diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 00000000000..e7673cd2eea
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,62 @@
+name: Docker
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    paths:
+      - 'docker/Dockerfile'
+      - '.github/workflows/docker.yml'
+  release:
+    types:
+      - released
+
+jobs:
+  ci:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [focal, jammy]
+    env:
+      REGISTRY: ghcr.io
+      IMAGE_NAME: ${{ github.repository }}
+      PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract Docker meta-information
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          flavor: |
+            latest=false
+            prefix=
+            suffix=
+          tags: |
+            type=ref,event=branch,prefix=${{ matrix.distro }}-
+            type=ref,event=pr,prefix=${{ matrix.distro }}-
+            type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.distro }}-
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/Dockerfile
+          build-args: TAG=${{ matrix.distro }}
+          push: ${{ env.PUSH_DOCKER_IMAGE }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
diff --git a/.github/workflows/ubuntu_ici.yml b/.github/workflows/ubuntu_ici.yml
deleted file mode 100644
index f4d5e197e29..00000000000
--- a/.github/workflows/ubuntu_ici.yml
+++ /dev/null
@@ -1,101 +0,0 @@
-name: Ubuntu
-
-on:
-  pull_request:
-    paths:
-      - '.github/workflows/ubuntu_ci.yml'
-      - '**.repos'
-  release:
-    types:
-      - released
-
-jobs:
-  ci:
-    name: ${{ matrix.distro }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        distro: [focal, jammy]
-    env:
-      CCACHE_DIR: "${{ github.workspace }}/${{ matrix.distro }}/.ccache"
-      REGISTRY: ghcr.io
-      IMAGE_NAME: ${{ github.repository }}
-      PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v2
-
-      - name: Free disk space
-        continue-on-error: true
-        run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
-
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/cache@v1.1.0
-        with:
-          path: ${{ matrix.distro }}/.ccache
-          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ matrix.distro }}-ccache-
-
-      - name: Login to Github container registry
-        uses: docker/login-action@v1
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract Docker meta-information
-        id: meta
-        uses: docker/metadata-action@v3
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-          flavor: |
-            latest=false
-            prefix=
-            suffix=
-          tags: |
-            type=ref,event=branch,prefix=${{ matrix.distro }}-
-            type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.distro }}-
-
-      - name: Set build type
-        run: |
-          if [[ "${{ env.PUSH_DOCKER_IMAGE }}" = true ]]
-          then
-            echo "BUILD_TYPE=Release" >> $GITHUB_ENV
-          else
-            echo "BUILD_TYPE=Debug" >> $GITHUB_ENV
-          fi
-
-      - name: Build repository
-        uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env:
-          DOCKER_IMAGE: ubuntu:${{ matrix.distro }}
-          ROS_DISTRO: false
-          ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev'
-          AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
-          UPSTREAM_WORKSPACE: 'dependencies.repos'
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
-          PREFIX: ${{ github.repository }}_
-          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DTESSERACT_ENABLE_TESTING=ON"
-          BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source $BASEDIR/${PREFIX}target_ws/install/setup.bash"
-          AFTER_SCRIPT: 'rm -r $BASEDIR/${PREFIX}upstream_ws/build $BASEDIR/${PREFIX}target_ws/build'
-          DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}
-
-      - name: Push post-build Docker
-        if: ${{ env.PUSH_DOCKER_IMAGE  == 'true' }}
-        run: docker push ${{ steps.meta.outputs.tags }}