diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..d06c93f
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,20 @@
+name: Build, test and push docker CI
+
+on:
+  push:
+    branches: [ 'master' ]
+
+jobs:
+  build-linux:
+    strategy:
+      max-parallel: 5
+      matrix:
+        os: [ubuntu-latest, ubuntu-22.04, ubuntu-20.04, ubuntu-18.04]
+        python-version: ["3.7", "3.8", "3.9", "3.10"]
+
+    runs-on: ${{matrix.os}}
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build, test, push base docker
+      run: cd docker && docker build -t rmdlo-trackdlo:noetic -f Dockerfile.noetic ..
\ No newline at end of file
diff --git a/docker/Dockerfile.noetic b/docker/Dockerfile.noetic
index b52cbb3..b36f2ab 100644
--- a/docker/Dockerfile.noetic
+++ b/docker/Dockerfile.noetic
@@ -43,13 +43,13 @@ RUN apt-get update && apt-get -y --no-install-recommends install \
   && apt-get clean
 
 # Install required Python components
-COPY docker/requirements.txt ${HOME}
+COPY ./docker/requirements.txt ${HOME}
 RUN python3 -m pip install -r ${HOME}/requirements.txt
 
 # Set up a catkin workspace
 ENV CATKIN_WS ${HOME}/tracking_ws
 COPY . ${CATKIN_WS}/src/trackdlo
-COPY docker/init_workspace.sh ${HOME}
+COPY ./docker/init_workspace.sh ${HOME}
 RUN ${CATKIN_WS}/src/trackdlo/docker/init_workspace.sh
 RUN echo "source ${CATKIN_WS}/devel/setup.bash" >> ${HOME}/.bashrc
 
diff --git a/docs/DOCKER.md b/docs/DOCKER.md
index ec3bcca..9f64bd9 100644
--- a/docs/DOCKER.md
+++ b/docs/DOCKER.md
@@ -14,24 +14,24 @@ The current configuration was tested on an x86 host computer running Ubuntu 20.0
 2. **Build the Docker Image**
    ```bash
    $ cd trackdlo/docker
-   $ docker build -t nvidia-dope:noetic-v1 -f Dockerfile.noetic ..
+   $ docker build -t rmdlo-trackdlo:noetic -f Dockerfile.noetic ..
    ```
-   This will take several minutes and requires an internet connection.
 
-3. **Plug in your camera**
+This will take several minutes and require connection to the internet. This command will install all dependencies and build the TrackDLO ROS workspace within the image.
+
+3. **Connect a Camera**
    Docker will not recognize a USB device that is plugged in after the container is started.
 
-4. **Run the container**
+4. **Run the Container**
    ```
-   $ ./run_dope_docker.sh [name] [host dir] [container dir]
+   $ ./run_docker.sh [name] [host dir] [container dir]
    ```
-   Parameters:
-   - `name` is an optional field that specifies the name of this image. By default, it is `nvidia-dope-v2`.  By using different names, you can create multiple containers from the same image.
-   - `host dir` and `container dir` are a pair of optional fields that allow you to specify a mapping between a directory on your host machine and a location inside the container.  This is useful for sharing code and data between the two systems.  By default, it maps the directory containing dope to `/root/catkin_ws/src/dope` in the container.
+   Optional Parameters:
+   - `name` specifies the name of the image. By default, it is `trackdlo`. Multiple containers can be created from the same image by changing this parameter.
+   - `host dir` and `container dir` map a directory on the host machine to a location inside the container. This enables sharing code and data between the two systems. By default, the `run_docker.sh` bash script maps the directory containing trackdlo to `/root/tracking_ws/src/trackdlo` in the container.
 
-      Only the first invocation of this script with a given name will create a container. Subsequent executions will attach to the running container allowing you -- in effect -- to have multiple terminal sessions into a single container.
+    Only the first call of this script with a given name will create a container. Subsequent executions will attach to the running container to enable running multiple terminal sessions in a single container.
 
-5. **Build DOPE**
-   Return to step 7 of the [installation instructions](../readme.md) (downloading the weights).
+   *Note:* Since the Docker container binds directly to the host's network, it will see `roscore` even if running outside the docker container.
 
-   *Note:* Since the Docker container binds directly to the host's network, it will see `roscore` even if running outside the docker container.
\ No newline at end of file
+For more information about using ROS with docker, see the ![ROS tutorial](http://wiki.ros.org/docker/Tutorials/Docker).
\ No newline at end of file
diff --git a/docs/RUN.md b/docs/RUN.md
index 348b329..676a23b 100644
--- a/docs/RUN.md
+++ b/docs/RUN.md
@@ -4,7 +4,7 @@ This guide contains information about required dependencies and how to run the T
 
 ## Minimum Requirements
 
-Installation and execution of TrackDLO was verified with the below dependencies.
+Installation and execution of TrackDLO was verified with the below dependencies on an Ubuntu 20.04 system with ROS Noetic.
 
 * [ROS Noetic](http://wiki.ros.org/noetic/Installation)
 * [Eigen3](https://eigen.tuxfamily.org/index.php?title=Main_Page) (Our version: 3.3.7)
@@ -16,6 +16,8 @@ Installation and execution of TrackDLO was verified with the below dependencies.
 * [Pillow](https://pillow.readthedocs.io/en/stable/installation.html) (Our version: 9.2.0)
 * [ROS Numpy](https://pypi.org/project/rosnumpy/) (Our version: 0.0.5)
 
+We also provide Docker files for compatibility with other system configurations, refer to the ![DOCKER.md](https://github.com/RMDLO/trackdlo/blob/master/docs/DOCKER.md) for more information.
+
 ## Other Requirements
 
 We used an Intel RealSense d435 camera in all of the experiments performed in our paper. 
@@ -37,6 +39,7 @@ The repository is organized into the following directories:
 First, clone the repository into a ROS workspace and build the package:
 
 ```bash
+$ cd YOUR_ROS_WORKSPACE/src
 $ git clone https://github.com/RMDLO/trackdlo.git
 $ catkin build trackdlo
 ```
@@ -87,7 +90,6 @@ roslaunch trackdlo realsense_node.launch
 $ roslaunch trackdlo trackdlo.launch
 ```
 
-
 ## Run TrackDLO with Recorded ROS Bag Data:
 1. Download the `.bag` files from [here](https://drive.google.com/drive/folders/1YjX-xfbNfm_G9FYbdw1voYxmd9VA-Aho?usp=sharing) and place them in your ROS workspace.
 2. Open a new terminal and run 
@@ -103,7 +105,6 @@ $ roslaunch trackdlo trackdlo.launch
 $ rosbag play <name_of_the_bag_file>.bag
 ```
 
-
 ## Data:
 
 To enable compatibility with different RGB-D camera models, we recently updated the package to work with depth images instead of ordered point clouds. We are working on recollecting the corresponding ROS `.bag` files and will share them shortly. For the time being, the original `.bag` files can still be found [here](https://drive.google.com/drive/folders/1YjX-xfbNfm_G9FYbdw1voYxmd9VA-Aho?usp=sharing).