diff --git a/.circleci/config.yml b/.circleci/config.yml
index bf5d864..abfd4cf 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -22,7 +22,7 @@ version: 2
 # Run static code analyzer for SourceCloud
 # Upload test results
 # Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available
-
+# TODO:(CAR-6030) Move to github actions to remove branch/version coupling
 jobs:
   build:
     # Pull docker image from docker hub
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 0000000..6ea9b53
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,9 @@
+name: Docker build
+
+on:
+  pull_request:
+      types: [opened, synchronize, reopened]
+
+jobs:
+  docker:
+    uses: usdot-fhwa-stol/actions/.github/workflows/docker.yml@main
\ No newline at end of file
diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml
new file mode 100644
index 0000000..77c53d2
--- /dev/null
+++ b/.github/workflows/dockerhub.yml
@@ -0,0 +1,17 @@
+name: Docker Hub build
+
+on:
+  push:
+    branches:
+      - develop
+      - master
+      - "release/*"
+    tags:
+      - "carma-system-*"
+
+jobs:
+  dockerhub:
+    uses: usdot-fhwa-stol/actions/.github/workflows/dockerhub.yml@main
+    secrets:
+      DOCKERHUB_USERNAME: ${{ secrets.DOCKERHUB_USERNAME }}
+      DOCKERHUB_TOKEN: ${{ secrets.DOCKERHUB_TOKEN }}
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index 0a1510b..1d7b559 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -12,10 +12,12 @@
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastoldev/carma-base:develop as deps
-
+ARG DOCKER_ORG="usdotfhwastoldev"
+ARG DOCKER_TAG="develop"
+FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as deps
 
 FROM deps as setup
+ARG GIT_BRANCH="develop" 
 
 ARG ROS1_PACKAGES=""
 ENV ROS1_PACKAGES=${ROS1_PACKAGES}
@@ -24,7 +26,7 @@ ENV ROS2_PACKAGES=${ROS2_PACKAGES}
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/
-RUN ~/src/docker/checkout.bash
+RUN ~/src/docker/checkout.bash -b ${GIT_BRANCH}
 RUN ~/src/docker/install.sh
 
 FROM deps
diff --git a/docker/checkout.bash b/docker/checkout.bash
index 24a9925..f35b3ea 100755
--- a/docker/checkout.bash
+++ b/docker/checkout.bash
@@ -20,11 +20,13 @@
 set -exo pipefail
 
 dir=~
+BRANCH=develop
 while [[ $# -gt 0 ]]; do
       arg="$1"
       case $arg in
-            -d|--develop)
-                  BRANCH=develop
+            -b|--branch)
+                  BRANCH=$2
+                  shift
                   shift
             ;;
             -r|--root)
@@ -35,10 +37,5 @@ while [[ $# -gt 0 ]]; do
       esac
 done
 
-if [[ "$BRANCH" = "develop" ]]; then
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ~/src/CARMAMsgs --branch $BRANCH
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ~/src/CARMAUtils --branch $BRANCH
-else
-      git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch develop
-      git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch develop
-fi
+git clone https://github.com/usdot-fhwa-stol/carma-msgs.git "${dir}"/src/CARMAMsgs --branch "${BRANCH}"
+git clone https://github.com/usdot-fhwa-stol/carma-utils.git "${dir}"/src/CARMAUtils --branch "${BRANCH}"