diff --git a/dockerfiles/base.Dockerfile b/dockerfiles/base.Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..d74d32a82a0357bcb05c1a4bc822a7733970871d
--- /dev/null
+++ b/dockerfiles/base.Dockerfile
@@ -0,0 +1,134 @@
+# ***********************************************************
+# * Base Image with Azure and PEAK for Neurondones and ROS2 *
+# ***********************************************************
+
+ARG ROS_DISTRO=humble
+FROM osrf/ros:${ROS_DISTRO}-desktop-full
+
+ENV ROS_DISTRO="${ROS_DISTRO}"
+ARG EXT_SHELL=bash
+ENV EXT_SHELL="${EXT_SHELL}"
+ENV SHELL="/bin/${EXT_SHELL}"
+RUN echo "Building devenv for ROS" $ROS_DISTRO "with shell" $EXT_SHELL
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND="noninteractive"
+
+# Setup environment
+RUN apt-get update && apt-get install -y apt-utils
+
+# Setup locales
+RUN apt-get install -y \
+ locales \
+ && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+# Setup locales
+RUN apt-get install -y tar gzip build-essential wget
+
+# Install rosdeps
+#[apt] Installation commands:
+RUN apt-get install -y \
+ ros-humble-controller-manager \
+ ros-humble-joint-state-publisher \
+ ros-humble-gazebo-ros2-control \
+ ros-humble-gripper-controllers \
+ ros-humble-joint-trajectory-controller \
+ ros-humble-joint-state-broadcaster \
+ ros-humble-robotiq-description \
+ ros-humble-joint-state-publisher-gui \
+ ros-humble-picknik-reset-fault-controller \
+ ros-humble-picknik-twist-controller \
+ ros-humble-hardware-interface \
+ ros-humble-backward-ros \
+ ros-humble-forward-command-controller \
+ ros-humble-position-controllers \
+ ros-humble-realtime-tools \
+ ros-humble-ros2controlcli \
+ ros-humble-velocity-controllers \
+ ros-humble-moveit-ros-move-group \
+ ros-humble-moveit-kinematics \
+ ros-humble-moveit-planners \
+ ros-humble-moveit-simple-controller-manager \
+ ros-humble-moveit-configs-utils \
+ ros-humble-moveit-ros-visualization \
+ ros-humble-moveit-setup-assistant \
+ ros-humble-control-msgs \
+ ros-humble-control-toolbox \
+ ros-humble-launch-param-builder \
+ ros-humble-moveit-common \
+ ros-humble-moveit-msgs \
+ ros-humble-moveit-core \
+ ros-humble-moveit-ros-planning-interface \
+ ros-humble-moveit-resources-panda-moveit-config \
+ ros-humble-ros-testing \
+ ros-humble-octomap-msgs \
+ ros-humble-realsense2-camera \
+ ros-humble-moveit \
+ joint-state-publisher-gui
+# [apt] End of installation commands
+
+# Copy the requirements.txt file into the container
+WORKDIR /tmp/dependencies/
+
+# Install Peak driver
+RUN apt-get update && apt-get install -y udev libpopt-dev linux-headers-$(uname -r) gcc-12\
+ && update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 100 \
+ && update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 200 \
+ && wget https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.18.0.tar.gz \
+ && wget https://www.peak-system.com/quick/BasicLinux -O PCAN-Basic_Linux.tar.gz \
+ && tar -xf peak-linux-driver-8.18.0.tar.gz \
+ && cd peak-linux-driver-8.18.0; \
+ make clean && make && make install \
+ && cd .. \
+ && tar -xf PCAN-Basic_Linux.tar.gz \
+ && cd PCAN-Basic_Linux-4.9.0.7/libpcanbasic; \
+ make clean && make && make install \
+ && update-alternatives --set gcc /usr/bin/gcc-11 \
+ && rm -rf /var/lib/apt/lists/* \
+ && rm -rf /var/cache/apt/archives/*.deb \
+ && rm -rf *;
+
+# Install Azure SDK on demand
+
+RUN apt-get update && apt-get install -y wget curl libusb-1.0-0-dev udev libasound2 libjack-jackd2-0 libjack-0.125 libpulse0
+# Install libsoundio1 dependency
+RUN wget http://archive.ubuntu.com/ubuntu/pool/universe/libs/libsoundio/libsoundio1_1.1.0-1_amd64.deb \
+ && dpkg -i libsoundio1_1.1.0-1_amd64.deb
+# Download and install Azure Kinect SDK packages
+RUN wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4/libk4a1.4_1.4.1_amd64.deb \
+ && wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4-dev/libk4a1.4-dev_1.4.1_amd64.deb \
+ && wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools/k4a-tools_1.4.1_amd64.deb \
+ && wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.1/libk4abt1.1_1.1.2_amd64.deb \
+ && wget https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4abt1.1-dev/libk4abt1.1-dev_1.1.2_amd64.deb \
+ # Install the packages
+ && echo 'libk4a1.4 libk4a1.4/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | debconf-set-selections \
+ && echo 'libk4abt1.1 libk4abt1.1/accepted-eula-hash string 03a13b63730639eeb6626d24fd45cf25131ee8e8e0df3f1b63f552269b176e38' | debconf-set-selections \
+ && dpkg -i libk4a1.4_1.4.1_amd64.deb \
+ && dpkg -i libk4a1.4-dev_1.4.1_amd64.deb \
+ && dpkg -i libk4abt1.1_1.1.2_amd64.deb \
+ && dpkg -i libk4abt1.1-dev_1.1.2_amd64.deb \
+ && dpkg -i k4a-tools_1.4.1_amd64.deb \
+ && rm -rf /var/lib/apt/lists/* \
+ && rm -rf /var/cache/apt/archives/*.deb \
+ && rm -rf *;
+
+RUN rm -rf *
+
+# Update this date to re-run the image final update
+LABEL image.date=09-01-2025
+
+# Update final image
+RUN apt-get update \
+ && apt-get -y upgrade \
+ && apt-get -y autoremove \
+ && apt-get -y autoclean \
+ && rm -rf /var/lib/apt/lists/* \
+ && rm -rf /var/cache/apt/archives/*.deb
+
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=
+
+CMD [ "bash" ]
\ No newline at end of file
diff --git a/dockerfiles/devenv.Dockerfile b/dockerfiles/devenv.Dockerfile
index 7e9508b8c9467cda9759aea37c293adf22a680b7..cd5057ef960c42396c15174c39081c6ed2e1f847 100644
--- a/dockerfiles/devenv.Dockerfile
+++ b/dockerfiles/devenv.Dockerfile
@@ -180,6 +180,7 @@ RUN if [ "$DOCKER_IN_DOCKER" = "install" ]; \
ARG PEAK_DRIVER=none
RUN if [ "$PEAK_DRIVER" = "install" ]; \
then \
+<<<<<<< HEAD
apt-get update && apt-get install -y udev libpopt-dev linux-headers-$(uname -r) gcc-12\
&& update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-11 100 \
&& update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 200 \
@@ -196,6 +197,20 @@ RUN if [ "$PEAK_DRIVER" = "install" ]; \
&& rm -rf /var/lib/apt/lists/* \
&& rm -rf /var/cache/apt/archives/*.deb \
&& rm -rf *; \
+=======
+ apt-get update && apt-get install -y udev libpopt-dev linux-headers-$(uname -r) \
+ && wget https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.20.0.tar.gz \
+ && wget https://www.peak-system.com/produktcd/Develop/PC%20interfaces/Linux/PCAN-Basic_API_for_Linux/PCAN-Basic_Linux-4.10.0.4.tar.gz
+ # && wget https://www.peak-system.com/quick/BasicLinux -O PCAN-Basic_Linux.tar.gz \
+ && tar -xvf peak-linux-driver-8.20.0.tar.gz \
+ && cd peak-linux-driver-8.20.0 \
+ && make && make install || echo 'make failed but move forward'\
+ && cd .. \
+ && tar -xvf PCAN-Basic_Linux-4.10.0.4.tar.gz \
+ && cd PCAN-Basic_Linux-4.10.0.4/libpcanbasic \
+ && make && make install || echo 'make failed but move forward';\
+ rm -rf /var/lib/apt/lists/*; \
+>>>>>>> 9f234849a3bdb7d6f6cf0d3ec5de2786c9ab6815
fi
# Install conan for Kortex driver