diff --git a/.github/workflows/build_ros2.yml b/.github/workflows/build_ros2.yml
index d94f4c660..6d0ad84dc 100644
--- a/.github/workflows/build_ros2.yml
+++ b/.github/workflows/build_ros2.yml
@@ -49,3 +49,24 @@ jobs:
       - name: Run OpenVINS Simulation!
         run: |
           docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source install/setup.bash && ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml"
+  build_2204:
+    name: "ROS2 Ubuntu 22.04"
+    runs-on: ubuntu-latest
+    steps:
+      - name: Code Checkout
+        uses: actions/checkout@v2
+      - name: Create Workspace and Docker Image
+        run: |
+          export REPO=$(basename $GITHUB_REPOSITORY) &&
+          cd $GITHUB_WORKSPACE/.. && mkdir src/ &&
+          mv $REPO/ src/ && mkdir $REPO/ && mv src/ $REPO/ && cd $REPO/ &&
+          docker build -t openvins -f $GITHUB_WORKSPACE/src/$REPO/Dockerfile_ros2_22_04 .
+      - name: Echo Enviroment
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "echo $ROS_DISTRO && echo $ROS_VERSION"
+      - name: Run Build in Docker
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && colcon build"
+      - name: Run OpenVINS Simulation!
+        run: |
+          docker run -t --mount type=bind,source=$GITHUB_WORKSPACE,target=/catkin_ws openvins /bin/bash -c "cd /catkin_ws && source install/setup.bash && ros2 run ov_msckf run_simulation src/open_vins/config/rpng_sim/estimator_config.yaml"
diff --git a/Dockerfile_ros2_22_04 b/Dockerfile_ros2_22_04
new file mode 100644
index 000000000..a983f4ce7
--- /dev/null
+++ b/Dockerfile_ros2_22_04
@@ -0,0 +1,47 @@
+FROM osrf/ros:humble-desktop
+
+# =========================================================
+# =========================================================
+
+# Are you are looking for how to use this docker file?
+#   - https://docs.openvins.com/dev-docker.html
+#   - https://docs.docker.com/get-started/
+#   - http://wiki.ros.org/docker/Tutorials/Docker
+
+# =========================================================
+# =========================================================
+
+# Dependencies we use, catkin tools is very good build system
+# Also some helper utilities for fast in terminal edits (nano etc)
+RUN apt-get update && apt-get install -y libeigen3-dev nano git
+
+# Ceres solver install and setup
+RUN sudo apt-get install -y cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev libceres-dev
+# ENV CERES_VERSION="2.0.0"
+# RUN git clone https://ceres-solver.googlesource.com/ceres-solver && \
+#     cd ceres-solver && \
+#     git checkout tags/${CERES_VERSION} && \
+#     mkdir build && cd build && \
+#     cmake .. && \
+#     make -j$(nproc) install && \
+#     rm -rf ../../ceres-solver
+
+# Seems this has Python 3.10 installed on it...
+RUN apt-get update && apt-get install -y python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk
+
+# Install deps needed for clion remote debugging
+# https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/
+# RUN sed -i '6i\source "/catkin_ws/install/setup.bash"\' /ros_entrypoint.sh
+RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \
+    gdb clang cmake rsync tar python3 && apt-get clean
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PermitRootLogin yes'; \
+    echo 'PasswordAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_test_clion \
+  && mkdir /run/sshd
+RUN useradd -m user && yes password | passwd user
+RUN usermod -s /bin/bash user
+CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"]
+