diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 000000000..c3e11a38d
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,58 @@
+################################################################################
+# Repo
+
+.git/*
+.dockerignore
+.gitignore
+**Dockerfile
+**.Dockerfile
+
+################################################################################
+# Rust
+
+# Generated by Cargo
+# will have compiled files and executables
+/target/
+
+# Remove Cargo.lock from gitignore if creating an executable, leave it for libraries
+# More information here https://doc.rust-lang.org/cargo/guide/cargo-toml-vs-cargo-lock.html
+Cargo.lock
+
+# These are backup files generated by rustfmt
+**/*.rs.bk
+
+################################################################################
+# C++
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 000000000..d8c6b0b61
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,97 @@
+# This dockerfile can be configured via --build-arg
+# Build context must be the /ros2_rust root folder for COPY.
+# Example build command:
+# export OVERLAY_MIXINS="debug ccache coverage"
+# export RUN_TESTS="true"
+# docker build -t nav2:latest \
+#   --build-arg OVERLAY_MIXINS \
+#   --build-arg RUN_TESTS 
+#   --pull ./
+
+ARG FROM_IMAGE=ros:foxy
+ARG OVERLAY_WS=/opt/overlay_ws
+
+# multi-stage for caching
+FROM $FROM_IMAGE AS cacher
+
+# clone overlay source
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS/src
+COPY ./ros2_rust.repos ../
+RUN vcs import ./ < ../ros2_rust.repos && \
+    find ./ -name ".git" | xargs rm -rf
+COPY ./ ./ros2-rust/ros2_rust
+
+# copy manifests for caching
+WORKDIR /opt
+RUN mkdir -p /tmp/opt && \
+    find ./ -name "package.xml" | \
+      xargs cp --parents -t /tmp/opt && \
+    find ./ -name "COLCON_IGNORE" | \
+      xargs cp --parents -t /tmp/opt || true
+
+# multi-stage for building
+FROM $FROM_IMAGE AS builder
+ARG DEBIAN_FRONTEND=noninteractive
+
+# install CI dependencies
+RUN apt-get update && apt-get install -q -y \
+        ccache \
+        clang \
+        lcov \
+        libclang-dev \
+        llvm-dev \
+        wget \
+    && rm -rf /var/lib/apt/lists/*
+
+# install rust dependencies
+ENV RUSTUP_HOME=/usr/local/rustup \
+    CARGO_HOME=/usr/local/cargo \
+    PATH=/usr/local/cargo/bin:$PATH \
+    RUST_VERSION=1.47.0
+RUN set -eux; \
+    wget -O rustup-init "https://sh.rustup.rs"; \
+    chmod +x rustup-init; \
+    ./rustup-init -y \
+      --no-modify-path \
+      --default-toolchain $RUST_VERSION; \
+    rm rustup-init; \
+    chmod -R a+w $RUSTUP_HOME $CARGO_HOME; \
+    rustup --version; \
+    cargo --version; \
+    rustc --version;
+
+# install overlay dependencies
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS
+COPY --from=cacher /tmp/$OVERLAY_WS ./
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && rosdep install -q -y \
+      --from-paths src \
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
+
+# build overlay source
+COPY --from=cacher $OVERLAY_WS ./
+ARG OVERLAY_MIXINS="release ccache"
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+      --symlink-install \
+      --mixin $OVERLAY_MIXINS \
+    || ([ -z "$FAIL_ON_BUILD_FAILURE" ] || exit 1)
+
+# source overlay from entrypoint
+ENV OVERLAY_WS $OVERLAY_WS
+RUN sed --in-place \
+      's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
+      /ros_entrypoint.sh
+
+# test overlay build
+ARG RUN_TESTS
+ARG FAIL_ON_TEST_FAILURE=True
+RUN if [ -n "$RUN_TESTS" ]; then \
+        . install/setup.sh && \
+        colcon test && \
+        colcon test-result \
+          || ([ -z "$FAIL_ON_TEST_FAILURE" ] || exit 1) \
+    fi
diff --git a/README.md b/README.md
index 039d2dc2b..3826179cb 100644
--- a/README.md
+++ b/README.md
@@ -42,18 +42,31 @@ Lots of things!
 Sounds great, how can I try this out?
 -------------------------------------
 
-The following steps were last tested on Ubuntu 18.04. They show how to build the examples:
+You can build and run the example using the included Dockerfile: 
 
+```
+git clone https://github.com/ros2-rust/ros2_rust.git
+docker build --tag ros2:rust .
+docker run -it --rm ros2:rust
+ros2 run rclrs_examples rclrs_publisher &
+ros2 run rclrs_examples rclrs_subscriber
+
+```
+
+Or do so manually as summarized in the steps below:
+
+> The following steps were last tested on Ubuntu 20.04.
 
 ```
 # first, install vcstool from PyPI or apt:
 # sudo apt install ros-foxy-desktop python3-vcstool libclang-dev clang
 # pip install vcstool
 
-mkdir -p ~/ros2_rust_ws/src
-cd ~/ros2_rust_ws
-wget https://raw.githubusercontent.com/ros2-rust/ros2_rust/master/ros2_rust.repos
-vcs import src < ros2_rust.repos
+mkdir -p ~/ros2_rust_ws/src/ros2-rust
+cd ~/ros2_rust_ws/src/ros2-rust
+git clone https://github.com/ros2-rust/ros2_rust.git
+cd ../../
+vcs import src < src/ros2-rust/ros2_rust/ros2_rust.repos
 source /opt/ros/foxy/setup.sh
 colcon build
 ```
diff --git a/ros2_rust.repos b/ros2_rust.repos
index 18b65fb40..61b6ae041 100644
--- a/ros2_rust.repos
+++ b/ros2_rust.repos
@@ -2,16 +2,16 @@ repositories:
   ros2/common_interfaces:
     type: git
     url: https://github.com/ros2/common_interfaces.git
-    version: crystal
+    version: foxy
   ros2/rcl_interfaces:
     type: git
     url: https://github.com/ros2/rcl_interfaces.git
-    version: crystal
+    version: foxy
   ros2/rosidl_defaults:
     type: git
     url: https://github.com/ros2/rosidl_defaults.git
-    version: crystal
-  ros2_rust/ros2_rust:
-    type: git
-    url: https://github.com/ros2-rust/ros2_rust.git
-    version: master
+    version: foxy
+  # ros2-rust/ros2_rust:
+  #   type: git
+  #   url: https://github.com/ros2-rust/ros2_rust.git
+  #   version: master