diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 164e2aec9..08c740f65 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -10,6 +10,9 @@ jobs:
   build-minimal-rmf-docker-images:
     name: Push minimal-rmf Docker image to GitHub Packages
     runs-on: ubuntu-24.04
+    strategy:
+      matrix:
+        ros_distribution: [jazzy, rolling]
     steps:
       - uses: actions/checkout@v4
       - name: Set up Docker Buildx
@@ -24,11 +27,13 @@ jobs:
         uses: docker/build-push-action@v5
         with:
           push: true
-          tags: ghcr.io/${{ github.repository }}/minimal-rmf
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+          tags: ghcr.io/${{ github.repository }}/minimal-rmf:${{ matrix.ros_distribution }}
           context: .github/minimal-rmf
-  build-docker-images:
+  build-dashboard-image:
     needs: build-minimal-rmf-docker-images
-    name: Push Docker images to GitHub Packages
+    name: Push Dashboard docker image to GitHub Packages
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
@@ -45,17 +50,34 @@ jobs:
         with:
           push: true
           build-args: |
-            BASE_IMAGE=ghcr.io/${{ github.repository }}/minimal-rmf:latest
-          tags: ghcr.io/${{ github.repository }}/dashboard
+            BASE_IMAGE=ghcr.io/${{ github.repository }}/minimal-rmf:rolling
+          tags: ghcr.io/${{ github.repository }}/dashboard:latest
           context: .github/dashboard
+  build-api-server-image:
+    needs: build-minimal-rmf-docker-images
+    name: Push API server docker image to GitHub Packages
+    runs-on: ubuntu-24.04
+    strategy:
+      matrix:
+        ros_distribution: [jazzy, rolling]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      - name: Login to docker
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
       - name: Build and push api-server
         uses: docker/build-push-action@v5
         with:
           push: true
           build-args: |
-            BASE_IMAGE=ghcr.io/${{ github.repository }}/minimal-rmf:latest
-            ROS_DISTRO=jazzy
-          tags: ghcr.io/${{ github.repository }}/api-server
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+            BASE_IMAGE=ghcr.io/${{ github.repository }}/minimal-rmf:${{ matrix.ros_distribution }}
+          tags: ghcr.io/${{ github.repository }}/api-server:${{ matrix.ros_distribution }}
           context: .github/api-server
   # dashboard-e2e:
   #   strategy:
diff --git a/README.md b/README.md
index 9e06d8589..dd1689ce4 100644
--- a/README.md
+++ b/README.md
@@ -39,7 +39,9 @@ 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:latest
+  ghcr.io/open-rmf/rmf-web/api-server:jazzy
+
+# For ROS 2 Rolling, use ghcr.io/open-rmf/rmf-web/api-server:rolling
 ```
 
 > **Note**