diff --git a/.github/workflows/docker-build.yml b/.github/workflows/docker-build.yml
new file mode 100644
index 0000000..b402833
--- /dev/null
+++ b/.github/workflows/docker-build.yml
@@ -0,0 +1,54 @@
+name: Build and Push Docker Image to Docker Hub
+
+on:
+  push:
+    branches: [ "master", "dev_container"]
+  pull_request:
+    branches: [ "master"]
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: docker.io
+  REGISTRY_USER: matthiasmayr
+  # github.repository as <repo>
+  IMAGE_NAME: ${{ github.event.repository.name }}
+
+jobs:
+
+  build:
+    runs-on: ubuntu-20.04
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build the Docker image
+      run: docker build .
+
+  push_to_registry:
+    name: Push Docker image to Docker Hub
+    runs-on: ubuntu-20.04
+    steps:
+      - name: Check out the repo
+        uses: actions/checkout@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+
+      - name: Log in to Docker Hub
+        uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.REGISTRY_USER }}/${{ env.IMAGE_NAME }}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v2
+        with:
+          context: "{{defaultContext}}"
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..a5349e9
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,29 @@
+# Use ROS Noetic base image
+FROM ros:noetic-ros-base
+RUN apt-get update && apt-get install -y git tmux python3-pip python3-catkin-tools ros-noetic-rosmon
+
+# Set the working directory in the container
+RUN mkdir -p /catkin_ws/src
+WORKDIR /catkin_ws
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin init"
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin build"
+WORKDIR /catkin_ws/src
+RUN git clone https://github.com/RVMI/skiros2
+RUN git clone https://github.com/RVMI/skiros2_std_lib
+RUN git clone https://github.com/RVMI/skiros2_examples
+RUN git clone https://github.com/RVMI/skiros2_template_lib
+
+COPY ./skiros2/scripts/install_fd_task_planner.sh /root/install_fd_task_planner.sh
+RUN /root/install_fd_task_planner.sh ~/.skiros/planner
+
+# Install dependencies & python dependencies
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; rosdep install --from-paths . --ignore-src --rosdistro=$ROS_DISTRO -y"
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; cd skiros2; pip install -r requirements.txt --user; cd .."
+
+# Build the catkin workspace
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; cd /catkin_ws && catkin build"
+# Add source command to bashrc
+RUN echo "source /catkin_ws/devel/setup.bash" >> /root/.bashrc
+
+# tmux session
+ENTRYPOINT ["/bin/bash"]
\ No newline at end of file
diff --git a/README.md b/README.md
index de93d03..70d555c 100644
--- a/README.md
+++ b/README.md
@@ -34,6 +34,33 @@ SkiROS offers the following features:
 
 SkiROS is compatible with Ubuntu 18.04/ROS Melodic and Ubuntu 20.04/ROS Noetic, Python 2 and 3.
 
+### Docker Container
+
+The easiest way to get started is to use the provided Docker container. After installing [Docker](https://docs.docker.com/get-docker/), you can pull the container from Docker Hub and run it with the following commands:
+
+```shell
+docker pull matthiasmayr/skiros2:master
+```
+Then it can be started with:
+```shell
+docker run --rm -it \
+    --device=/dev/dri:/dev/dri \
+    --ipc=host \
+    --net=host \
+    --privileged \
+    --env DISPLAY=$DISPLAY \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    --volume ~/.Xauthority:/root/.Xauthority \
+    matthiasmayr/skiros2:master
+```
+The container will start a bash shell. Often it makes sense to start a terminal multiplexer like *tmux*. The code is in the folder `/catkin_ws`.  
+Then to start the SkiROS2 system, run:
+```shell
+roslaunch skiros2 skiros.launch
+# Or try one of the examples like
+roslaunch skiros2_examples turtlesim_example.launch
+```
+
 ### Installation Instructions
 
 To use SkiROS you must have [ROS](https://wiki.ros.org/ROS/Installation) installed on your machine.
diff --git a/skiros2/scripts/install_fd_task_planner.sh b/skiros2/scripts/install_fd_task_planner.sh
index 9544a9b..c17bba8 100755
--- a/skiros2/scripts/install_fd_task_planner.sh
+++ b/skiros2/scripts/install_fd_task_planner.sh
@@ -1,11 +1,22 @@
 #!/bin/bash
-
 echo "Installing planner..."
 
-#Navigate to install folder
+# Check if git is installed
+if ! [ -x "$(command -v git)" ]; then
+    echo "Error: git is not installed." >&2
+    exit 1
+fi
+
 default="~/.skiros/planner"
-echo "Select install folder or leave blank for default [default: $default]:"
-read folder
+# Check if an argument is provided
+if [ $# -eq 0 ]; then
+    echo "Select install folder or leave blank for default [default: $default]:"
+    read folder
+else
+    folder=$1
+fi
+
+# Navigate to install folder
 if [[ $folder == "" ]]; then
     folder=${default/"~"/$HOME}
 else