diff --git a/.docker/Dockerfile.CI b/.docker/Dockerfile
similarity index 73%
rename from .docker/Dockerfile.CI
rename to .docker/Dockerfile
index 2f1f11d..e1518a4 100644
--- a/.docker/Dockerfile.CI
+++ b/.docker/Dockerfile
@@ -1,5 +1,8 @@
 ARG SCANCONTROL_SDK_VERSION=1.0.0
 
+################################################################################
+# Build .deb packages for Aravis and scanCONTROL SDK
+################################################################################
 FROM ubuntu:22.04 AS build
 
 ARG SCANCONTROL_SDK_VERSION
@@ -67,12 +70,16 @@ RUN mkdir /library_pkgs && \
     mv "/scanCONTROL-Linux-SDK/libmescan/builddir/mescan_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs && \
     mv "/scanCONTROL-Linux-SDK/libllt/builddir/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb" /library_pkgs
 
-FROM ros:humble-ros-core
+################################################################################
+# ros-core and Aravis + scanCONTROL SDK
+#   for use with CI
+################################################################################
+FROM ros:humble-ros-core AS scancontrol-core
 ARG SCANCONTROL_SDK_VERSION
 
 RUN apt-get update && apt-get install -y --no-install-recommends\
-    build-essential \
-    pkg-config \
+      build-essential \
+      pkg-config \
     && rm -rf /var/lib/apt/lists/*
 
 COPY --from=build ["/library_pkgs", "/library_pkgs"]
@@ -83,3 +90,17 @@ RUN apt-get update && \
     apt install /library_pkgs/llt_${SCANCONTROL_SDK_VERSION}-1_amd64.deb \
     && rm -rf /var/lib/apt/lists/*
 
+################################################################################
+# ros-base + Aravis + scanCONTROL SDK + RViz2
+#   for use as a base image in development or deployment
+################################################################################
+FROM scancontrol-core AS scancontrol-base
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install the base release + rviz2
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      ros-humble-ros-base \
+      ros-humble-rviz2 \
+      ros-humble-rviz-default-plugins \
+    && rm -rf /var/lib/apt/lists/*
diff --git a/.docker/Dockerfile.dev b/.docker/Dockerfile.dev
deleted file mode 100644
index c5fb4f6..0000000
--- a/.docker/Dockerfile.dev
+++ /dev/null
@@ -1,166 +0,0 @@
-###########################################
-# Base image
-###########################################
-FROM ubuntu:22.04 AS base
-
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Install language
-RUN apt-get update && apt-get install -y \
-  locales \
-  && locale-gen en_US.UTF-8 \
-  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
-  && rm -rf /var/lib/apt/lists/*
-ENV LANG en_US.UTF-8
-
-# Install timezone
-RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
-  && export DEBIAN_FRONTEND=noninteractive \
-  && apt-get update \
-  && apt-get install -y tzdata \
-  && dpkg-reconfigure --frontend noninteractive tzdata \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN apt-get update && apt-get -y upgrade \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install common programs
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    curl \
-    gnupg2 \
-    lsb-release \
-    sudo \
-    software-properties-common \
-    wget \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install ROS2 base
-RUN sudo add-apt-repository universe \
-  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
-  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
-  && apt-get update && apt-get install -y --no-install-recommends \
-    ros-humble-ros-base \
-    python3-argcomplete \
-  && rm -rf /var/lib/apt/lists/*
-
-ENV ROS_DISTRO=humble
-ENV AMENT_PREFIX_PATH=/opt/ros/humble
-ENV COLCON_PREFIX_PATH=/opt/ros/humble
-ENV LD_LIBRARY_PATH=/opt/ros/humble/lib
-ENV PATH=/opt/ros/humble/bin:$PATH
-ENV PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages
-ENV ROS_PYTHON_VERSION=3
-ENV ROS_VERSION=2
-ENV DEBIAN_FRONTEND=
-
-###########################################
-#  Develop image
-###########################################
-FROM base AS dev
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get install -y --no-install-recommends \
-  bash-completion \
-  build-essential \
-  cmake \
-  gdb \
-  git \
-  openssh-client \
-  python3-argcomplete \
-  python3-pip \
-  ros-dev-tools \
-  ros-humble-ament-* \
-  vim \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN rosdep init || echo "rosdep already initialized"
-
-ARG USERNAME=ros
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-
-# Create a non-root user
-RUN groupadd --gid $USER_GID $USERNAME \
-  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
-  # Add sudo support for the non-root user
-  && apt-get update \
-  && apt-get install -y sudo \
-  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
-  && chmod 0440 /etc/sudoers.d/$USERNAME \
-  && rm -rf /var/lib/apt/lists/*
-
-# Set up autocompletion for user
-RUN apt-get update && apt-get install -y git-core bash-completion \
-  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
-  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
-  && rm -rf /var/lib/apt/lists/* 
-
-ENV DEBIAN_FRONTEND=
-ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
-
-###########################################
-#  Full image
-###########################################
-FROM dev AS full
-
-ENV DEBIAN_FRONTEND=noninteractive
-# Install the full release
-RUN apt-get update && apt-get install -y --no-install-recommends \
-  ros-humble-desktop \
-  && rm -rf /var/lib/apt/lists/*
-ENV DEBIAN_FRONTEND=
-
-###########################################
-#  Workspace
-###########################################
-FROM full AS workspace
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update \
-   && apt-get -y install --no-install-recommends \
-    unzip \
-    libxml2-dev cmake libusb-1.0-0-dev gobject-introspection \
-    libgtk-3-dev gtk-doc-tools  xsltproc libgstreamer1.0-dev \
-    libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev \
-    libgirepository1.0-dev gettext \
-    autotools-dev automake intltool libtool \
-    meson \
-    ninja-build \
-   # Clean up
-   && apt-get autoremove -y \
-   && apt-get clean -y \
-   && rm -rf /var/lib/apt/lists/*
-
-
-RUN wget https://github.com/AravisProject/aravis/releases/download/0.8.30/aravis-0.8.30.tar.xz && \
-    tar xfJ aravis-0.8.30.tar.xz && \
-    rm aravis-0.8.30.tar.xz
-
-RUN cd aravis-0.8.30 && \
-    meson setup build && \
-    cd build && \
-    ninja && \
-    ninja install && \
-    ldconfig
-
-RUN wget https://software.micro-epsilon.com/scanCONTROL-Linux-SDK-1-0-0.zip -O scanCONTROL-Linux-SDK.zip && \
-    unzip scanCONTROL-Linux-SDK.zip -d scanCONTROL-Linux-SDK/ && \
-    rm scanCONTROL-Linux-SDK.zip
-
-RUN cd scanCONTROL-Linux-SDK/libmescan/ && \ 
-    meson builddir && \
-    cd builddir && \
-    ninja install && \
-    ldconfig
-
-RUN cd scanCONTROL-Linux-SDK/libllt/include && \
-    wget -q https://raw.githubusercontent.com/Pugens/scancontrol/1105de0ea8a28526b03de488d76821e07bada265/micro_epsilon_scancontrol_driver/include/lltlib/llt.h -O llt.h && \
-    cd .. && meson builddir && \
-    cd builddir && \
-    ninja && \
-    ninja install && \
-    ldconfig
-    
-ENV DEBIAN_FRONTEND=dialog
-
-WORKDIR /home/ros/workspace
\ No newline at end of file
diff --git a/.docker/docker-compose.yml b/.docker/docker-compose.yml
index b28b515..ba5bf6c 100644
--- a/.docker/docker-compose.yml
+++ b/.docker/docker-compose.yml
@@ -6,7 +6,7 @@ services:
     container_name: scancontrol-container
     build:
       context: .
-      dockerfile: Dockerfile.dev
+      dockerfile: Dockerfile
     user: ros
     working_dir: /home/ros/workspace
     # command: >
diff --git a/README.md b/README.md
index ca1f1d8..ada8749 100644
--- a/README.md
+++ b/README.md
@@ -137,6 +137,31 @@ The following parameters are available to allow using multiple scanCONTROL devic
 
 Encapsulates the same driver class as the scancontrol_driver_node, but instead allows for zero-copy data transfer. The Topics, services and paremeters are the same as described for the scancontrol_driver_node above. 
 
+## Docker Images
+
+This repository provides a `Dockerfile` (in the `.docker` folder) with multiple stages for images with Aravis and the scanCONTROL SDK installed.
+
+### scancontrol-core
+Extends: `[ros-humble-ros-core]`
+
+- Installed Aravis.
+- Installed scanCONTROL SDK.
+
+```bash
+cd .docker
+docker build . --target scancontrol-core -t samxl/scancontrol:humble-ros-core
+```
+
+### scancontrol-base
+Extends: `[scancontrol-core]`
+
+- Installed `ros-humble-ros-base`
+- Installed `rviz2`. 
+
+```bash
+cd .docker
+docker build . --target scancontrol-base -t samxl/scancontrol:humble-ros-base
+```
 
 ## Bugs & Feature Requests