diff --git a/.docker/jazzy.amd64.dockerfile b/.docker/jazzy.amd64.dockerfile
index 8ce4615f..8841efd9 100644
--- a/.docker/jazzy.amd64.dockerfile
+++ b/.docker/jazzy.amd64.dockerfile
@@ -39,11 +39,11 @@ RUN adduser --shell /bin/bash --disabled-password --gecos '' $USER \
 
 # Install ROS-Gazebo framework
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/ros-jazzy-gz-harmonic-install.sh install.sh
+extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
 # Set up Dave workspace
-ENV DAVE_WS /root/ws_dave
+ENV DAVE_WS=/opt/ws_dave
 WORKDIR $DAVE_WS/src
 
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
@@ -62,8 +62,17 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
 
 # source entrypoint setup
 RUN touch /ros_entrypoint.sh && sed --in-place --expression \
-    '$i source "$DAVE_WS/install/setup.bash"' /ros_entrypoint.sh
+    '$i source "/opt/ws_dave/install/setup.bash"' /ros_entrypoint.sh
+
+# Source ROS and Gazebo
+RUN sed --in-place --expression \
+'$i source "/opt/ros/jazzy/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i source "/opt/gazebo/install/setup.bash"' /ros_entrypoint.sh && \
+sed --in-place --expression \
+'$i export PYTHONPATH=$PYTHONPATH:/opt/gazebo/install/lib/python' /ros_entrypoint.sh
 
 # Set User as user
 USER $USER
-RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
+RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc  && \
+    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc
diff --git a/.docker/jazzy.arm64v8.dockerfile b/.docker/jazzy.arm64v8.dockerfile
index 2dde1ef7..47a7cdaf 100644
--- a/.docker/jazzy.arm64v8.dockerfile
+++ b/.docker/jazzy.arm64v8.dockerfile
@@ -78,7 +78,7 @@
 
 # Using the pre-built image for above commented out dockerfile code lines
 # hadolint ignore=DL3007
-FROM woensugchoi/ubuntu-arm-rdp-base:latest
+FROM --platform=linux/arm64 woensugchoi/ubuntu-arm-rdp-base:latest
 ARG USER=docker
 
 # ROS-Gazebo arg
@@ -87,11 +87,11 @@ ARG ROS_DISTRO="jazzy"
 
 # Install ROS-Gazebo framework
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
-extras/ros-jazzy-gz-harmonic-install.sh install.sh
+extras/ros-jazzy-binary-gz-harmonic-source-install.sh install.sh
 RUN bash install.sh
 
 # Set up Dave workspace
-ENV ROS_UNDERLAY /home/$USER/dave_ws/install
+ENV ROS_UNDERLAY=/home/$USER/dave_ws/install
 WORKDIR $ROS_UNDERLAY/../src
 
 ADD https://raw.githubusercontent.com/IOES-Lab/dave/$BRANCH/\
@@ -129,6 +129,8 @@ RUN touch /ros_entrypoint.sh && sed --in-place --expression \
 # Set User as user
 USER docker
 RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc && \
+    echo "source /opt/gazebo/install/setup.bash" >> ~/.bashrc && \
+    echo "export PYTHONPATH=$PYTHONPATH:/opt/gazebo/install/lib/python" >> ~/.bashrc && \
     echo "if [ -d ~/HOST ]; then chown docker:docker ~/HOST; fi" \
     >> ~/.bashrc
 
diff --git a/.github/workflows/docker-amd64.yml b/.github/workflows/docker-amd64.yml
index 91bcdb27..c3f1d3fc 100644
--- a/.github/workflows/docker-amd64.yml
+++ b/.github/workflows/docker-amd64.yml
@@ -7,6 +7,7 @@ on:
     tags: ["*"]
     branches:
       - ros2
+      - dockertest
 
 env:
   IMAGE_NAME: ${{ github.repository }}
@@ -15,7 +16,8 @@ env:
 
 jobs:
   build-and-push-to-docker-hub:
-    runs-on: ubuntu-latest
+    # runs-on: ubuntu-latest
+    runs-on: self-hosted
     permissions:
       contents: read
       packages: write
diff --git a/.github/workflows/docker-arm64v8.yml b/.github/workflows/docker-arm64v8.yml
index f4ac0e1b..206a682b 100644
--- a/.github/workflows/docker-arm64v8.yml
+++ b/.github/workflows/docker-arm64v8.yml
@@ -7,6 +7,7 @@ on:
     tags: ["*"]
     branches:
       - ros2
+      - dockertest
 
 env:
   IMAGE_NAME: ${{ github.repository }}
@@ -15,7 +16,9 @@ env:
 
 jobs:
   build-and-push-to-docker-hub:
-    runs-on: ubuntu-latest
+    # runs-on: ubuntu-latest
+    runs-on: self-hosted
+    timeout-minutes: 1440
     permissions:
       contents: read
       packages: write