diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..8c57f2c
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,12 @@
+# Ignore everything by default
+*
+
+# First-order allow exception for select directories
+!/external
+!/lidar_patterns
+!/RGLServerPlugin
+!/RGLVisualize
+
+# First-order allow exception for select files
+!/CMakeLists.txt
+!/package.xml
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..e235036
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,57 @@
+ARG BASE_IMAGE=base
+FROM ros:iron AS base
+
+# Edit apt config for caching and update once
+RUN mv /etc/apt/apt.conf.d/docker-clean /etc/apt/ && \
+    echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' \
+      > /etc/apt/apt.conf.d/keep-cache && \
+    apt-get update
+
+################################################################################
+# MARK: prepper - prep rgl dependencies
+################################################################################
+### Core dependencies stage
+FROM $BASE_IMAGE AS prepper
+
+# Set working directory using standard opt path
+WORKDIR /opt/rgl
+
+# Copy package manifest
+COPY package.xml src/RGLGazeboPlugin/package.xml
+
+# Install bootstrap tools for install scripts
+RUN --mount=type=cache,sharing=locked,target=/var/cache/apt \
+    rosdep install -y \
+        --from-paths src \
+        --ignore-src
+
+################################################################################
+# MARK: builder - build rgl binaries
+################################################################################
+FROM prepper AS builder
+
+# Copy source tree
+COPY . src/RGLGazeboPlugin
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build
+
+################################################################################
+# MARK: dancer - multi-stage for cache dancing
+################################################################################
+FROM builder AS dancer
+
+# Copy entire build directory
+# RUN mkdir /dancer && \
+#     cp -rT build /dancer
+
+# Copy only the lib and bin directories
+RUN mkdir /dancer && \
+    cp -rT install /dancer
+
+################################################################################
+# MARK: exporter - export rgl binaries and executables
+################################################################################
+FROM scratch AS exporter
+
+COPY --from=dancer /dancer /
diff --git a/README.md b/README.md
index c560ec3..2f5b42b 100644
--- a/README.md
+++ b/README.md
@@ -50,6 +50,15 @@ Key features:
     export IGN_GUI_PLUGIN_PATH=`pwd`/RGLGuiPlugin:$IGN_GUI_PLUGIN_PATH
     ```
 ### Building from source
+
+#### Docker
+```shell
+docker build \
+   --target=exporter \
+   --output=install .
+```
+
+#### Manual
 ```shell
 mkdir build
 cd build
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..8c90188
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>RGLGazeboPlugin</name>
+  <version>0.1.2</version>
+  <description>RGL Gazebo Plugin</description>
+  <maintainer email="mateusz.szczygielski@robotec.ai">Mateusz Szczygielski</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>ignition-gazebo6</depend>
+  <depend>ignition-gui6</depend>
+  <depend>ignition-msgs8</depend>
+  <depend>ignition-plugin</depend>
+  <depend>ignition-rendering6</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>