diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..b745632
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,10 @@
+FROM murilomarinho/sas:jazzy
+LABEL authors="murilomarinho"
+SHELL ["/bin/bash", "-c"]
+ENV BASH_ENV="/etc/bash_env"
+
+RUN sudo apt-get update && sudo apt-get upgrade -y
+RUN python3 -m pip install --upgrade dqrobotics --break-system-packages
+RUN mkdir -p /root/sas_ur_control_template_ci/src
+COPY . /root/sas_ur_control_template_ci/src/sas_ur_control_template
+RUN chmod +x /root/sas_ur_control_template_ci/src/sas_ur_control_template/scripts/joint_interface_example.py
\ No newline at end of file
diff --git a/docker/compose.yml b/docker/compose.yml
new file mode 100644
index 0000000..843c2d7
--- /dev/null
+++ b/docker/compose.yml
@@ -0,0 +1,6 @@
+services:
+  sas_ur_control_template:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+    entrypoint: ["/bin/bash", "/root/sas_ur_control_template_ci/src/sas_ur_control_template/docker/test_ci.sh"]
\ No newline at end of file
diff --git a/docker/coppeliasim/.env b/docker/coppeliasim/.env
new file mode 100644
index 0000000..87862b3
--- /dev/null
+++ b/docker/coppeliasim/.env
@@ -0,0 +1,12 @@
+# ROS 2 Domain ID (must match across all connected nodes)
+ROS_DOMAIN_ID=0
+
+# Display (for GUI rendering)
+DISPLAY=:0
+
+# CoppeliaSim scene configuration
+COPPELIA_SIM_SCENE_FILE=UR3e_4100rev0_sas.ttt
+COPPELIA_SIM_CONTAINER_SCENE_PATH=/root/sas_tutorial_workspace/src/sas_ur_control_template/scenes/
+
+# Kinematics topic name (used by kinematic simulation demo)
+XD_TOPIC_NAME=/sas_robot_driver_coppeliasim/object/xd
\ No newline at end of file
diff --git a/docker/coppeliasim/simulation_demo_v2/compose.yml b/docker/coppeliasim/simulation_demo_v2/compose.yml
index 93b645e..068b387 100644
--- a/docker/coppeliasim/simulation_demo_v2/compose.yml
+++ b/docker/coppeliasim/simulation_demo_v2/compose.yml
@@ -1,6 +1,8 @@
 services:
   sas_ur_control_template:
-    build: https://github.com/MarinhoLab/sas_ur_control_template.git#main:docker/sas_ur_control_template
+    build:
+      context: ../../..
+      dockerfile: docker/sas_ur_control_template/Dockerfile
     stop_signal: SIGINT
     environment:
       - ROS_DOMAIN_ID
diff --git a/docker/coppeliasim/simulation_demo_v2_kinematic/compose.yml b/docker/coppeliasim/simulation_demo_v2_kinematic/compose.yml
index 33a3781..3b935e9 100644
--- a/docker/coppeliasim/simulation_demo_v2_kinematic/compose.yml
+++ b/docker/coppeliasim/simulation_demo_v2_kinematic/compose.yml
@@ -1,6 +1,8 @@
 services:
   sas_ur_control_template:
-    build: https://github.com/MarinhoLab/sas_ur_control_template.git#main:docker/sas_ur_control_template
+    build:
+      context: ../../..
+      dockerfile: docker/sas_ur_control_template/Dockerfile
     stop_signal: SIGINT
     environment:
       - ROS_DOMAIN_ID
diff --git a/docker/gazebo/.env b/docker/gazebo/.env
new file mode 100644
index 0000000..2993220
--- /dev/null
+++ b/docker/gazebo/.env
@@ -0,0 +1,10 @@
+# ROS 2 Domain ID (must match across all connected nodes)
+ROS_DOMAIN_ID=0
+
+# UR3e Gazebo simulation configuration
+WORLD_NAME=ur3e_world
+ROBOT_NAME=ur3e
+ROBOT_TOPIC_NAME=ur3e_sim
+
+# Display (for GUI rendering)
+DISPLAY=:0
\ No newline at end of file
diff --git a/docker/gazebo/compose_simulation.yml b/docker/gazebo/compose_simulation.yml
new file mode 100644
index 0000000..30c11bb
--- /dev/null
+++ b/docker/gazebo/compose_simulation.yml
@@ -0,0 +1,45 @@
+services:
+  sas_ur_control_template:
+    container_name: sas_ur_control_template_simulation
+    build:
+      context: ../..
+      dockerfile: docker/sas_ur_control_template/Dockerfile
+    stop_signal: SIGINT
+    environment:
+      - ROS_DOMAIN_ID
+    command: /bin/bash -c "
+      source /root/sas_tutorial_workspace/install/setup.bash
+      && cd /root/sas_tutorial_workspace/src/sas_ur_control_template
+      && python3 docker/gazebo/ur3e_simulation_example_py_launch.py \
+      robot_topic_name:=ur3e_sim"
+
+  gazebo:
+    container_name: sas_ur_control_template_gazebo
+    build: https://raw.githubusercontent.com/MarinhoLab/sas_robot_driver_gazebo/refs/heads/jazzy/docker/Dockerfile
+    stop_signal: SIGINT
+    environment:
+      - DISPLAY
+      - ROS_DOMAIN_ID
+      - WORLD_NAME=${WORLD_NAME}
+      - ROBOT_NAME=${ROBOT_NAME}
+      - ROBOT_TOPIC_NAME=${ROBOT_TOPIC_NAME}
+    privileged: true # Needed for some gpu configurations.
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix # x server related
+      - ~/.Xauthority:/root/.Xauthority # x server related
+    command: /bin/bash -c "
+      export GZ_SIM_RESOURCE_PATH=$$GZ_SIM_RESOURCE_PATH:$$(ros2 pkg prefix sas_robot_driver_gazebo)/sdf/
+      && cd $$(ros2 pkg prefix sas_robot_driver_gazebo --share)/sdf
+      && (gz sim "$$WORLD_NAME".sdf &)
+      && (ros2 launch sas_robot_driver_gazebo robot_driver_server_launch.py \
+      joint_states_topic:="/world/$$WORLD_NAME/model/$$ROBOT_NAME/model/$${ROBOT_NAME}_position_controller/model/$$ROBOT_NAME/joint_state" \
+      joint_names:='['shoulder_pan_joint','shoulder_lift_joint','elbow_joint','wrist_1_joint','wrist_2_joint','wrist_3_joint']' \
+      robot_name:="$$ROBOT_TOPIC_NAME"
+      &)
+      && (ros2 launch sas_robot_driver_gazebo server_launch.py \
+      autostart:=true \
+      set_pose_service_name:=/world/"$$WORLD_NAME"/set_pose \
+      get_pose_topic_name:=/world/"$$WORLD_NAME"/pose/info \
+      entity_names:='['base', 'tool0']' \
+      control_service_name:=/world/"$$WORLD_NAME"/control \
+      )"
\ No newline at end of file
diff --git a/docker/gazebo/ur3e_simulation_example_py_launch.py b/docker/gazebo/ur3e_simulation_example_py_launch.py
new file mode 100644
index 0000000..f92a2c2
--- /dev/null
+++ b/docker/gazebo/ur3e_simulation_example_py_launch.py
@@ -0,0 +1,48 @@
+"""Launch the UR3e simulation control template for Gazebo.
+
+Run directly with:
+    python3 ur3e_simulation_example_py_launch.py [robot_topic_name:=ur3e_sim]
+
+Or via Docker Compose:
+    docker compose -f docker/gazebo/compose_simulation.yml up
+"""
+import sys
+
+from launch import LaunchDescription, LaunchService
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description(robot_topic_name='ur3e_sim'):
+    """Generate the launch description for UR3e Gazebo simulation."""
+    # Parse command-line args like robot_topic_name:=foo
+    args = dict(
+        (k, v)
+        for arg in sys.argv[1:]
+        if ':=' in arg
+        for k, v in [arg.split(':=', 1)]
+    )
+    topic = args.get('robot_topic_name', robot_topic_name)
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'robot_topic_name',
+            default_value=topic,
+            description='Robot topic name for the UR3e Gazebo simulation driver.',
+        ),
+        Node(
+            package='sas_ur_control_template',
+            executable='joint_interface_example.py',
+            output='screen',
+            emulate_tty=True,
+            name='sas_ur_control_template_ur3e_simulation',
+            parameters=[{"robot_topic_name": topic}],
+        ),
+    ])
+
+
+if __name__ == '__main__':
+    ls = LaunchService()
+    ls.add_launch_description(generate_launch_description())
+    ls.run()
\ No newline at end of file
diff --git a/docker/robot_demo/compose.yml b/docker/robot_demo/compose.yml
index 6af2e80..df4162d 100644
--- a/docker/robot_demo/compose.yml
+++ b/docker/robot_demo/compose.yml
@@ -1,7 +1,9 @@
 services:
   sas_ur_control_template:
     container_name: sas_ur_control_template_robot_demo
-    build: https://github.com/MarinhoLab/sas_ur_control_template.git#main:docker/sas_ur_control_template
+    build:
+      context: ../..
+      dockerfile: docker/sas_ur_control_template/Dockerfile
     stop_signal: SIGINT
     stop_grace_period: 1m
     network_mode: "host" # Reverse connection with UR robot
diff --git a/docker/teleop_demo/Dockerfile b/docker/teleop_demo/Dockerfile
index 2b0b6e5..5f9af76 100644
--- a/docker/teleop_demo/Dockerfile
+++ b/docker/teleop_demo/Dockerfile
@@ -5,7 +5,7 @@ ENV BASH_ENV="/etc/bash_env"
 
 RUN mkdir -p cd ~/sas_tutorial_workspace/src
 RUN cd ~/sas_tutorial_workspace/src && git clone https://github.com/MarinhoLab/sas_ur_control_template.git
-RUN cd ~/sas_tutorial_workspace/src/sas_ur_control_template/.devel/scripts && chmod +x setup_environment.sh
-RUN cd ~/sas_tutorial_workspace/src/sas_ur_control_template/.devel/scripts && ./setup_environment.sh
+RUN cd ~/sas_tutorial_workspace/src/sas_ur_control_template/docker/scripts && chmod +x setup_environment.sh
+RUN cd ~/sas_tutorial_workspace/src/sas_ur_control_template/docker/scripts && ./setup_environment.sh
 RUN sudo apt-get update && sudo apt-get install qtcreator gdb -y
 
diff --git a/docker/teleop_demo/compose.yml b/docker/teleop_demo/compose.yml
index c3f3809..24f84f8 100644
--- a/docker/teleop_demo/compose.yml
+++ b/docker/teleop_demo/compose.yml
@@ -1,6 +1,8 @@
 services:
   sas_ur_control_template:
-    build: .
+    build:
+      context: ../..
+      dockerfile: docker/sas_ur_control_template/Dockerfile
     stop_signal: SIGINT
     stop_grace_period: 1m
     volumes:
diff --git a/docker/test_ci.sh b/docker/test_ci.sh
new file mode 100644
index 0000000..3a262ea
--- /dev/null
+++ b/docker/test_ci.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+set -e
+
+cd /root/sas_ur_control_template_ci
+source /opt/ros/jazzy/setup.bash
+
+echo "=== Building package ==="
+colcon build
+echo "=== Build complete ==="
+
+source install/setup.bash
+
+echo "=== Package available ==="
+ros2 pkg list | grep sas_ur_control_template
+
+echo "=== Checking executables ==="
+PKG_LIB=$(ros2 pkg prefix sas_ur_control_template)/lib/sas_ur_control_template
+test -x "$PKG_LIB/joint_interface_example.py" && echo "Python node OK"
+test -x "$PKG_LIB/joint_interface_example_cpp" && echo "C++ node OK"
+
+echo "=== Launch file syntax ==="
+for launch in $(ros2 pkg prefix sas_ur_control_template --share)/launch/*.py; do
+    echo "Checking: $launch"
+    python3 -c "import ast; ast.parse(open('$launch').read())" && echo "OK"
+done
+
+echo "=== All tests passed ==="
\ No newline at end of file