diff --git a/docker/Dockerfile b/docker/Dockerfile
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+++ b/docker/Dockerfile
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+ARG TAG
+FROM ubuntu:${TAG}
+
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND noninteractive
+
+USER root
+
+# Install
+RUN apt update \
+  && apt install -y \
+    curl \
+    lsb-release \
+    git \
+    build-essential
+
+# Install ROS sources and tooling dependencies
+COPY .github/workflows/add_ros_apt_sources.sh /tmp/add_ros_apt_sources.sh
+RUN ./tmp/add_ros_apt_sources.sh \
+  && apt install -y \
+    python3-colcon-common-extensions \
+    python3-rosdep \
+    python3-vcstool \
+    liboctomap-dev \
+  && rosdep init \
+  && rosdep update
+
+# Install the dependency repositories
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+ARG WORKSPACE_DIR=/opt/tesseract
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract \
+  cd ${WORKSPACE_DIR} \
+  && vcs import src < src/tesseract/dependencies.repos --shallow \
+  && rosdep install \
+    --from-paths ${WORKSPACE_DIR}/src \
+    -iry
+
+# Build the repository
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract \
+  cd ${WORKSPACE_DIR} \ 
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
+  && rm -rf build log
diff --git a/docker/README.md b/docker/README.md
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+++ b/docker/README.md
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+# Tesseract Docker
+
+## Create the Docker image
+### Download
+Download a pre-built Docker image for this bridge from the container registry:
+
+```
+docker login ghcr.io
+docker pull ghcr.io/tesseract-robotics/tesseract_deploy:<tag>
+```
+
+### Build
+Build the Docker image using `docker-compose`:
+
+```commandLine
+cd docker
+docker compose build
+```
+
+## Run the docker image
+Run the Docker image using `docker-compose`:
+
+```commandLine
+cd docker
+CURRENT_UID=$(id -u):$(id -g) docker compose up
+```
+
+> Note: by default the docker image runs as a non-root user, so the environment variable `CURRENT_UID` must be supplied as shown above
\ No newline at end of file
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
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index 00000000000..f4452a658f4
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+++ b/docker/docker-compose.yml
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+version: '3'
+services:
+  tesseract:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+      args:
+        - TAG=focal
+    container_name: tesseract
+    image: ghcr.io/tesseract-robotics/tesseract_deploy:focal-0.20
+    stdin_open: true
+    tty: true
+    network_mode: host
+    user: ${CURRENT_UID}  # CURRENT_UID=$(id -u):$(id -g)