diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index cdf7b0dee..d5f3f56d1 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -29,7 +29,7 @@ jobs:
           push: true
           build-args: |
             ROS_DISTRO=${{ matrix.ros_distribution }}
-          tags: ghcr.io/${{ github.repository }}/minimal-rmf:${{ matrix.ros_distribution }}
+          tags: ghcr.io/${{ github.repository }}/minimal-rmf:${{ matrix.ros_distribution }}-nightly
           context: .github/minimal-rmf
   build-dashboard-image:
     needs: build-minimal-rmf-docker-images
@@ -76,8 +76,10 @@ jobs:
           push: true
           build-args: |
             ROS_DISTRO=${{ matrix.ros_distribution }}
-            BASE_IMAGE=ghcr.io/${{ github.repository }}/minimal-rmf:${{ matrix.ros_distribution }}
-          tags: ghcr.io/${{ github.repository }}/api-server:${{ matrix.ros_distribution }}
+            BASE_IMAGE=ghcr.io/${{ github.repository }}/minimal-rmf:${{ matrix.ros_distribution }}-nightly
+          tags: |
+            ghcr.io/${{ github.repository }}/api-server:${{ matrix.ros_distribution }}-nightly
+            ${{ matrix.ros_distribution == 'jazzy' && format('ghcr.io/{0}/api-server:latest', github.repository) || null}}
           context: .github/api-server
   # dashboard-e2e:
   #   strategy:
diff --git a/README.md b/README.md
index f2e5db797..998bb57df 100644
--- a/README.md
+++ b/README.md
@@ -32,16 +32,17 @@ docker run \
 > **Note**
 > The demo dashboard assumes that the api server is hosted locally on the default ports.
 
-Start the API server with host network access, and set up the correct `ROS_DOMAIN_ID` and ROS 2 RMW implementation that will be used in the rest of the Open-RMF system. The API server will use the default port at `localhost:8000`.
+Start the API server with host network access, and set up the correct `ROS_DOMAIN_ID` and ROS 2 RMW implementation (The images currently have `rmw_fastrtps_cpp` and `rmw_cyclonedds_cpp` installed and supported) that will be used in the rest of the Open-RMF system. The API server will use the default port at `localhost:8000`.
 
 ```bash
 docker run \
   --network host -it --rm \
   -e ROS_DOMAIN_ID=<ROS_DOMAIN_ID> \
   -e RMW_IMPLEMENTATION=<RMW_IMPLEMENTATION> \
-  ghcr.io/open-rmf/rmf-web/api-server:jazzy
+  ghcr.io/open-rmf/rmf-web/api-server:latest
 
-# For ROS 2 Rolling, use ghcr.io/open-rmf/rmf-web/api-server:rolling
+# The latest tag would be the same as jazzy
+# For ROS 2 Rolling, use ghcr.io/open-rmf/rmf-web/api-server:rolling-nightly
 ```
 
 > **Note**