diff --git a/.github/workflows/docker-build-push.yaml b/.github/workflows/docker-build-push.yaml
index 2f1864a..dd33ddb 100644
--- a/.github/workflows/docker-build-push.yaml
+++ b/.github/workflows/docker-build-push.yaml
@@ -3,6 +3,7 @@ name: Build and Push Docker Image (native amd64 & arm64)
 on:
   push:
     branches: ["main", "workflow"]
+  pull_request:
 
 env:
   REGISTRY: ghcr.io
@@ -12,6 +13,8 @@ jobs:
   build:
     strategy:
       matrix:
+        ros_distro: [humble, jazzy]
+        arch: [amd64, arm64]
         include:
           - arch: amd64
             runner: ubuntu-latest
@@ -34,20 +37,34 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Build and push image (${{ matrix.platform }})
+      - name: Set image tags
+        id: vars
+        run: |
+          if [[ "${{ github.event_name }}" == "pull_request" ]]; then
+            BRANCH_NAME="${{ github.head_ref }}"
+            SAFE_BRANCH=$(echo "$BRANCH_NAME" | tr '/' '-' | tr '[:upper:]' '[:lower:]')
+            echo "TAG=-$SAFE_BRANCH" >> $GITHUB_OUTPUT
+          else
+            echo "TAG=" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Build and push image (${{ matrix.ros_distro }} - ${{ matrix.platform }})
         uses: docker/build-push-action@v5
         with:
           context: .
-          file: ./images/ros-core.Dockerfile
+          file: ./images/ros-core-${{ matrix.ros_distro }}.Dockerfile
           push: true
           platforms: ${{ matrix.platform }}
           tags: |
-            ghcr.io/high-flyers/ros-core:latest
-            ghcr.io/high-flyers/ros-core:${{ matrix.arch }} 
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ matrix.ros_distro }}-${{ matrix.arch }}${{ steps.vars.outputs.TAG }}
 
   manifest:
+    strategy:
+      matrix:
+        ros_distro: [humble, jazzy]
     runs-on: ubuntu-latest
     needs: build
+    if: github.event_name == 'push'
     permissions:
       packages: write
     steps:
@@ -58,9 +75,9 @@ jobs:
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Create and push multi-arch manifest
+      - name: Create and push multi-arch manifest for ${{ matrix.ros_distro }}
         run: |
           docker buildx imagetools create \
-            -t ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:amd64 \
-            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:arm64
+            -t ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ matrix.ros_distro }} \
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ matrix.ros_distro }}-amd64 \
+            ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ matrix.ros_distro }}-arm64
diff --git a/images/ros-core.Dockerfile b/images/ros-core-humble.Dockerfile
similarity index 92%
rename from images/ros-core.Dockerfile
rename to images/ros-core-humble.Dockerfile
index fbef40c..89685e5 100644
--- a/images/ros-core.Dockerfile
+++ b/images/ros-core-humble.Dockerfile
@@ -1,11 +1,15 @@
 # Syntax: docker/dockerfile:1.4
 FROM --platform=$BUILDPLATFORM ubuntu:22.04
 
-ARG ROS_DISTRO=humble
 ARG USERNAME=hf
-ARG USER_UID=1000
+ARG USER_UID=1001
 ARG USER_GID=${USER_UID}
 
+ENV ROS_DISTRO=humble
+ENV USERNAME=${USERNAME}
+ENV USER_UID=${USER_UID}
+ENV USER_GID=${USER_GID}
+
 RUN sed -i 's/# \(.*universe\)/\1/' /etc/apt/sources.list
 
 RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
@@ -45,6 +49,6 @@ RUN sudo apt-get update && sudo apt-get upgrade -y \
     tmux \
     && sudo rm -rf /var/lib/apt/lists/*
 
-RUN echo "source \"/opt/ros/${ROS_DISTRO}/setup.bash\"" >> "/home/${USERNAME}/.bashrc" 
+RUN echo "source \"/opt/ros/${ROS_DISTRO}/setup.bash\"" >> "/home/${USERNAME}/.bashrc"
 
 CMD ["/bin/bash"]
diff --git a/images/ros-core-jazzy.Dockerfile b/images/ros-core-jazzy.Dockerfile
new file mode 100644
index 0000000..2ed296b
--- /dev/null
+++ b/images/ros-core-jazzy.Dockerfile
@@ -0,0 +1,54 @@
+# Syntax: docker/dockerfile:1.4
+FROM --platform=$BUILDPLATFORM ubuntu:24.04
+
+ARG USERNAME=hf
+ARG USER_UID=1001
+ARG USER_GID=${USER_UID}
+
+ENV ROS_DISTRO=jazzy
+ENV USERNAME=${USERNAME}
+ENV USER_UID=${USER_UID}
+ENV USER_GID=${USER_GID}
+
+RUN sed -i 's/# \(.*universe\)/\1/' /etc/apt/sources.list
+
+RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
+    build-essential \
+    cmake \
+    curl \
+    git \
+    python3-pip \
+    python3-dev \
+    gcc \
+    locales \
+    software-properties-common \
+    sudo \
+    && rm -rf /var/lib/apt/lists/*
+
+
+RUN locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+    echo "export LANG=en_US.UTF-8" >> /etc/profile.d/locale.sh
+
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN 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" > /etc/apt/sources.list.d/ros2.list
+
+RUN groupadd --gid ${USER_GID} ${USERNAME} \
+    && useradd -s /bin/bash --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} \
+    && echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
+    && chmod 0440 /etc/sudoers.d/${USERNAME}
+
+USER ${USERNAME}
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+RUN sudo apt-get update && sudo apt-get upgrade -y \
+    && sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+    ros-${ROS_DISTRO}-ros-base \
+    ros-dev-tools \
+    vim \
+    tmux \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+RUN echo "source \"/opt/ros/${ROS_DISTRO}/setup.bash\"" >> "/home/${USERNAME}/.bashrc"
+
+CMD ["/bin/bash"]