diff --git a/.docker/build.bash b/.docker/build.bash
new file mode 100755
index 0000000..3f12d04
--- /dev/null
+++ b/.docker/build.bash
@@ -0,0 +1,27 @@
+#!/usr/bin/env bash
+
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+PROJECT_DIR="$(dirname "${SCRIPT_DIR}")"
+
+TAG="cacdar/$(basename "${PROJECT_DIR}")"
+
+if [ "${#}" -gt "0" ]; then
+    if [[ "${1}" != "-"* ]]; then
+        TAG="${TAG}:${1}"
+        BUILD_ARGS=${*:2}
+    else
+        BUILD_ARGS=${*:1}
+    fi
+fi
+
+DOCKER_BUILD_CMD=(
+    docker build
+    "${PROJECT_DIR}"
+    --tag "${TAG}"
+    "${BUILD_ARGS}"
+)
+
+echo -e "\033[1;30m${DOCKER_BUILD_CMD[*]}\033[0m" | xargs
+
+# shellcheck disable=SC2048
+exec ${DOCKER_BUILD_CMD[*]}
diff --git a/.docker/devel.bash b/.docker/devel.bash
new file mode 100755
index 0000000..2f84f45
--- /dev/null
+++ b/.docker/devel.bash
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+
+SCRIPT_DIR="$(cd "$(dirname "$(readlink -f "${BASH_SOURCE[0]}")")" &>/dev/null && pwd)"
+PROJECT_DIR="$(dirname "${SCRIPT_DIR}")"
+
+DOCKER_HOME="/root"
+DOCKER_WS_DIR="${DOCKER_HOME}/ws"
+DOCKER_WS_SRC_DIR="${DOCKER_WS_DIR}/src"
+DOCKER_TARGET_SRC_DIR="${DOCKER_WS_SRC_DIR}/$(basename "${PROJECT_DIR}")"
+
+echo -e "\033[2;37mDevelopment volume: ${PROJECT_DIR} -> ${DOCKER_TARGET_SRC_DIR}\033[0m" | xargs
+
+exec "${SCRIPT_DIR}/run.bash" -v "${PROJECT_DIR}:${DOCKER_TARGET_SRC_DIR}" "${@}"
diff --git a/.docker/run.bash b/.docker/run.bash
new file mode 100755
index 0000000..1825666
--- /dev/null
+++ b/.docker/run.bash
@@ -0,0 +1,122 @@
+#!/usr/bin/env bash
+
+TAG="cacdar/drawing-robot-ros2"
+
+
+## Forward custom volumes and environment variables
+CUSTOM_VOLUMES=()
+CUSTOM_ENVS=()
+while getopts ":v:e:" opt; do
+    case "${opt}" in
+        v) CUSTOM_VOLUMES+=("${OPTARG}") ;;
+        e) CUSTOM_ENVS+=("${OPTARG}") ;;
+        *)
+            echo >&2 "Usage: ${0} [-v VOLUME] [-e ENV] [TAG] [CMD]"
+            exit 2
+            ;;
+    esac
+done
+shift "$((OPTIND - 1))"
+
+## Determine TAG and CMD positional arguments
+if [ "${#}" -gt "0" ]; then
+    if [[ $(docker images --format "{{.Tag}}" "${TAG}") =~ (^|[[:space:]])${1}($|[[:space:]]) || $(wget -q https://registry.hub.docker.com/v2/repositories/${TAG}/tags -O - | grep -Poe '(?<=(\"name\":\")).*?(?=\")') =~ (^|[[:space:]])${1}($|[[:space:]]) ]]; then
+        # Use the first argument as a tag is such tag exists either locally or on the remote registry
+        TAG="${TAG}:${1}"
+        CMD=${*:2}
+    else
+        CMD=${*:1}
+    fi
+fi
+
+## GPU
+LS_HW_DISPLAY=$(lshw -short -C display 2> /dev/null | grep display)
+if [[ ${LS_HW_DISPLAY^^} =~ NVIDIA ]]; then
+    # Enable GPU either via NVIDIA Container Toolkit or NVIDIA Docker (depending on Docker version)
+    if dpkg --compare-versions "$(docker version --format '{{.Server.Version}}')" gt "19.3"; then
+        GPU_OPT="--gpus all"
+    else
+        GPU_OPT="--runtime nvidia"
+    fi
+    GPU_ENVS=(
+        NVIDIA_VISIBLE_DEVICES="all"
+        NVIDIA_DRIVER_CAPABILITIES="compute,utility,graphics"
+    )
+fi
+
+## GUI
+# To enable GUI, make sure processes in the container can connect to the x server
+XAUTH=/tmp/.docker.xauth
+if [ ! -f ${XAUTH} ]; then
+    touch ${XAUTH}
+    chmod a+r ${XAUTH}
+
+    XAUTH_LIST=$(xauth nlist "${DISPLAY}")
+    if [ -n "${XAUTH_LIST}" ]; then
+        # shellcheck disable=SC2001
+        XAUTH_LIST=$(sed -e 's/^..../ffff/' <<<"${XAUTH_LIST}")
+        echo "${XAUTH_LIST}" | xauth -f ${XAUTH} nmerge -
+    fi
+fi
+# GUI-enabling volumes
+GUI_VOLUMES=(
+    "${XAUTH}:${XAUTH}"
+    "/tmp/.X11-unix:/tmp/.X11-unix"
+    "/dev/input:/dev/input"
+)
+# GUI-enabling environment variables
+GUI_ENVS=(
+    XAUTHORITY="${XAUTH}"
+    QT_X11_NO_MITSHM=1
+    DISPLAY="${DISPLAY}"
+)
+
+## Additional volumes
+# Synchronize timezone with host
+CUSTOM_VOLUMES+=("/etc/localtime:/etc/localtime:ro")
+
+## Additional environment variables
+# Synchronize ROS_DOMAIN_ID with host
+if [ -n "${ROS_DOMAIN_ID}" ]; then
+    CUSTOM_ENVS+=("ROS_DOMAIN_ID=${ROS_DOMAIN_ID}")
+fi
+# Synchronize IGN_PARTITION with host
+if [ -n "${IGN_PARTITION}" ]; then
+    CUSTOM_ENVS+=("IGN_PARTITION=${IGN_PARTITION}")
+fi
+# Synchronize RMW configuration with host
+if [ -n "${RMW_IMPLEMENTATION}" ]; then
+    CUSTOM_ENVS+=("RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}")
+fi
+if [ -n "${CYCLONEDDS_URI}" ]; then
+    CUSTOM_ENVS+=("CYCLONEDDS_URI=${CYCLONEDDS_URI}")
+    CUSTOM_VOLUMES+=("${CYCLONEDDS_URI//file:\/\//}:${CYCLONEDDS_URI//file:\/\//}:ro")
+fi
+if [ -n "${FASTRTPS_DEFAULT_PROFILES_FILE}" ]; then
+    CUSTOM_ENVS+=("FASTRTPS_DEFAULT_PROFILES_FILE=${FASTRTPS_DEFAULT_PROFILES_FILE}")
+    CUSTOM_VOLUMES+=("${FASTRTPS_DEFAULT_PROFILES_FILE}:${FASTRTPS_DEFAULT_PROFILES_FILE}:ro")
+fi
+
+DOCKER_RUN_CMD=(
+    docker run
+    --interactive
+    --tty
+    --rm
+    --network host
+    --ipc host
+    --privileged
+    --security-opt "seccomp=unconfined"
+    "${GUI_VOLUMES[@]/#/"--volume "}"
+    "${GUI_ENVS[@]/#/"--env "}"
+    "${GPU_OPT}"
+    "${GPU_ENVS[@]/#/"--env "}"
+    "${CUSTOM_VOLUMES[@]/#/"--volume "}"
+    "${CUSTOM_ENVS[@]/#/"--env "}"
+    "${TAG}"
+    "${CMD}"
+)
+
+echo -e "\033[1;30m${DOCKER_RUN_CMD[*]}\033[0m" | xargs
+
+# shellcheck disable=SC2048
+exec ${DOCKER_RUN_CMD[*]}
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..0b432da
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,7 @@
+# Colcon
+**/build
+**/install
+**/log
+
+# Python
+**/__pycache__