diff --git a/.github/workflows/docker_builds.yml b/.github/workflows/docker_builds.yml
index c8e77c5b..6e284103 100644
--- a/.github/workflows/docker_builds.yml
+++ b/.github/workflows/docker_builds.yml
@@ -442,10 +442,62 @@ jobs:
         tag_names: true
         workdir: docker
 
+  px4-dev-ros2-humble:
+    name: "ROS2 Humble"
+    runs-on: ubuntu-latest
+    needs: px4-dev-base-jammy
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build container
+      if: github.event_name == 'pull_request'
+      run: |
+        cd docker
+        make px4-dev-ros2-humble
+    - name: Build & Publish container
+      if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/'))
+      uses: julianoes/Publish-Docker-Github-Action@master
+      with:
+        name: px4io/px4-dev-ros2-humble
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
+        dockerfile: Dockerfile_ros2
+        cache: false
+        tag_names: true
+        workdir: docker
+        build-args: |
+          ROS_DISTRO=humble
+          BASE=px4io/px4-dev-base-jammy
+
+  px4-dev-ros2-iron:
+    name: "ROS2 Iron"
+    runs-on: ubuntu-latest
+    needs: px4-dev-base-jammy
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build container
+      if: github.event_name == 'pull_request'
+      run: |
+        cd docker
+        make px4-dev-ros2-iron
+    - name: Build & Publish container
+      if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/'))
+      uses: julianoes/Publish-Docker-Github-Action@master
+      with:
+        name: px4io/px4-dev-ros2-iron
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
+        dockerfile: Dockerfile_ros2
+        cache: false
+        tag_names: true
+        workdir: docker
+        build-args: |
+          ROS_DISTRO=iron
+          BASE=px4io/px4-dev-base-jammy
+
   px4-dev-ros2-rolling:
     name: "ROS2 Rolling"
     runs-on: ubuntu-latest
-    needs: px4-dev-base-focal
+    needs: px4-dev-base-jammy
     steps:
     - uses: actions/checkout@v3
     - name: Build container
@@ -460,10 +512,13 @@ jobs:
         name: px4io/px4-dev-ros2-rolling
         username: ${{ secrets.DOCKER_USERNAME }}
         password: ${{ secrets.DOCKER_PASSWORD }}
-        dockerfile: Dockerfile_ros2-rolling
+        dockerfile: Dockerfile_ros2
         cache: false
         tag_names: true
         workdir: docker
+        build-args: |
+          ROS_DISTRO=rolling
+          BASE=px4io/px4-dev-base-jammy
 
   px4-dev-ros2-galactic:
     name: "ROS2 Galactic"
@@ -483,10 +538,13 @@ jobs:
         name: px4io/px4-dev-ros2-galactic
         username: ${{ secrets.DOCKER_USERNAME }}
         password: ${{ secrets.DOCKER_PASSWORD }}
-        dockerfile: Dockerfile_ros2-galactic
+        dockerfile: Dockerfile_ros2
         cache: false
         tag_names: true
         workdir: docker
+        build-args: |
+          ROS_DISTRO=galactic
+          BASE=px4io/px4-dev-base-focal
 
   px4-docs:
     name: "Ubuntu Docs"
diff --git a/docker/Dockerfile_aarch64 b/docker/Dockerfile_aarch64
index 6bd56837..9b2cb8e1 100644
--- a/docker/Dockerfile_aarch64
+++ b/docker/Dockerfile_aarch64
@@ -9,9 +9,9 @@
 FROM debian:buster
 LABEL maintainer="SalimTerryLi <lhf2613@gmail.com>"
 
-ENV DEBIAN_FRONTEND noninteractive
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
 
 RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
 		bzip2 \
@@ -80,7 +80,7 @@ RUN wget -q "https://services.gradle.org/distributions/gradle-5.6.2-bin.zip" -O
 	&& unzip -d /opt/gradle gradle-5.6.2-bin.zip \
 	&& rm -rf /tmp/*
 
-ENV PATH "/opt/gradle/gradle-5.6.2/bin:$PATH"
+ENV PATH="/opt/gradle/gradle-5.6.2/bin:$PATH"
 
 # Fast-RTPS
 RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v1.8.2 /tmp/FastRTPS-1.8.2 \
diff --git a/docker/Dockerfile_armhf b/docker/Dockerfile_armhf
index 39196393..dc9413a7 100644
--- a/docker/Dockerfile_armhf
+++ b/docker/Dockerfile_armhf
@@ -11,9 +11,9 @@
 FROM debian:bullseye
 LABEL maintainer="Daniel Agar <daniel@agar.ca>"
 
-ENV DEBIAN_FRONTEND noninteractive
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
 
 RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
 		bzip2 \
diff --git a/docker/Dockerfile_base-archlinux b/docker/Dockerfile_base-archlinux
index e548672c..cbea10c9 100644
--- a/docker/Dockerfile_base-archlinux
+++ b/docker/Dockerfile_base-archlinux
@@ -51,7 +51,7 @@ RUN wget -q "https://services.gradle.org/distributions/gradle-6.1-rc-3-bin.zip"
 	&& unzip -d /opt/gradle gradle-6.1-rc-3-bin.zip \
 	&& rm -rf /tmp/*
 
-ENV PATH "/opt/gradle/gradle-6.1-rc-3/bin:$PATH"
+ENV PATH="/opt/gradle/gradle-6.1-rc-3/bin:$PATH"
 
 # Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
 RUN git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
@@ -85,7 +85,7 @@ RUN ln -s /usr/bin/ccache /usr/lib/ccache/bin/arm-none-eabi-gcc \
 
 ENV CCACHE_MAXSIZE=1G
 ENV FASTRTPSGEN_DIR="/usr/local/bin/"
-ENV PATH "/usr/lib/ccache/bin:$PATH"
+ENV PATH="/usr/lib/ccache/bin:$PATH"
 ENV TERM=xterm
 
 # SITL UDP PORTS
diff --git a/docker/Dockerfile_base-bionic b/docker/Dockerfile_base-bionic
index 45775014..a1140c98 100644
--- a/docker/Dockerfile_base-bionic
+++ b/docker/Dockerfile_base-bionic
@@ -5,9 +5,9 @@
 FROM ubuntu:18.04
 LABEL maintainer="Daniel Agar <daniel@agar.ca>"
 
-ENV DEBIAN_FRONTEND noninteractive
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
 
 RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
 		bzip2 \
@@ -83,7 +83,7 @@ RUN wget -q "https://services.gradle.org/distributions/gradle-6.3-rc-4-bin.zip"
 	&& unzip -d /opt/gradle gradle-6.3-rc-4-bin.zip \
 	&& rm -rf /tmp/*
 
-ENV PATH "/opt/gradle/gradle-6.3-rc-4/bin:$PATH"
+ENV PATH="/opt/gradle/gradle-6.3-rc-4/bin:$PATH"
 
 # Fast-RTPS 1.8.4
 RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v1.8.4 /tmp/FastRTPS-1.8.4 \
@@ -107,7 +107,7 @@ RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout use
 RUN mkdir /tmp/.X11-unix && \
 	chmod 1777 /tmp/.X11-unix && \
 	chown -R root:root /tmp/.X11-unix
-ENV DISPLAY :99
+ENV DISPLAY=:99
 
 ENV CCACHE_UMASK=000
 ENV FASTRTPSGEN_DIR="/usr/local/bin/"
diff --git a/docker/Dockerfile_base-focal b/docker/Dockerfile_base-focal
deleted file mode 100644
index 86760234..00000000
--- a/docker/Dockerfile_base-focal
+++ /dev/null
@@ -1,134 +0,0 @@
-#
-# PX4 base development environment
-#
-
-FROM ubuntu:20.04
-LABEL maintainer="Daniel Agar <daniel@agar.ca>"
-
-ENV DEBIAN_FRONTEND noninteractive
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-
-RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
-		bzip2 \
-		ca-certificates \
-		ccache \
-		cmake \
-		cppcheck \
-		curl \
-		dirmngr \
-		doxygen \
-		file \
-		g++ \
-		gcc \
-		gdb \
-		git \
-		gnupg \
-		gosu \
-		lcov \
-		libfreetype6-dev \
-		libgtest-dev \
-		libpng-dev \
-		libssl-dev \
-		lsb-release \
-		make \
-		ninja-build \
-		openjdk-8-jdk \
-		openjdk-8-jre \
-		openssh-client \
-		pkg-config \
-		python3-dev \
-		python3-pip \
-		rsync \
-		shellcheck \
-		tzdata \
-		unzip \
-		valgrind \
-		wget \
-		xsltproc \
-		zip \
-	&& apt-get -y autoremove \
-	&& apt-get clean autoclean \
-	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-
-# gtest
-RUN cd /usr/src/gtest \
-	&& mkdir build && cd build \
-	&& cmake .. && make -j$(nproc) \
-	&& find . -name \*.a -exec cp {} /usr/lib \; \
-	&& cd .. && rm -rf build
-
-# Install Python 3 pip build dependencies first.
-RUN python3 -m pip install --upgrade pip wheel setuptools
-
-# Python 3 dependencies installed by pip
-RUN python3 -m pip install argparse argcomplete coverage cerberus empy jinja2 kconfiglib \
-		matplotlib==3.0.* numpy nunavut>=1.1.0 packaging pkgconfig pyros-genmsg pyulog \
-		pyyaml requests serial six toml psutil pyulog wheel jsonschema pynacl
-
-# manual ccache setup
-RUN ln -s /usr/bin/ccache /usr/lib/ccache/cc \
-	&& ln -s /usr/bin/ccache /usr/lib/ccache/c++
-
-# astyle v3.1
-RUN wget -q https://downloads.sourceforge.net/project/astyle/astyle/astyle%203.1/astyle_3.1_linux.tar.gz -O /tmp/astyle.tar.gz \
-	&& cd /tmp && tar zxf astyle.tar.gz && cd astyle/src \
-	&& make -f ../build/gcc/Makefile -j$(nproc) && cp bin/astyle /usr/local/bin \
-	&& rm -rf /tmp/*
-
-# Gradle (Required to build Fast-RTPS-Gen)
-RUN wget -q "https://services.gradle.org/distributions/gradle-6.3-rc-4-bin.zip" -O /tmp/gradle-6.3-rc-4-bin.zip \
-	&& mkdir /opt/gradle \
-	&& cd /tmp \
-	&& unzip -d /opt/gradle gradle-6.3-rc-4-bin.zip \
-	&& rm -rf /tmp/*
-
-ENV PATH "/opt/gradle/gradle-6.3-rc-4/bin:$PATH"
-
-# Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
-RUN git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
-	&& cd /tmp/foonathan_memory \
-	&& mkdir build && cd build \
-	&& cmake .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# Fast-DDS (Fast-RTPS 2.0.2)
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.0.2 /tmp/FastDDS-2.0.2 \
-	&& cd /tmp/FastDDS-2.0.2 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# Fast-RTPS-Gen 1.0.4
-RUN git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& cd /tmp/Fast-RTPS-Gen-1.0.4 \
-	&& gradle assemble \
-	&& gradle install \
-	&& rm -rf /tmp/*
-
-# create user with id 1001 (jenkins docker workflow default)
-RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
-
-# setup virtual X server
-RUN mkdir /tmp/.X11-unix && \
-	chmod 1777 /tmp/.X11-unix && \
-	chown -R root:root /tmp/.X11-unix
-ENV DISPLAY :99
-
-ENV CCACHE_UMASK=000
-ENV FASTRTPSGEN_DIR="/usr/local/bin/"
-ENV PATH="/usr/lib/ccache:$PATH"
-ENV TERM=xterm
-ENV TZ=UTC
-
-# SITL UDP PORTS
-EXPOSE 14556/udp
-EXPOSE 14557/udp
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_base-jammy b/docker/Dockerfile_base-noble
similarity index 73%
rename from docker/Dockerfile_base-jammy
rename to docker/Dockerfile_base-noble
index adcc2429..7a17c844 100644
--- a/docker/Dockerfile_base-jammy
+++ b/docker/Dockerfile_base-noble
@@ -1,13 +1,13 @@
 #
 # PX4 base development environment
 #
-
-FROM ubuntu:22.04
+ARG UBUNTU=24.04
+FROM ubuntu:${UBUNTU}
 LABEL maintainer="Ramon Roche <rroche@linuxfoundation.com>"
 
-ENV DEBIAN_FRONTEND noninteractive
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
 
 RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
     ant \
@@ -73,18 +73,30 @@ RUN cd /usr/src/gtest \
 	&& find . -name \*.a -exec cp {} /usr/lib \; \
 	&& cd .. && rm -rf build
 
-# Install Python 3 pip build dependencies first.
-RUN python3 -m pip install --upgrade pip wheel setuptools
-
 # Python 3 dependencies installed by pip
-RUN python3 -m pip install argparse argcomplete coverage cerberus empy jinja2 kconfiglib \
-    matplotlib>=3.0.* numpy nunavut>=1.1.0 packaging pkgconfig pyros-genmsg pyulog \
-    pyyaml requests serial six toml psutil pyulog wheel jsonschema pynacl lxml
+# RUN python3 -m pip install argparse argcomplete coverage cerberus empy jinja2 kconfiglib \
+#     matplotlib>=3.0.* numpy nunavut>=1.1.0 packaging pkgconfig pyros-genmsg pyulog \
+#     pyyaml requests serial six toml psutil pyulog wheel jsonschema pynacl lxml
 
-#RUN python3 -m pip install argcomplete argparse>=1.2 cerberus coverage empy>=3.3 future \
-  #jinja2>=2.8 jsonschema kconfiglib lxml matplotlib>=3.0.* numpy>=1.13 nunavut>=1.1.0 \
-  #packaging pandas>=0.21 pkgconfigpsutil pygments wheel>=0.31.1 pymavlink pyros-genmsg \
-  #pyserial pyulog>=0.5.0 pyyaml requests setuptools>=39.2.0 six>=1.12.0 toml>=0.9 sympy>=1.10.1
+# Python 3 dependencies
+RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
+	python3-argcomplete \
+	python3-coverage \
+	python3-cerberus \
+	python3-empy \
+	python3-jinja2 \
+	python3-matplotlib \
+	python3-numpy \
+	python3-packaging \
+	python3-pkgconfig \
+	python3-requests \
+	python3-serial \
+	python3-six \
+	python3-toml \
+	python3-psutil \
+	python3-wheel \
+	python3-jsonschema \
+	python3-lxml
 
 # manual ccache setup
 RUN ln -s /usr/bin/ccache /usr/lib/ccache/cc \
@@ -103,7 +115,7 @@ RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout use
 RUN mkdir /tmp/.X11-unix && \
 	chmod 1777 /tmp/.X11-unix && \
 	chown -R root:root /tmp/.X11-unix
-ENV DISPLAY :99
+ENV DISPLAY=:99
 
 ENV CCACHE_UMASK=000
 ENV FASTRTPSGEN_DIR="/usr/local/bin/"
diff --git a/docker/Dockerfile_nuttx-noble b/docker/Dockerfile_nuttx-noble
new file mode 100644
index 00000000..70d4e78c
--- /dev/null
+++ b/docker/Dockerfile_nuttx-noble
@@ -0,0 +1,49 @@
+#
+# PX4 NuttX development environment in Ubuntu 24.04 Noble
+#
+
+FROM px4io/px4-dev-base-noble:latest
+LABEL maintainer="Ramón Roche <rroche@linuxfoundation.org>"
+
+RUN apt-get update \
+	&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+		autoconf \
+		automake \
+		bison \
+		build-essential \
+		bzip2 \
+		file \
+		flex \
+		genromfs \
+		gperf \
+		libncurses-dev \
+		libtool \
+		pkg-config \
+		uncrustify \
+		vim-common \
+	&& apt-get -y autoremove \
+	&& apt-get clean autoclean \
+	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+# GNU Arm Embedded Toolchain: 10.3-2021.10 Released: October 21, 2021
+RUN mkdir -p /opt/gcc && cd /opt/gcc \
+	&& wget -qO- "https://developer.arm.com/-/media/Files/downloads/gnu-rm/10.3-2021.10/gcc-arm-none-eabi-10.3-2021.10-x86_64-linux.tar.bz2" | tar jx --strip 1 \
+	&& rm -rf /opt/gcc/share/doc
+
+ENV PATH="$PATH:/opt/gcc/bin"
+
+# manual ccache setup for arm-none-eabi-g++/arm-none-eabi-gcc
+RUN ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-g++ \
+	&& ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-gcc
+
+# nuttx tools
+RUN git clone --depth 1 https://bitbucket.org/nuttx/tools.git /tmp/tools \
+	&& cd /tmp/tools/kconfig-frontends \
+	&& autoreconf -f -i \
+	&& ./configure --enable-mconf --disable-nconf --disable-gconf --disable-qconf -prefix=/usr && make -j$(nproc) && make install \
+	&& rm -rf /tmp/*
+
+# bloaty - https://github.com/google/bloaty
+RUN git clone --recursive https://github.com/google/bloaty.git /tmp/bloaty \
+	&& cd /tmp/bloaty && cmake -GNinja . && ninja -j $(nproc) bloaty && cp bloaty /usr/local/bin/ \
+	&& rm -rf /tmp/*
diff --git a/docker/Dockerfile_nuttx_clang b/docker/Dockerfile_nuttx_clang
index e82bdfc0..449d1786 100644
--- a/docker/Dockerfile_nuttx_clang
+++ b/docker/Dockerfile_nuttx_clang
@@ -22,5 +22,5 @@ RUN mkdir -p /opt/gcc && cd /opt/gcc && \
 RUN ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-g++ \
 	&& ln -s /usr/bin/ccache /usr/lib/ccache/arm-none-eabi-gcc
 
-ENV PATH "$PATH:/opt/gcc/bin"
+ENV PATH="$PATH:/opt/gcc/bin"
 ENV CCACHE_CPP2=1
diff --git a/docker/Dockerfile_ros-melodic b/docker/Dockerfile_ros-melodic
index a12ea4b8..90106c95 100644
--- a/docker/Dockerfile_ros-melodic
+++ b/docker/Dockerfile_ros-melodic
@@ -5,7 +5,7 @@
 FROM px4io/px4-dev-simulation-bionic:2021-09-08
 LABEL maintainer="Nuno Marques <n.marques21@hotmail.com>"
 
-ENV ROS_DISTRO melodic
+ENV ROS_DISTRO=melodic
 
 # setup ros keys
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
@@ -45,9 +45,9 @@ RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main"
 # to compile using catkin without it.
 RUN pip install wheel setuptools
 # FIXME: regression in control>0.8.4 (used by px4tools) does not run on Python 2.
-RUN pip install argcomplete argparse catkin_pkg catkin-tools cerberus coverage \
-    empy jinja2 matplotlib==2.2.* numpy pkgconfig control==0.8.4 px4tools pygments \
-    pymavlink packaging pyros-genmsg pyulog==0.8.0 pyyaml requests rosdep rospkg \
+RUN pip install argcomplete argparse catkin_pkg catkin-tools coverage \
+    empy jinja2 matplotlib==2.2.* numpy pkgconfig control==0.8.4 pygments \
+    packaging pyros-genmsg pyulog==0.8.0 pyyaml requests rosdep rospkg \
     serial six toml jsonschema==2.6.0
 
 # bootstrap rosdep
diff --git a/docker/Dockerfile_ros-noetic b/docker/Dockerfile_ros-noetic
index 44988b82..eb535b2f 100644
--- a/docker/Dockerfile_ros-noetic
+++ b/docker/Dockerfile_ros-noetic
@@ -5,7 +5,7 @@
 FROM px4io/px4-dev-simulation-focal:2021-09-08
 LABEL maintainer="Nuno Marques <n.marques21@hotmail.com>"
 
-ENV ROS_DISTRO noetic
+ENV ROS_DISTRO=noetic
 
 # setup ros keys
 RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
diff --git a/docker/Dockerfile_ros2-rolling b/docker/Dockerfile_ros2
similarity index 62%
rename from docker/Dockerfile_ros2-rolling
rename to docker/Dockerfile_ros2
index 5e6f7703..7dd99272 100644
--- a/docker/Dockerfile_ros2-rolling
+++ b/docker/Dockerfile_ros2
@@ -7,18 +7,18 @@
 # and by maintainers who want their packages released and ready for the next
 # stable distribution." - in https://docs.ros.org/en/foxy/Releases/Release-Rolling-Ridley.html
 #
-
-FROM px4io/px4-dev-base-focal:2021-09-08
+ARG BASE=px4io/px4-dev-base-jammy
+FROM ${BASE}
 LABEL maintainer="Nuno Marques <nuno.marques@dronesolutions.io>"
 
 # setup environment
-ENV ROS_DISTRO rolling
+ARG ROS_DISTRO=rolling
 
 # setup ros2 keys
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-
-# setup sources.list
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+RUN ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') && \
+	curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" && \
+	apt-get install -y /tmp/ros2-apt-source.deb
 
 # install bootstrap tools
 RUN apt-get update \
@@ -42,19 +42,19 @@ RUN apt-get install --quiet --no-install-recommends -y \
 	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 
 # Install Python 3 packages needed for testing
-RUN pip3 install -U \
-		argcomplete \
-		flake8 \
-		flake8-blind-except \
-		flake8-builtins \
-		flake8-class-newline \
-		flake8-comprehensions \
-		flake8-deprecated \
-		flake8-docstrings \
-		flake8-import-order \
-		flake8-quotes \
-		pytest-repeat \
-		pytest-rerunfailures
+RUN apt-get install --quiet --no-install-recommends -y \
+    python3-argcomplete \
+    python3-flake8 \
+    python3-flake8-blind-except \
+    python3-flake8-builtins \
+    python3-flake8-class-newline \
+    python3-flake8-comprehensions \
+    python3-flake8-deprecated \
+    python3-flake8-docstrings \
+    python3-flake8-import-order \
+    python3-flake8-quotes \
+    python3-pytest-repeat \
+    python3-pytest-rerunfailures
 
 # bootstrap rosdep
 RUN rosdep init && rosdep update
@@ -67,13 +67,13 @@ RUN colcon mixin add default \
 		https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml \
 	&& colcon metadata update
 
-# Install Fast-DDS 2.3.1
-RUN rm -rf /usr/local/include/fastrtps /usr/local/share/fastrtps /usr/local/lib/libfastrtps* \
-	&& git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.3.1 /tmp/FastRTPS-2.3.1 \
-	&& cd /tmp/FastRTPS-2.3.1 \
+# Install Micro-XRCE-DDS-Agent
+RUN git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git /tmp/micro-xrce-dds-agent \
+    && cd /tmp/micro-xrce-dds-agent \
 	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
+	&& cmake .. \
+	&& make -j $(nproc) && make install \
+	&& ldconfig /usr/local/lib \
 	&& rm -rf /tmp/*
 
 # create and start as LOCAL_USER_ID
diff --git a/docker/Dockerfile_ros2-dashing b/docker/Dockerfile_ros2-dashing
index 298af757..eca6c27f 100644
--- a/docker/Dockerfile_ros2-dashing
+++ b/docker/Dockerfile_ros2-dashing
@@ -7,7 +7,7 @@ FROM px4io/px4-dev-ros-melodic:2021-09-08
 LABEL maintainer="Nuno Marques <nuno.marques@dronesolutions.io>"
 
 # setup environment
-ENV ROS_DISTRO dashing
+ENV ROS_DISTRO=dashing
 
 # setup ros2 keys
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
diff --git a/docker/Dockerfile_ros2-eloquent b/docker/Dockerfile_ros2-eloquent
index 946b5bc8..0dcd14c4 100644
--- a/docker/Dockerfile_ros2-eloquent
+++ b/docker/Dockerfile_ros2-eloquent
@@ -7,7 +7,7 @@ FROM px4io/px4-dev-ros-melodic:2021-09-08
 LABEL maintainer="Nuno Marques <nuno.marques@dronesolutions.io>"
 
 # setup environment
-ENV ROS_DISTRO eloquent
+ENV ROS_DISTRO=eloquent
 
 # setup ros2 keys
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
diff --git a/docker/Dockerfile_ros2-foxy b/docker/Dockerfile_ros2-foxy
index 6486a9e4..1282ee27 100644
--- a/docker/Dockerfile_ros2-foxy
+++ b/docker/Dockerfile_ros2-foxy
@@ -7,7 +7,7 @@ FROM px4io/px4-dev-ros-noetic:2021-09-08
 LABEL maintainer="Nuno Marques <nuno.marques@dronesolutions.io>"
 
 # setup environment
-ENV ROS_DISTRO foxy
+ENV ROS_DISTRO=foxy
 
 # setup ros2 keys
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
diff --git a/docker/Dockerfile_ros2-galactic b/docker/Dockerfile_ros2-galactic
deleted file mode 100644
index b3448889..00000000
--- a/docker/Dockerfile_ros2-galactic
+++ /dev/null
@@ -1,78 +0,0 @@
-#
-# PX4 ROS2 Galactic development environment
-# Based from container under https://github.com/osrf/docker_images/tree/master/ros2/source/devel
-#
-
-FROM px4io/px4-dev-base-focal:2021-09-08
-LABEL maintainer="Nuno Marques <nuno.marques@dronesolutions.io>"
-
-# setup environment
-ENV ROS_DISTRO galactic
-
-# setup ros2 keys
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-
-# setup sources.list
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
-# install bootstrap tools
-RUN apt-get update \
-	&& apt-get install --quiet -y \
-		python3-colcon-common-extensions \
-		python3-colcon-mixin \
-		python3-rosdep \
-		python3-vcstool \
-	&& apt-get -y autoremove \
-	&& apt-get clean autoclean \
-	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-
-# install ros2 desktop
-RUN apt-get install --quiet --no-install-recommends -y \
-		ros-$ROS_DISTRO-desktop \
-		ros-$ROS_DISTRO-launch-testing-ament-cmake \
-		ros-$ROS_DISTRO-ros2bag \
-		ros-$ROS_DISTRO-rosidl-generator-dds-idl \
-	&& apt-get -y autoremove \
-	&& apt-get clean autoclean \
-	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
-
-# Install Python 3 packages needed for testing
-RUN pip3 install -U \
-		argcomplete \
-		flake8 \
-		flake8-blind-except \
-		flake8-builtins \
-		flake8-class-newline \
-		flake8-comprehensions \
-		flake8-deprecated \
-		flake8-docstrings \
-		flake8-import-order \
-		flake8-quotes \
-		pytest-repeat \
-		pytest-rerunfailures
-
-# bootstrap rosdep
-RUN rosdep init && rosdep update
-
-# setup colcon mixin and metadata
-RUN colcon mixin add default \
-		https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml \
-	&& colcon mixin update \
-	&& colcon metadata add default \
-		https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml \
-	&& colcon metadata update
-
-# Install Fast-DDS 2.3.1
-RUN rm -rf /usr/local/include/fastrtps /usr/local/share/fastrtps /usr/local/lib/libfastrtps* \
-	&& git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.3.1 /tmp/FastRTPS-2.3.1 \
-	&& cd /tmp/FastRTPS-2.3.1 \
-	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
-	&& rm -rf /tmp/*
-
-# create and start as LOCAL_USER_ID
-COPY scripts/entrypoint.sh /usr/local/bin/entrypoint.sh
-ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
-
-CMD ["/bin/bash"]
diff --git a/docker/Dockerfile_simulation-bionic b/docker/Dockerfile_simulation-bionic
index 36e7e8e2..03cf98fe 100644
--- a/docker/Dockerfile_simulation-bionic
+++ b/docker/Dockerfile_simulation-bionic
@@ -5,8 +5,8 @@
 FROM px4io/px4-dev-base-bionic:2021-09-08
 LABEL maintainer="Daniel Agar <daniel@agar.ca>"
 
-RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - \
-	&& sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+	&& echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
 	&& apt-get update \
 	&& DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		ant \
@@ -17,7 +17,6 @@ RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add
 		gstreamer1.0-plugins-good \
 		gstreamer1.0-plugins-ugly \
 		libeigen3-dev \
-		libgazebo9-dev \
 		libgstreamer-plugins-base1.0-dev \
 		libimage-exiftool-perl \
 		libopencv-dev \
@@ -29,7 +28,7 @@ RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add
 	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 
 # Some QT-Apps/Gazebo don't not show controls without this
-ENV QT_X11_NO_MITSHM 1
+ENV QT_X11_NO_MITSHM=1
 
 # Use UTF8 encoding in java tools (needed to compile jMAVSim)
 ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
diff --git a/docker/Dockerfile_simulation-focal b/docker/Dockerfile_simulation-focal
index 2bcbb2cb..6dd2a44d 100644
--- a/docker/Dockerfile_simulation-focal
+++ b/docker/Dockerfile_simulation-focal
@@ -33,7 +33,7 @@ RUN wget --quiet http://packages.osrfoundation.org/gazebo.key -O - | apt-key add
 	&& rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 
 # Some QT-Apps/Gazebo don't not show controls without this
-ENV QT_X11_NO_MITSHM 1
+ENV QT_X11_NO_MITSHM=1
 
 # Use UTF8 encoding in java tools (needed to compile jMAVSim)
 ENV JAVA_TOOL_OPTIONS=-Dfile.encoding=UTF8
diff --git a/docker/Makefile b/docker/Makefile
index 7d7698cf..6e3d7b17 100644
--- a/docker/Makefile
+++ b/docker/Makefile
@@ -1,16 +1,18 @@
 .PHONY: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \
 		px4-dev-base-focal, px4-dev-base-jammy, px4-dev-clang, px4-dev-nuttx-bionic, \
-		px4-dev-nuttx-focal, px4-dev-nuttx-jammy, px4-dev-nuttx-clang, px4-dev-raspi, \
+		px4-dev-nuttx-focal, px4-dev-nuttx-jammy, px4-dev-nuttx-noble, px4-dev-nuttx-clang, px4-dev-raspi, \
 		px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing, \
-		px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \
-		px4-dev-ros2-rolling, px4-dev-simulation-bionic, px4-dev-simulation-focal, \
+		px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, px4-dev-ros2-humble, \
+		px4-dev-ros2-iron, px4-dev-ros2-jazzy, px4-dev-ros2-kilted, px4-dev-ros2-rolling, \
+		px4-dev-simulation-bionic, px4-dev-simulation-focal, \
 		px4-docs
 
 all: px4-dev-armhf, px4-dev-base-archlinux, px4-dev-base-bionic, \
 		px4-dev-base-focal, px4-dev-base-jammy, px4-dev-clang, px4-dev-nuttx-bionic, \
-		px4-dev-nuttx-focal, px4-dev-nuttx-jammy, px4-dev-nuttx-clang, px4-dev-raspi, \
+		px4-dev-nuttx-focal, px4-dev-nuttx-jammy, px4-dev-nutts-noble, px4-dev-nuttx-clang, px4-dev-raspi, \
 		px4-dev-ros-melodic, px4-dev-ros-noetic, px4-dev-ros2-dashing,\
-		px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, \
+		px4-dev-ros2-eloquent, px4-dev-ros2-foxy, px4-dev-ros2-galactic, px4-dev-ros2-humble, \
+		px4-dev-ros2-iron, px4-dev-ros2-jazzy, px4-dev-ros2-kilted, \
 		px4-dev-ros2-rolling, px4-dev-simulation-bionic, px4-dev-simulation-focal, \
 		px4-docs
 
@@ -27,10 +29,13 @@ px4-dev-base-bionic:
 	docker build -t px4io/px4-dev-base-bionic . -f Dockerfile_base-bionic
 
 px4-dev-base-focal:
-	docker build -t px4io/px4-dev-base-focal . -f Dockerfile_base-focal
+	docker build -t px4io/px4-dev-base-focal . -f Dockerfile_base-noble --build-arg="UBUNTU=20.04"
 
 px4-dev-base-jammy:
-	docker build -t px4io/px4-dev-base-jammy . -f Dockerfile_base-jammy
+	docker build -t px4io/px4-dev-base-jammy . -f Dockerfile_base-noble --build-arg="UBUNTU=22.04"
+
+px4-dev-base-noble:
+	docker build -t px4io/px4-dev-base-noble . -f Dockerfile_base-noble --build-arg="UBUNTU=24.04"
 
 px4-dev-clang: px4-dev-base-bionic
 	docker build -t px4io/px4-dev-clang . -f Dockerfile_clang
@@ -44,6 +49,9 @@ px4-dev-nuttx-focal: px4-dev-base-focal
 px4-dev-nuttx-jammy: px4-dev-base-jammy
 	docker build -t px4io/px4-dev-nuttx-jammy . -f Dockerfile_nuttx-jammy
 
+px4-dev-nuttx-noble: px4-dev-base-noble
+	docker build -t px4io/px4-dev-nuttx-noble . -f Dockerfile_nuttx-noble
+
 px4-dev-nuttx-clang: px4-dev-clang
 	docker build -t px4io/px4-dev-nuttx-clang . -f Dockerfile_nuttx_clang
 
@@ -65,11 +73,23 @@ px4-dev-ros2-eloquent: px4-dev-ros-melodic
 px4-dev-ros2-foxy: px4-dev-ros-noetic
 	docker build -t px4io/px4-dev-ros2-foxy . -f Dockerfile_ros2-foxy
 
-px4-dev-ros2-rolling: px4-dev-base-focal
-	docker build -t px4io/px4-dev-ros2-rolling . -f Dockerfile_ros2-rolling
+px4-dev-ros2-humble: px4-dev-base-jammy
+	docker build -t px4io/px4-dev-ros2-humble -f Dockerfile_ros2 --build-arg="ROS_DISTRO=humble" --build-arg="BASE=px4io/px4-dev-base-jammy" .
 
 px4-dev-ros2-galactic: px4-dev-base-focal
-	docker build -t px4io/px4-dev-ros2-galactic . -f Dockerfile_ros2-galactic
+	docker build -t px4io/px4-dev-ros2-galactic -f Dockerfile_ros2 --build-arg="ROS_DISTRO=galactic" --build-arg="BASE=px4io/px4-dev-base-focal" .
+
+px4-dev-ros2-iron: px4-dev-base-jammy
+	docker build -t px4io/px4-dev-ros2-iron -f Dockerfile_ros2 --build-arg="ROS_DISTRO=iron" --build-arg="BASE=px4io/px4-dev-base-jammy" .
+
+px4-dev-ros2-jazzy: px4-dev-base-noble
+	docker build -t px4io/px4-dev-ros2-jazzy -f Dockerfile_ros2 --build-arg="ROS_DISTRO=jazzy" --build-arg="BASE=px4io/px4-dev-base-noble" .
+
+px4-dev-ros2-kilted: px4-dev-base-noble
+	docker build -t px4io/px4-dev-ros2-kilted -f Dockerfile_ros2 --build-arg="ROS_DISTRO=kilted" --build-arg="BASE=px4io/px4-dev-base-noble" .
+
+px4-dev-ros2-rolling: px4-dev-base-noble
+	docker build -t px4io/px4-dev-ros2-rolling -f Dockerfile_ros2 --build-arg="ROS_DISTRO=rolling" --build-arg="BASE=px4io/px4-dev-base-jammy" .
 
 px4-dev-simulation-bionic: px4-dev-base-bionic
 	docker build -t px4io/px4-dev-simulation-bionic . -f Dockerfile_simulation-bionic