diff --git a/README.md b/README.md
index 66b9485..25c85d2 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,8 @@ on discourse.
 
 # Setup & Building
 
-:warning: As this is a project under construction, these instructions are likely to change rapidly.
+> [!WARNING] 
+> As this is a project under construction, these instructions are likely to change rapidly.
 
 ## Pre-requisites
 
@@ -48,7 +49,7 @@ on discourse.
 </details>
 
 <details>
-   <summary><b>Method 2: Using a container (click here)</b></summary>
+   <summary><b>Method 2: Using distrobox (click here)</b></summary>
 
 > We pre-build base containers with all the dependencies you can use `rocker`, `distrobox`, `podman` or any other oci compliant tool to get a base dev environment. For the purposes of this set of instructions we use distrobox:
 > ```bash
@@ -57,6 +58,15 @@ on discourse.
 > ```
 </details>
 
+<details>
+   <summary><b>Method 3: Using docker container (click here)</b></summary>
+
+> If you prefer to build the base Docker image from scratch. Please use the following command:
+> ```bash
+> docker build --load -t ros2_rust_base:jazzy -f docker/Dockerfile.base .
+> ```
+</details>
+
 ### 2. Import Workspace Dependencies
 Create a workspace and clone the repo:
 ```bash
@@ -85,7 +95,10 @@ Verify core scenario coordination and robust following behavior:
 colcon test --packages-select rmf_path_server_test --event-handlers console_direct+
 ```
 
-## Running the Interactive Web Demonstration
+## Running Interactive Web Demonstration
+
+> [!NOTE]
+> This provides a lightweight visualization of how `next_gen_prototype` utilizes `mapf` to guide multiple robot agents towards their goal while managing their traffic.
 
 https://github.com/user-attachments/assets/d5793eee-515d-49a9-a92c-9926617b48ed
 
@@ -98,3 +111,10 @@ ros2 launch rmf_path_server_demo demo.launch.py
 2. Click **Add Robot** to drop active participants onto the canvas.
 3. Select a robot and click a cell to place its goal.
 4. Click **Send Scenario** to observe multi-agent trajectory generation and live execution progress.
+
+## Running Nav2 Integration Demonstration
+
+> [!NOTE]
+> This shows users how `next_gen_prototype`'s prototype messages and traffic management design is used for multi-robot coordinations through [Nav2](https://docs.nav2.org/) navigation system.
+
+Follow instructions in [nav2_integration/README.md](./nav2_integration/README.md).
\ No newline at end of file
diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index 122af87..bec6f97 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -17,7 +17,8 @@ RUN apt-get update && apt-get upgrade -y && \
         python3-colcon-cargo\
         libssl-dev \
         pkg-config \
-        && rm -rf /var/lib/apt/lists/*
+        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+        ros-${ROS_DISTRO}-rmw-zenoh-cpp
 
 # Install colcon extensions for Rust
 RUN pip3 install --no-cache-dir --break-system-packages colcon-ros-cargo
@@ -30,7 +31,6 @@ RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --no
     cargo install cargo-ament-build && \
     chmod -R a+rwX /usr/local/cargo /usr/local/rustup
 
-
 # Initialize Underlay Workspace
 WORKDIR /opt/ros2_rust_ws
 
@@ -38,19 +38,21 @@ WORKDIR /opt/ros2_rust_ws
 COPY . /tmp/next_gen_prototype
 
 # Install ROS 2 dependencies via rosdep for both underlay and prototype branch
-RUN apt-get update && \
-    rosdep init || true && \
+RUN rosdep init || true && \
     rosdep update && \
     rosdep install --from-paths /tmp/next_gen_prototype --ignore-src -yr --skip-keys="rclrs ament_cargo ament_python" && \
-    rm -rf /var/lib/apt/lists/* && \
-    rm -rf /tmp/next_gen_prototype
+    rm -rf /var/lib/apt/lists/*
+
+WORKDIR /nav2_traffic_ws
 
 # Build the Underlay Workspace
-#RUN /bin/bash -c "source /opt/ros/jazzy/setup.bash && \
-#    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"
+RUN mkdir src && mv /tmp/next_gen_prototype /nav2_traffic_ws/src/next_gen_prototype
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
+   colcon build --packages-up-to sp_demo_nav2_bringup rmf_nav2_traffic rmf_path_server_demo rmf_path_server_test --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+   rm -rf build/ log/ src/"
 
 # Provide automatic sourcing entrypoint configuration inside ~/.bashrc
-RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc
-#echo "source /opt/ros2_rust_ws/install/setup.bash" >> /root/.bashrc
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc
+RUN echo "source /nav2_traffic_ws/install/setup.bash" >> /root/.bashrc
 
 CMD ["/bin/bash"]
diff --git a/nav2_integration/README.md b/nav2_integration/README.md
index 54d7ef8..17aada6 100644
--- a/nav2_integration/README.md
+++ b/nav2_integration/README.md
@@ -91,8 +91,23 @@ graph TD
 
 ## Try out the demo
 
+### Docker Setup
 
-### Setup
+Follow the steps below to use pre-made `docker/Dockerfile.base` to run the demo containerized without fuss:  
+
+<details>
+   <summary><b>Click here 🐳.</b></summary>
+
+```bash
+docker build --load -t ros2_rust_base:jazzy -f docker/Dockerfile.base .
+```
+
+</details>
+
+> [!WARNING]
+> This process typically takes about **20 minutes**, depending on internet connectivity strength.
+
+### Manual Setup
 
 Do a fresh update & upgrade:
 ```
@@ -133,18 +148,86 @@ colcon build --packages-up-to sp_demo_nav2_bringup rmf_nav2_traffic rmf_path_ser
 With the workspace built and sourced, run the following nodes:
 
 Spin up the Nav2 simulation:
-```
+```bash
 ros2 launch sp_demo_nav2_bringup cloned_multi_tb3_simulation_launch.py   robots:="robot0={x: 0.0, y: 5.0, yaw: 0.0}; robot1={x: 3.0, y: 5.0, yaw: 0.0};"
 ```
 
-In a separate terminal, run the demo launch file containing the path server, plan executor, destination server, path visualizer and Nav2 traffic nodes:
+<details>
+   <summary><b>Click here if running in docker container (GPU + X11) 🐳.</b></summary>
+
+```bash
+xhost +local:docker
+
+docker run -it --rm \
+--name ros2_rust_base_c \
+--gpus all \
+--env="DISPLAY" \
+--env="QT_X11_NO_MITSHM=1" \
+-v /tmp/.X11-unix:/tmp/.X11-unix \
+--device=/dev/dri \
+ros2_rust_base:jazzy \
+bash -c "source /nav2_traffic_ws/install/setup.bash && \
+ros2 launch sp_demo_nav2_bringup cloned_multi_tb3_simulation_launch.py \
+robots:=\"robot0={x: 0.0, y: 5.0, yaw: 0.0}; robot1={x: 3.0, y: 5.0, yaw: 0.0};\""
+```
+</details>
+
+<details>
+   <summary><b>Click here if running in docker container (GPU + Wayland) 🐳.</b></summary>
+
+```bash
+xhost +local:docker
+
+docker run -it --rm \
+--name ros2_rust_base_c \
+--gpus all \
+--env="DISPLAY=${DISPLAY}" \
+--env="QT_X11_NO_MITSHM=1" \
+-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+--device=/dev/dri \
+ros2_rust_base:jazzy \
+bash -c "source /nav2_traffic_ws/install/setup.bash && \
+  ros2 launch sp_demo_nav2_bringup cloned_multi_tb3_simulation_launch.py \
+  robots:=\"robot0={x: 0.0, y: 5.0, yaw: 0.0}; robot1={x: 3.0, y: 5.0, yaw: 0.0};\""
+```
+</details>
+
+<details>
+   <summary><b>Click here if running in docker container (CPU) 🐳.</b></summary>
+
+```bash
+xhost +local:docker
+
+docker run -it --rm \
+--name ros2_rust_base_c \
+--env="DISPLAY=${DISPLAY}" \
+--env="QT_X11_NO_MITSHM=1" \
+-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+--device=/dev/dri \
+ros2_rust_base:jazzy \
+bash -c "source /nav2_traffic_ws/install/setup.bash && \
+  ros2 launch sp_demo_nav2_bringup cloned_multi_tb3_simulation_launch.py \
+  robots:=\"robot0={x: 0.0, y: 5.0, yaw: 0.0}; robot1={x: 3.0, y: 5.0, yaw: 0.0};\""
 ```
+</details>
+
+In a separate terminal, run the demo launch file containing the path server, plan executor, destination server, path visualizer and Nav2 traffic nodes:
+```bash
 ros2 launch rmf_path_server_demo demo_nav2.launch.py robots:="robot0 robot1"
 ```
 
-Send action goals to the robots:
+<details>
+   <summary><b>Click here if running in docker container 🐳.</b></summary>
 
+```bash
+docker exec -it ros2_rust_base_c bash -c "source /nav2_traffic_ws/install/setup.bash && ros2 launch rmf_path_server_demo demo_nav2.launch.py robots:=\"robot0 robot1\""
 ```
+
+</details>
+
+Send action goals to the robots:
+
+```bash
 ros2 action send_goal robot0/navigate_to_pose nav2_msgs/action/NavigateToPose "{
   pose: {
     header: {
@@ -158,8 +241,28 @@ ros2 action send_goal robot0/navigate_to_pose nav2_msgs/action/NavigateToPose "{
   }
 }"
 ```
-
+<details>
+   <summary><b>Click here if running in docker container 🐳.</b></summary>
+
+```bash
+docker exec -it ros2_rust_base_c bash -c "source /nav2_traffic_ws/install/setup.bash && \
+    ros2 action send_goal robot0/navigate_to_pose nav2_msgs/action/NavigateToPose \"{
+      pose: {
+        header: {
+          stamp: {sec: 0, nanosec: 0},
+          frame_id: 'map'
+        },
+        pose: {
+          position: {x: 5.0, y: 5.0, z: 0.0},
+          orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
+        }
+      }
+    }\"
+"
 ```
+</details>
+
+```bash
 ros2 action send_goal robot1/navigate_to_pose nav2_msgs/action/NavigateToPose "{
   pose: {
     header: {
@@ -174,9 +277,30 @@ ros2 action send_goal robot1/navigate_to_pose nav2_msgs/action/NavigateToPose "{
 }"
 ```
 
+<details>
+   <summary><b>Click here if running in docker container 🐳.</b></summary>
+
+```bash
+docker exec -it ros2_rust_base_c bash -c "source /nav2_traffic_ws/install/setup.bash && \
+    ros2 action send_goal robot1/navigate_to_pose nav2_msgs/action/NavigateToPose \"{
+      pose: {
+        header: {
+          stamp: {sec: 0, nanosec: 0},
+          frame_id: 'map'
+        },
+        pose: {
+          position: {x: 0.0, y: 3.0, z: 0.0},
+          orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
+        }
+      }
+    }\"
+"
+```
+</details>
+
 Alternate navigation goals:
 
-```
+```bash
 ros2 action send_goal robot0/navigate_to_pose nav2_msgs/action/NavigateToPose "{
   pose: {
     header: {
@@ -191,7 +315,28 @@ ros2 action send_goal robot0/navigate_to_pose nav2_msgs/action/NavigateToPose "{
 }"
 ```
 
+<details>
+   <summary><b>Click here if running in docker container 🐳.</b></summary>
+
+```bash
+docker exec -it ros2_rust_base_c bash -c "source /nav2_traffic_ws/install/setup.bash && \
+    ros2 action send_goal robot0/navigate_to_pose nav2_msgs/action/NavigateToPose \"{
+      pose: {
+        header: {
+          stamp: {sec: 0, nanosec: 0},
+          frame_id: 'map'
+        },
+        pose: {
+          position: {x: 9.0, y: 3.0, z: 0.0},
+          orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
+        }
+      }
+    }\"
+"
 ```
+</details>
+
+```bash
 ros2 action send_goal robot1/navigate_to_pose nav2_msgs/action/NavigateToPose "{
   pose: {
     header: {
@@ -205,3 +350,24 @@ ros2 action send_goal robot1/navigate_to_pose nav2_msgs/action/NavigateToPose "{
   }
 }"
 ```
+
+<details>
+   <summary><b>Click here if running in docker container 🐳.</b></summary>
+
+```bash
+docker exec -it ros2_rust_base_c bash -c "source /nav2_traffic_ws/install/setup.bash && \
+    ros2 action send_goal robot1/navigate_to_pose nav2_msgs/action/NavigateToPose \"{
+      pose: {
+        header: {
+          stamp: {sec: 0, nanosec: 0},
+          frame_id: 'map'
+        },
+        pose: {
+          position: {x: 9.0, y: 6.0, z: 0.0},
+          orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
+        }
+      }
+    }\"
+"
+```
+</details>
\ No newline at end of file