diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 8c7c24e..37d4beb 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -1,71 +1,47 @@
-FROM robotlocomotion/drake:1.29.0
-LABEL maintainer="Aditya Kamireddypalli kamireddypalliaditya@gmail.com"
+ARG ROS_DISTRO=rolling
+ARG RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+ARG DRAKE_VERSION=1.30.0-1
 
-ENV ROS_DISTRO=humble
-ENV WORKSPACE=/root/workspace/
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-ENV DEBIAN_FRONTEND=noninteractive
+FROM moveit/moveit2:${ROS_DISTRO}-source
+LABEL maintainer="Aditya Kamireddypalli kamireddypalliaditya@gmail.com"
 
-# ROS installation
-RUN apt update && \
-    apt install locales && \
-    locale-gen en_US en_US.UTF-8 && \
-    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
-    export LANG=en_US.UTF-8
+ARG ROS_DISTRO
+ARG RMW_IMPLEMENTATION
+ARG DRAKE_VERSION
 
-RUN apt install -y software-properties-common && \
-    add-apt-repository universe
+ENV DEBIAN_FRONTEND=noninteractive
+ENV WORKSPACE=${ROS_UNDERLAY}/..
+
+COPY . ${WORKSPACE}/src/moveit_drake
+
+RUN apt-get update && \
+    apt-get install --no-install-recommends \
+        ca-certificates \
+        gnupg \
+        lsb-release \
+        wget -y && \
+    wget -qO- https://drake-apt.csail.mit.edu/drake.asc | gpg --dearmor - \
+        | sudo tee /etc/apt/trusted.gpg.d/drake.gpg >/dev/null && \
+    echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/$(lsb_release -cs) $(lsb_release -cs) main" \
+        | sudo tee /etc/apt/sources.list.d/drake.list >/dev/null && \
+    apt-get update && \
+    apt-get install --no-install-recommends drake-dev=${DRAKE_VERSION} -y
 
-RUN apt update && \
-    apt install -y curl git && \
-    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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
+    cd ${WORKSPACE}/src && \
+    vcs import < moveit_drake/.docker/upstream.repos --recursive
 
-RUN apt update && \
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
+    cd ${WORKSPACE} && \
+    rosdep update --rosdistro=$ROS_DISTRO && \
+    apt-get update && \
     apt upgrade -y && \
-    apt install -y \
-        build-essential \
-        clang-format-14 \
-        clangd-12 \
-        cmake \
-        git-lfs \
-        python3-colcon-common-extensions \
-        python3-flake8 \
-        python3-rosdep \
-        python3-setuptools \
-        python3-vcstool \
-        ros-dev-tools \
-        ros-${ROS_DISTRO}-desktop \
-        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
-        wget && \
-    update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-12 100
-
-RUN pip3 install colcon-mixin pre-commit && \
-    colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
-    colcon mixin update default
-
-RUN apt update && \
-    rosdep init && \
-    rosdep update
-
-# Setup the workspace
-WORKDIR ${WORKSPACE}
-RUN mkdir -p src
-
-# Install dependencies of this package
-# NOTE: Copying only the necessary files to not bust cache as much.
-COPY moveit_drake.repos ${WORKSPACE}/src/moveit_drake/
-WORKDIR ${WORKSPACE}/src/
-RUN vcs import < moveit_drake/moveit_drake.repos
-
-WORKDIR ${WORKSPACE}
-COPY package.xml ${WORKSPACE}/src/moveit_drake/
-RUN apt update && \
-    . /opt/ros/${ROS_DISTRO}/setup.sh && \
-    rosdep install -r --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y && \
-    rm -rf src/moveit_drake
+    rosdep install --from-paths src --ignore-src -r -y && \
+    apt-get install ros-${ROS_DISTRO}-rmw-cyclonedds-cpp -y
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
+    cd ${WORKSPACE} && \
+    . install/setup.sh && \
     colcon build --mixin release --parallel-workers 1
 
 # Set up the entrypoint
diff --git a/.docker/upstream.repos b/.docker/upstream.repos
new file mode 100644
index 0000000..ab99112
--- /dev/null
+++ b/.docker/upstream.repos
@@ -0,0 +1,9 @@
+repositories:
+  moveit_visual_tools:
+    type: git
+    url: https://github.com/moveit/moveit_visual_tools
+    version: ros2
+  rviz_visual_tools:
+    type: git
+    url: https://github.com/PickNikRobotics/rviz_visual_tools.git
+    version: ros2
diff --git a/README.md b/README.md
index 52f987c..4b6aac2 100644
--- a/README.md
+++ b/README.md
@@ -24,8 +24,7 @@ rich specification of constraints and costs provided by `drake`.
 
 ### Steps
 The following steps clone and build the base image that you will require to
-test/build/run/develop with the repo (and will take some time, as it builds
-moveit)
+test/build/run/develop with the repo
 
     git clone https://github.com/moveit/moveit_drake.git
     cd moveit_drake
@@ -62,10 +61,11 @@ Download the MoveIt Tutorials source code:
     vcs import < moveit_drake/moveit_drake.repos
     rosdep install -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y
 
-Configure and build the workspace:
+Configure and build the workspace (this will take some time, as it builds
+moveit):
 
     cd ${WORKSPACE}
-    colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
+    colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1
 
 ### Run the demo
 
diff --git a/docker-compose.yaml b/docker-compose.yaml
index 237c242..5baf316 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -5,6 +5,10 @@ services:
     build:
       context: .
       dockerfile: .docker/Dockerfile
+      args:
+        - ROS_DISTRO=rolling
+        - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+        - DRAKE_VERSION=1.30.0-1
     environment:
       - DISPLAY=${DISPLAY}
       - QT_X11_NO_MITSHM=1