diff --git a/.github/workflows/build-docker.yaml b/.github/workflows/build-docker.yaml
new file mode 100644
index 0000000..6b91a49
--- /dev/null
+++ b/.github/workflows/build-docker.yaml
@@ -0,0 +1,72 @@
+name: Create and publish a Docker image
+
+on:
+  push:
+
+# Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
+env:
+  REGISTRY: git.spirirobotics.com
+  IMAGE_NAME: ${{ github.repository }}
+
+# There is a single job in this workflow. It's configured to run on the latest available version of Ubuntu.
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    container: ghcr.io/catthehacker/ubuntu:act-latest
+
+    # Sets the permissions granted to the `GITHUB_TOKEN` for the actions in this job.
+    permissions:
+      contents: read
+      packages: write
+      # 
+    steps:
+      #- name: install docker
+      #  run: apt install moby-cli -y    
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      # Uses the `docker/login-action` action to log in to the Container registry registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
+      - name: Log in to the Container registry
+        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.WORKFLOW_REGISTRY_TOKEN }}
+      # This step uses [docker/metadata-action](https://github.com/docker/metadata-action#about) to extract tags and labels that will be applied to the specified image. The `id` "meta" allows the output of this step to be referenced in a subsequent step. The `images` value provides the base name for the tags and labels.
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+
+      # - name: Set up QEMU
+      #   uses: docker/setup-qemu-action@v2
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
+      # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
+      # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        env:
+          #Hack for gitea/github weirdness.
+          ACTIONS_RUNTIME_TOKEN: ''
+        with:
+          context: .
+          # push: true
+          load: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+
+      - name: Push Docker image
+        uses: docker/build-push-action@v5
+        env:
+          #Hack for gitea/github weirdness.
+          ACTIONS_RUNTIME_TOKEN: ''
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
diff --git a/Dockerfile b/Dockerfile
index 9730fd3..9492d3c 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -21,7 +21,7 @@ RUN apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin d
 RUN apt-get install ros-$ROS_DISTRO-gazebo-ros-pkgs ros-$ROS_DISTRO-gazebo-ros-control gazebo11 -y
 RUN apt-get install ros-$ROS_DISTRO-mavros -y
 RUN apt-get install lxqt-core -y
-RUN apt-get install vim nano htop git -y
+RUN apt-get install vim nano htop git mesa-utils -y
 # RUN apt-get install flatpak xdg-desktop-portal-kde -y
 # RUN flatpak remote-add --if-not-exists flathub https://dl.flathub.org/repo/flathub.flatpakrepo
 # RUN flatpak install flathub org.mozilla.firefox
@@ -67,9 +67,9 @@ COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /models /
 COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /worlds /usr/share/gazebo-11/worlds/
 COPY --link --from=git.spirirobotics.com/spiri/gazebo-resources:latest /plugins /usr/lib/x86_64-linux-gnu/gazebo-11/plugins
 
-# USER $USERNAME
+USER $USERNAME
 # #Install nix, for easy mixin packages. Homebrew would also work...
-# RUN curl -L https://nixos.org/nix/install | sh -s -- --no-daemon
-# COPY ./nix.conf /etc/nix/nix.conf
+RUN curl -L https://nixos.org/nix/install | sh -s -- --no-daemon
+COPY ./nix.conf /etc/nix/nix.conf
 # # RUN nix flake init
 # USER 0