HOME}/.colcon
-ENV COLCON_DEFAULTS_FILE ${COLCON_HOME}/defaults.yaml
-ENV COLCON_WORKSPACE=${ROS2_WORKSPACE}
-ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
-
-
-FROM environment-variables as base-dependencies
-
-# disable suggested and recommended install
-RUN apt-config dump | grep -we Recommends -e Suggests | sed s/1/0/ \
-  | sudo tee /etc/apt/apt.conf.d/999norecommend
-
-# install base dependencies
-RUN apt-get update && apt-get install --no-install-recommends -y \
-  autoconf \
-  automake \
-  curl \
-  featherpad \
-  gdb \
-  git \
-  iputils-ping \
-  libboost-all-dev \
-  libtool \
-  mesa-utils \
-  nano \
-  python3-pip \
-  ros-${ROS_DISTRO}-xacro \
-  ros-${ROS_DISTRO}-robot-state-publisher \
-  ros-${ROS_DISTRO}-rviz2 \
-  rsync \
-  software-properties-common \
-  ssh \
-  unzip \
-  wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN echo "Set disable_coredump false" >> /etc/sudo.conf
-
-# configure sshd server settings
-RUN ( \
-    echo 'LogLevel DEBUG2'; \
-    echo 'PubkeyAuthentication yes'; \
-    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
-  ) > /etc/ssh/sshd_config_development \
-  && mkdir /run/sshd
-
-
-FROM base-dependencies as base-workspace
-
-# create and configure a new user
-ARG UID=1000
-ARG GID=1000
-RUN addgroup --gid ${GID} ${USER}
-RUN adduser --gecos "ROS2 User" --uid ${UID} --gid ${GID} ${USER} && yes | passwd ${USER}
-RUN usermod -a -G dialout ${USER}
-RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
-RUN chmod 0440 /etc/sudoers.d/99_aptget && chown root:root /etc/sudoers.d/99_aptget
-
-# configure sshd entrypoint to authorise the new user for ssh access and
-# optionally update UID and GID when invoking the container with the entrypoint script
-COPY ./config/sshd_entrypoint.sh /sshd_entrypoint.sh
-RUN chmod 744 /sshd_entrypoint.sh
-
-# crete user group with realtime permissions and add user to it
-RUN groupadd -g 3719 realtime && usermod -aG realtime ${USER}
-RUN echo "@realtime        soft    rtprio          99\n@realtime        hard    rtprio          99\n" > \
-    /etc/security/limits.d/realtime.conf
-
-# configure colcon defaults and utilities
-USER ${USER}
-WORKDIR ${HOME}
-RUN wget https://raw.githubusercontent.com/aica-technology/.github/v0.9.0/guidelines/.clang-format
-RUN mkdir -p ${COLCON_HOME}
-COPY --chown=${USER}:${USER} ./config/colcon ${COLCON_HOME}
-RUN /bin/bash ${COLCON_HOME}/setup.sh
-
-# build ROS workspace
-RUN mkdir -p ${ROS2_WORKSPACE}/src
-WORKDIR ${ROS2_WORKSPACE}
-RUN rosdep update
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build --symlink-install"
-
-# prepend the environment sourcing to bashrc (appending will fail for non-interactive sessions)
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash; \
-source ${ROS2_WORKSPACE}/install/setup.bash" | cat - ${HOME}/.bashrc > tmp && mv tmp ${HOME}/.bashrc
-# enable colorized output from ros logging
-RUN echo "export RCUTILS_COLORIZED_OUTPUT=1" >> ${HOME}/.bashrc
-
-# create the credentials to be able to pull private repos using ssh
-USER root
-RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
-RUN echo "session required pam_limits.so" | tee --append /etc/pam.d/common-session > /dev/null
-
-
-FROM environment-variables as final
-COPY --from=base-workspace / /
-
-# start as ROS user
-USER ${USER}
-WORKDIR ${ROS2_WORKSPACE}
+ARG BASE_TAG=iron
+FROM ghcr.io/aica-technology/ros2-control:${BASE_TAG}
+
+ARG VERSION=v0.0.0
+ARG BASE_TAG=iron
+LABEL org.opencontainers.image.title="AICA ROS 2 image"
+LABEL org.opencontainers.image.description="AICA base ROS 2 image (includes ros2_control)"
+LABEL org.opencontainers.image.version="${VERSION}"
+LABEL org.opencontainers.image.base.name="docker.io/library/ros:${BASE_TAG}"
+LABEL tech.aica.image.metadata='{"type":"base/ws","base":{"name":"docker.io/library/ros","version":"'${BASE_TAG}'"}}'
\ No newline at end of file
diff --git a/ros2_ws/build.sh b/ros2_ws/build.sh
index 09b599a..266e061 100755
--- a/ros2_ws/build.sh
+++ b/ros2_ws/build.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
-IMAGE_NAME=aica-technology/ros2-ws
-BASE_TAG=humble
+IMAGE_NAME=ghcr.io/aica-technology/ros2-ws
+BASE_TAG=iron
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)"
 if [[ ! -f "${SCRIPT_DIR}"/config/sshd_entrypoint.sh ]]; then
@@ -31,16 +31,5 @@ while [ "$#" -gt 0 ]; do
   esac
 done
 
-docker pull "ros:${BASE_TAG}"
-BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
-
-if [[ "$OSTYPE" != "darwin"* ]]; then
-  USER_ID="$(id -u "${USER}")"
-  GROUP_ID="$(id -g "${USER}")"
-  BUILD_FLAGS+=(--build-arg UID="${USER_ID}")
-  BUILD_FLAGS+=(--build-arg GID="${GROUP_ID}")
-fi
-
-BUILD_FLAGS+=(-t "${IMAGE_NAME}":"${BASE_TAG}")
-
-DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" .
+BUILD_FLAGS+=(--build-arg=BASE_TAG=${BASE_TAG})
+docker buildx build -t "${IMAGE_NAME}":"${BASE_TAG}" "${BUILD_FLAGS[@]}" .