diff --git a/.github/workflows/ground-amd64-build.yml b/.github/workflows/ground-amd64-build.yml
index 8fb7edf..3421438 100644
--- a/.github/workflows/ground-amd64-build.yml
+++ b/.github/workflows/ground-amd64-build.yml
@@ -85,4 +85,6 @@ jobs:
           fi
 
       - name: Build the ground image
-        run: docker buildx build --push -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
+        run: |
+          docker buildx build --target ros2-image --output type=oci,dest=/tmp/transitionary-ros2-image,tar=false -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --push --build-context transitionary-ros2-image=oci-layout:///tmp/transitionary-ros2-image -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/ground.dockerfile .
diff --git a/.github/workflows/simulation-amd64-build.yml b/.github/workflows/simulation-amd64-build.yml
index 5e6133d..1bf9ba2 100644
--- a/.github/workflows/simulation-amd64-build.yml
+++ b/.github/workflows/simulation-amd64-build.yml
@@ -85,4 +85,8 @@ jobs:
           fi
 
       - name: Build the simulation image
-        run: docker buildx build --push -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
+        run: |
+
+          docker buildx build --target ros2-image --output type=oci,dest=/tmp/transitionary-ros2-image,tar=false -f ./tools_and_docs/docker/aircraft.dockerfile .
+          docker buildx build --target ros2-qgc-image --build-context transitionary-ros2-image=oci-layout:///tmp/transitionary-ros2-image --output type=oci,dest=/tmp/transitionary-ros2-qgc-image,tar=false -f ./tools_and_docs/docker/ground.dockerfile .
+          docker buildx build --push --build-context transitionary-ros2-qgc-image=oci-layout:///tmp/transitionary-ros2-qgc-image -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./tools_and_docs/docker/simulation.dockerfile .
diff --git a/tools_and_docs/docker/aircraft.dockerfile b/tools_and_docs/docker/aircraft.dockerfile
index 3dc5d12..f138995 100644
--- a/tools_and_docs/docker/aircraft.dockerfile
+++ b/tools_and_docs/docker/aircraft.dockerfile
@@ -1,14 +1,18 @@
+################################################################################
+# Pick amd64 (for simulation) or arm64 (on Jetson) image from the NGC Catalog ##
+################################################################################
 FROM nvcr.io/nvidia/cuda:12.9.1-cudnn-runtime-ubuntu22.04 AS base_amd64
 FROM nvcr.io/nvidia/l4t-jetpack:r36.4.0 AS base_arm64
+
 ################################################################################
-# Stage 1 ######################################################################
+# Add tools and ROS2 ###########################################################
 ################################################################################
 FROM base_${TARGETARCH} AS ros2-image
 
 # Tell apt (and other Debian tools) not to prompt for user input during package installs
 ENV DEBIAN_FRONTEND=noninteractive
 
-# Update the package list and install basic dependencies
+# Install general use tools
 RUN apt update \
     && apt install -y --no-install-recommends \
         wget gosu htop vim ruby tmux xclip net-tools iproute2 iputils-ping netcat-openbsd \
@@ -20,34 +24,36 @@ RUN apt update \
 
 # Install ROS2 Humble
 # Based on https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
+ENV LANG=en_US.UTF-8
 RUN apt update \
     && apt install -y --no-install-recommends \
         locales \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN locale-gen en_US en_US.UTF-8
-RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG=en_US.UTF-8
-RUN apt update \
+    && locale-gen en_US en_US.UTF-8 \
+    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
     && apt install -y --no-install-recommends \
         software-properties-common curl \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-RUN apt update \
+    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && echo "deb [arch=$(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" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+    && apt update \
     && apt install -y --no-install-recommends \
         ros-humble-desktop ros-dev-tools \
         ros-humble-bondcpp ros-humble-ament-cmake-clang-format \
         ros-humble-vision-msgs \
     && apt clean \
+    && rm -rf /var/lib/apt/lists/* \
+    && echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc \
+    && rosdep init
+
+# Install Zenoh ROS2 bridge
+RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null \
+    && apt-get update && \
+    apt-get install -y zenoh-bridge-ros2dds \
+    && apt clean \
     && rm -rf /var/lib/apt/lists/*
-RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
-RUN rosdep init
 
 ################################################################################
-# Stage 2 ######################################################################
+# Add PX4 messages #############################################################
 ################################################################################
 FROM ros2-image AS ros2-px4msgs-image
 
@@ -55,12 +61,12 @@ FROM ros2-image AS ros2-px4msgs-image
 COPY /_github_clones/px4_msgs /aas/github_ws/src/px4_msgs
 WORKDIR /aas/github_ws
 RUN rosdep update
-RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
+RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y && apt clean && rm -rf /var/lib/apt/lists/*
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install"
 
 ################################################################################
-# Stage 3 ######################################################################
+# Add uXRCE-DDS agent ##########################################################
 ################################################################################
 FROM ros2-px4msgs-image AS ros2-px4msgs-dds-image
 
@@ -76,7 +82,7 @@ RUN mkdir build && cd build && \
 # Run with $ MicroXRCEAgent udp4 -p 8888
 
 ################################################################################
-# Stage 4 ######################################################################
+# Add MAVROS ###################################################################
 ################################################################################
 FROM ros2-px4msgs-dds-image AS ros2-px4msgs-dds-mavros-image
 
@@ -84,12 +90,12 @@ FROM ros2-px4msgs-dds-image AS ros2-px4msgs-dds-mavros-image
 RUN apt-get update && \
     apt-get install -y ros-humble-mavros ros-humble-mavros-extras ros-humble-mavros-msgs \
     && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
+    && rm -rf /var/lib/apt/lists/* \
+    && /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
 # Run with $ ros2 launch mavros apm.launch fcu_url:=[URI]
 
 ################################################################################
-# Stage 5 ######################################################################
+# Add GStreamer, OpenCV, and Ultralytics YOLO ##################################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-image AS ros2-px4msgs-dds-mavros-yolo-image
 
@@ -111,8 +117,8 @@ RUN apt update \
 
 # Install YOLO and ONNX in virtual environment /yolo-env/
 # See https://github.com/ultralytics/ultralytics/blob/main/README.md and https://onnxruntime.ai/getting-started
-RUN python3 -m venv /yolo-env
-RUN /yolo-env/bin/pip3 install --no-cache-dir --upgrade pip && \
+RUN python3 -m venv /yolo-env \
+    && /yolo-env/bin/pip3 install --no-cache-dir --upgrade pip && \
     /yolo-env/bin/pip3 install --no-cache-dir --resume-retries 5 ultralytics onnx
 # Check YOLO with $ /yolo-env/bin/python3 -c "import ultralytics; print(ultralytics.__version__)"
 # NOTE: the venv avoids shadowing the system Python's OpenCV (with GStreamer support) with a newer one without GStreamer support
@@ -120,7 +126,8 @@ RUN /yolo-env/bin/pip3 install --no-cache-dir --upgrade pip && \
 # Versus $ /yolo-env/bin/python3 -c "import cv2; print(cv2.getBuildInformation())"
 
 ################################################################################
-# Alternate stage for ONNX Runtime GPU: use CUDA in sim, TensorRT on Orin ######
+# amd64 stage for ONNX Runtime GPU: from wheel for CUDA support in simulation ##
+# Mutually exclusive with the next stage #######################################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-image AS image-with-hardware-specific-ort-deepstream-and-drivers_amd64
 # Add ONNX Runtime with GPU (CUDA) support for system Python
@@ -128,6 +135,10 @@ RUN pip3 install --no-cache-dir --upgrade pip && \
     pip3 install --no-cache-dir --resume-retries 5 onnxruntime-gpu
 # Check with $ python3 -c "import onnxruntime as ort; print(ort.__version__); print(ort.get_available_providers())"
 
+################################################################################
+# arm64 stage for ONNX Runtime GPU: from source for TensorRT support on Jetson #
+# Mutually exclusive with the previous stage ###################################
+################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-image AS image-with-hardware-specific-ort-deepstream-and-drivers_arm64
 # Build ONNX Runtime from source with Jetson (TensorRT) support for system Python
 # Based on https://onnxruntime.ai/docs/build/eps.html#nvidia-jetson-tx1tx2nanoxavierorin
@@ -159,7 +170,7 @@ RUN apt update && \
 ENV PYTHONPATH=/aas/github_apps/onnxruntime/build/Linux/Release
 # Check with $ python3 -c "import onnxruntime as ort; print(ort.__version__); print(ort.get_available_providers())"
 
-# Install DeepStream 7.1 on Orin to use NVIDIA accelerated GStreamer preprocessing (e.g. nvdewarper)
+# Also install DeepStream 7.1 on Orin to use NVIDIA accelerated GStreamer preprocessing (e.g. nvdewarper)
 # Based on https://docs.nvidia.com/metropolis/deepstream/7.1/text/DS_Installation.html
 WORKDIR /
 RUN apt update \
@@ -169,17 +180,21 @@ RUN apt update \
         gstreamer1.0-tools gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav \
         libgstrtspserver-1.0-0 libjansson4 libyaml-cpp-dev \
     && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN pip3 install --no-cache-dir --upgrade pip && \
-    pip3 install --no-cache-dir --resume-retries 5 meson ninja
-RUN wget https://download.gnome.org/sources/glib/2.76/glib-2.76.6.tar.xz \
+    && rm -rf /var/lib/apt/lists/* \
+    && pip3 install --no-cache-dir --upgrade pip && \
+    pip3 install --no-cache-dir --resume-retries 5 meson ninja \
+    && wget https://download.gnome.org/sources/glib/2.76/glib-2.76.6.tar.xz \
     && tar -xf glib-2.76.6.tar.xz \
     && cd glib-2.76.6 \
     && meson build --prefix=/usr \
     && ninja -C build \
-    && ninja -C build install
-RUN curl -LO 'https://api.ngc.nvidia.com/v2/resources/nvidia/deepstream/versions/7.1/files/deepstream-7.1_7.1.0-1_arm64.deb'
-RUN apt update && apt-get install -y ./deepstream-7.1_7.1.0-1_arm64.deb
+    && ninja -C build install \
+    && cd .. \
+    && curl -LO 'https://api.ngc.nvidia.com/v2/resources/nvidia/deepstream/versions/7.1/files/deepstream-7.1_7.1.0-1_arm64.deb' \
+    && apt-get install -y ./deepstream-7.1_7.1.0-1_arm64.deb \
+    && rm -rf deepstream-7.1_7.1.0-1_arm64.deb glib-2.76.6.tar.xz glib-2.76.6 \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
 
 # Also install the Livox ROS2 driver only on Orin for deployment
 COPY /_github_clones/Livox-SDK2 /aas/github_apps/Livox-SDK2
@@ -199,7 +214,7 @@ RUN cp -f src/livox_ros_driver2/package_ROS2.xml src/livox_ros_driver2/package.x
 RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install --packages-select livox_ros_driver2 --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=humble -DCMAKE_BUILD_TYPE=Release"
 
 ################################################################################
-# Stage 6 ######################################################################
+# Add KISS-ICP #################################################################
 ################################################################################
 FROM image-with-hardware-specific-ort-deepstream-and-drivers_${TARGETARCH} AS ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-image
 
@@ -210,15 +225,8 @@ WORKDIR /aas/github_ws
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && colcon build --symlink-install --packages-skip livox_ros_driver2 --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
-# Install Zenoh
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
-RUN apt-get update && \
-    apt-get install -y zenoh-bridge-ros2dds \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
 ################################################################################
-# Stage 7 ######################################################################
+# Add analysis tools and YOLO models ###########################################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-image AS ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-analysis-models-image
 
@@ -244,7 +252,7 @@ RUN /yolo-env/bin/python3 -c "from ultralytics import YOLO; YOLO('yolo26n.pt').e
     rm yolo26n.pt
 
 ################################################################################
-# Stage 8 ######################################################################
+# Copy AAS resources and build AAS ROS2 workspace ##############################
 ################################################################################
 FROM ros2-px4msgs-dds-mavros-yolo-kissicp-zenoh-analysis-models-image AS aircraft-dev-image
 
@@ -253,7 +261,7 @@ COPY ground/ground_ws/src/ground_system_msgs /aas/aircraft_ws/src/ground_system_
 COPY aircraft/aircraft_ws/src /aas/aircraft_ws/src
 WORKDIR /aas/aircraft_ws
 RUN rosdep update
-RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y --skip-keys "px4_msgs"
+RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y --skip-keys "px4_msgs" && apt clean && rm -rf /var/lib/apt/lists/*
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && source /aas/github_ws/install/setup.bash && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
@@ -261,15 +269,15 @@ RUN bash -c "source /opt/ros/humble/setup.bash && source /aas/github_ws/install/
 COPY aircraft/aircraft_resources/ /aas/aircraft_resources
 COPY aircraft/aircraft_resources/patches/kiss_icp.rviz /aas/github_ws/src/kiss-icp/ros/rviz/kiss_icp.rviz
 COPY aircraft/aircraft_resources/patches/apm_pluginlists.yaml /opt/ros/humble/share/mavros/launch/apm_pluginlists.yaml
-RUN ln -s /aas/aircraft_resources/patches/cancellable_action.py /usr/local/bin/cancellable_action
-RUN chmod +x /aas/aircraft_resources/patches/cancellable_action.py
+RUN ln -s /aas/aircraft_resources/patches/cancellable_action.py /usr/local/bin/cancellable_action \
+    && chmod +x /aas/aircraft_resources/patches/cancellable_action.py
 
 # Copy sensor configuration
 COPY simulation/simulation_resources/aircraft_models/sensor_config.yaml /aas/aircraft_resources/sensor_config.yaml
 
 # Source the workspaces
-RUN echo "source /aas/github_ws/install/setup.bash" >> /root/.bashrc
-RUN echo "source /aas/aircraft_ws/install/setup.bash" >> /root/.bashrc
+RUN echo "source /aas/github_ws/install/setup.bash" >> /root/.bashrc \
+    && echo "source /aas/aircraft_ws/install/setup.bash" >> /root/.bashrc
 # If needed (but already in .bashrc) $ source /opt/ros/humble/setup.bash && source /aas/github_ws/install/setup.bash && source /aas/aircraft_ws/install/setup.bash
 
 # Final config
diff --git a/tools_and_docs/docker/ground.dockerfile b/tools_and_docs/docker/ground.dockerfile
index 5839347..26d8b2a 100644
--- a/tools_and_docs/docker/ground.dockerfile
+++ b/tools_and_docs/docker/ground.dockerfile
@@ -1,59 +1,18 @@
 ################################################################################
-# Stage 1 ######################################################################
+# Import ROS2 layer from aircraft.dockerfile ###################################
 ################################################################################
-FROM nvcr.io/nvidia/cuda:12.9.1-cudnn-runtime-ubuntu22.04 AS ros2-image
-
-# Tell apt (and other Debian tools) not to prompt for user input during package installs
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Update the package list and install basic dependencies
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        wget gosu htop vim ruby tmux xclip net-tools iproute2 iputils-ping netcat-openbsd \
-        python3-pip python3-venv \
-        mesa-utils \
-    && gem install tmuxinator \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install ROS2 Humble
-# Based on https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        locales \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN locale-gen en_US en_US.UTF-8
-RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG=en_US.UTF-8
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        software-properties-common curl \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-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" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        ros-humble-desktop ros-dev-tools \
-        ros-humble-bondcpp ros-humble-ament-cmake-clang-format \
-        ros-humble-vision-msgs \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
-RUN rosdep init
+FROM transitionary-ros2-image AS ros2-image
 
 ################################################################################
-# Stage 2 ######################################################################
+# Add QGroundControl ###########################################################
 ################################################################################
-FROM ros2-image AS ros2-qgc-zenoh-image
+FROM ros2-image AS ros2-qgc-image
 
 # QGroundControl (as qgcuser)
 # Based on https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html
 WORKDIR /
-RUN useradd -m -s /bin/bash qgcuser
-RUN usermod -aG dialout qgcuser
+RUN useradd -m -s /bin/bash qgcuser \
+    && usermod -aG dialout qgcuser
 # RUN apt-get remove modemmanager -y
 RUN apt update \
     && apt install -y --no-install-recommends \
@@ -61,8 +20,8 @@ RUN apt update \
         libfuse2 \
         libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev \
     && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN wget https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage && \
+    && rm -rf /var/lib/apt/lists/* \
+    && wget https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage && \
     chmod +x /QGroundControl-x86_64.AppImage && \
     /QGroundControl-x86_64.AppImage --appimage-extract && \
     rm /QGroundControl-x86_64.AppImage
@@ -75,17 +34,10 @@ RUN apt update \
     && apt clean \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Zenoh
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
-RUN apt-get update && \
-    apt-get install -y zenoh-bridge-ros2dds \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
 ################################################################################
-# Stage 3 ######################################################################
+# Add GStreamer and MAVLink ####################################################
 ################################################################################
-FROM ros2-qgc-zenoh-image AS ros2-qgc-zenoh-gst-mavlink-image
+FROM ros2-qgc-image AS ros2-qgc-gst-mavlink-image
 
 # Add GStreamer packages to stream the cameras to the aircraft containers
 RUN apt update \
@@ -117,15 +69,15 @@ RUN meson setup build . --buildtype=release \
 COPY /_github_clones/c_library_v2 /usr/local/include/mavlink/
 
 ################################################################################
-# Stage 4 ######################################################################
+# Copy AAS resources and build AAS ROS2 workspace ##############################
 ################################################################################
-FROM ros2-qgc-zenoh-gst-mavlink-image AS ground-dev-image
+FROM ros2-qgc-gst-mavlink-image AS ground-dev-image
 
 # Build the ROS 2 workspace
 COPY ground/ground_ws/src /aas/ground_ws/src
 WORKDIR /aas/ground_ws
 RUN rosdep update
-RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y
+RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y && apt clean && rm -rf /var/lib/apt/lists/*
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && (source /aas/github_ws/install/setup.bash || true) && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
diff --git a/tools_and_docs/docker/simulation.dockerfile b/tools_and_docs/docker/simulation.dockerfile
index 0fcf62a..2988eca 100644
--- a/tools_and_docs/docker/simulation.dockerfile
+++ b/tools_and_docs/docker/simulation.dockerfile
@@ -1,102 +1,21 @@
 ################################################################################
-# Stage 1 ######################################################################
+# Import ROS2 layer from aircraft.dockerfile, QGC layer from ground.dockerfile #
 ################################################################################
-FROM nvcr.io/nvidia/cuda:12.9.1-cudnn-runtime-ubuntu22.04 AS ros2-image
-
-# Tell apt (and other Debian tools) not to prompt for user input during package installs
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Update the package list and install basic dependencies
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        wget gosu htop vim ruby tmux xclip net-tools iproute2 iputils-ping netcat-openbsd \
-        python3-pip python3-venv \
-        mesa-utils \
-    && gem install tmuxinator \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install ROS2 Humble
-# Based on https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        locales \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN locale-gen en_US en_US.UTF-8
-RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG=en_US.UTF-8
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        software-properties-common curl \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-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" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        ros-humble-desktop ros-dev-tools \
-        ros-humble-bondcpp ros-humble-ament-cmake-clang-format \
-        ros-humble-vision-msgs \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
-RUN rosdep init
+FROM transitionary-ros2-qgc-image AS ros2-qgc-image
 
 ################################################################################
-# Stage 2 ######################################################################
+# Add Gazebo Sim ###############################################################
 ################################################################################
-FROM ros2-image AS ros2-qgc-zenoh-image
-
-# QGroundControl (as qgcuser)
-# Based on https://docs.qgroundcontrol.com/master/en/qgc-user-guide/getting_started/download_and_install.html
-WORKDIR /
-RUN useradd -m -s /bin/bash qgcuser
-RUN usermod -aG dialout qgcuser
-# RUN apt-get remove modemmanager -y
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl \
-        libfuse2 \
-        libxcb-xinerama0 libxkbcommon-x11-0 libxcb-cursor-dev \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN wget https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl-x86_64.AppImage && \
-    chmod +x /QGroundControl-x86_64.AppImage && \
-    /QGroundControl-x86_64.AppImage --appimage-extract && \
-    rm /QGroundControl-x86_64.AppImage
-# Run with $ gosu qgcuser /squashfs-root/AppRun
-
-# Install wmctrl and xrandr to resize Gazebo/QGC window
-RUN apt update \
-    && apt install -y --no-install-recommends \
-        wmctrl x11-xserver-utils \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install Zenoh
-RUN echo "deb [trusted=yes] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee -a /etc/apt/sources.list > /dev/null
-RUN apt-get update && \
-    apt-get install -y zenoh-bridge-ros2dds \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-
-################################################################################
-# Stage 3 ######################################################################
-################################################################################
-FROM ros2-qgc-zenoh-image AS ros2-qgc-zenoh-gz-image
+FROM ros2-qgc-image AS ros2-qgc-gz-image
 
 # Gazebo Harmonic
 # Based on https://gazebosim.org/docs/harmonic/install_ubuntu/
 RUN apt update \
     && apt install -y --no-install-recommends \
         lsb-release gnupg \
-    && apt clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-RUN apt update \
+    && curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+    && apt update \
     && apt install -y --no-install-recommends \
         gz-harmonic ros-humble-ros-gzharmonic \
         libgz-transport13-* libgz-msgs10-dev \
@@ -106,32 +25,36 @@ RUN apt update \
 # Run with $ gz sim
 
 ################################################################################
-# Stage 4 ######################################################################
+# Add PX4 ######################################################################
 ################################################################################
-FROM ros2-qgc-zenoh-gz-image AS ros2-qgc-zenoh-gz-px4-image
+FROM ros2-qgc-gz-image AS ros2-qgc-gz-px4-image
 
 # PX4 SITL (NOTE: install PX4 tools first to avoid conflicts with ArduPilot, build later to customize)
 # Based on https://docs.px4.io/main/en/dev_setup/dev_env_linux_ubuntu.html
 COPY /_github_clones/PX4-Autopilot /aas/github_apps/PX4-Autopilot
 WORKDIR /aas/github_apps/PX4-Autopilot
-RUN bash ./Tools/setup/ubuntu.sh --no-sim-tools
+RUN bash ./Tools/setup/ubuntu.sh --no-sim-tools \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
 
 ################################################################################
-# Stage 5 ######################################################################
+# Add ArduPilot ################################################################
 ################################################################################
-FROM ros2-qgc-zenoh-gz-px4-image AS ros2-qgc-zenoh-gz-px4-ardupilot-image
+FROM ros2-qgc-gz-px4-image AS ros2-qgc-gz-px4-ardupilot-image
 
 # ArduPilot SITL (temporarily as arduuser, then re chown to root)
 # Based on https://ardupilot.org/dev/docs/building-setup-linux.html#building-setup-linux
 COPY /_github_clones/ardupilot /aas/github_apps/ardupilot
 WORKDIR /aas/github_apps/ardupilot
-RUN useradd -m -s /bin/bash arduuser && \
-    echo "arduuser ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/arduuser && chmod 0440 /etc/sudoers.d/arduuser && \
-    gosu arduuser git config --global --add safe.directory /aas/github_apps/ardupilot && \
-    chown -R arduuser:arduuser /aas/github_apps/ardupilot
-RUN USER=arduuser gosu arduuser bash ./Tools/environment_install/install-prereqs-ubuntu.sh -y
-RUN gosu arduuser bash -c "cd /aas/github_apps/ardupilot && ./waf configure --board sitl && ./waf build"
-RUN chown -R root:root /aas/github_apps/ardupilot
+RUN useradd -m -s /bin/bash arduuser \
+    && echo "arduuser ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/arduuser && chmod 0440 /etc/sudoers.d/arduuser \
+    && gosu arduuser git config --global --add safe.directory /aas/github_apps/ardupilot \
+    && chown -R arduuser:arduuser /aas/github_apps/ardupilot \
+    && USER=arduuser gosu arduuser bash ./Tools/environment_install/install-prereqs-ubuntu.sh -y \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+RUN gosu arduuser bash -c "cd /aas/github_apps/ardupilot && ./waf configure --board sitl && ./waf build" \
+    && chown -R root:root /aas/github_apps/ardupilot
 # Run with $ /aas/github_apps/ardupilot/build/sitl/bin/arducopter
 
 # ArduPilot Gazebo Plugin
@@ -152,11 +75,11 @@ RUN mkdir build && cd build && \
     make -j$(nproc)
 
 # Pre-build in the Docker image to speed up the first use of sim_vehicle.py
-RUN /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter
-RUN /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduPlane
+RUN /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduCopter \
+    && /aas/github_apps/ardupilot/Tools/autotest/sim_vehicle.py -v ArduPlane
 
 ################################################################################
-# Temporary stage to filter airframes ##########################################
+# Ephemeral stage to grab AAS PX4 custom airframes #############################
 ################################################################################
 FROM ubuntu:22.04 AS airframe_filter_stage
 COPY simulation/simulation_resources/aircraft_models/ /temp_folder
@@ -164,9 +87,9 @@ RUN mkdir /airframes
 RUN find /temp_folder -type f -regex '.*/[0-9]+_.*' -exec cp {} /airframes/ \;
 
 ################################################################################
-# Stage 6 ######################################################################
+# Build PX4 SITL with AAS airframes using the airframe_filter_stage stage ######
 ################################################################################
-FROM ros2-qgc-zenoh-gz-px4-ardupilot-image AS ros2-qgc-zenoh-gz-px4custom-ardupilot-image
+FROM ros2-qgc-gz-px4-ardupilot-image AS ros2-qgc-gz-px4custom-ardupilot-image
 
 # Apply PX4 patch (DDS Agent on custom IP, ...) created with $ git diff > ../px4-v1.16.2.patch
 COPY simulation/simulation_resources/patches/px4-v1.16.2.patch /aas/github_apps/px4-v1.16.2.patch
@@ -190,9 +113,9 @@ RUN make px4_sitl
 # Run with $ /aas/github_apps/PX4-Autopilot/build/px4_sitl_default/bin/px4
 
 ################################################################################
-# Stage 7 ######################################################################
+# Add GStreamer, MAVLink, flight_review, wave simulation, ZeroMQ ###############
 ################################################################################
-FROM ros2-qgc-zenoh-gz-px4custom-ardupilot-image AS ros2-qgc-zenoh-gz-px4custom-ardupilot-gst-logs-waves-zmq-image
+FROM ros2-qgc-gz-px4custom-ardupilot-image AS ros2-qgc-gz-px4custom-ardupilot-gst-logs-waves-zmq-image
 
 # Add GStreamer packages to stream the cameras to the aircraft containers
 RUN apt update \
@@ -215,8 +138,8 @@ RUN apt-get update && \
     && rm -rf /var/lib/apt/lists/*
 COPY /_github_clones/flight_review /aas/github_apps/flight_review
 WORKDIR /aas/github_apps/flight_review/app
-RUN python3 -m venv /px4fr-env
-RUN /px4fr-env/bin/pip3 install --no-cache-dir --upgrade pip && \
+RUN python3 -m venv /px4fr-env \
+    && /px4fr-env/bin/pip3 install --no-cache-dir --upgrade pip && \
     /px4fr-env/bin/pip3 install --no-cache-dir --resume-retries 5 -r requirements.txt
 
 # Build the Gazebo wave plugin in github_ws/
@@ -245,22 +168,22 @@ RUN pip3 install --no-cache-dir --upgrade pip \
     && pip3 install --no-cache-dir --resume-retries 5 pyzmq
 
 ################################################################################
-# Stage 8 ######################################################################
+# Copy AAS resources and build AAS ROS2 workspace ##############################
 ################################################################################
-FROM ros2-qgc-zenoh-gz-px4custom-ardupilot-gst-logs-waves-zmq-image AS simulation-dev-image
+FROM ros2-qgc-gz-px4custom-ardupilot-gst-logs-waves-zmq-image AS simulation-dev-image
 
 # Build the ROS 2 workspace
 COPY simulation/simulation_ws/src /aas/simulation_ws/src
 WORKDIR /aas/simulation_ws
 RUN rosdep update
-RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y
+RUN rosdep install --from-paths src/ --ignore-src --rosdistro humble -y && apt clean && rm -rf /var/lib/apt/lists/*
 # Explicitly use bash, not sh, to source and build the workspace
 RUN bash -c "source /opt/ros/humble/setup.bash && (source /aas/github_ws/install/setup.bash || true) && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
 
 # Copy resources and configuration files from this repository
 COPY simulation/simulation_resources/ /aas/simulation_resources
-RUN chmod +x /aas/simulation_resources/aircraft_models/_create_ardupilot_models.sh
-RUN chmod +x /aas/simulation_resources/simulation_worlds/_create_ardupilot_world.sh
+RUN chmod +x /aas/simulation_resources/aircraft_models/_create_ardupilot_models.sh \
+    && chmod +x /aas/simulation_resources/simulation_worlds/_create_ardupilot_world.sh
 
 # Copy QGC configuration (only for GND_CONTAINER=false)
 COPY ground/ground_resources/patches/QGroundControl.ini /home/qgcuser/.config/QGroundControl/QGroundControl.ini
@@ -276,8 +199,8 @@ WORKDIR /aas/simulation_resources/aircraft_models/
 RUN ruby _create_sdfs_using_sensor_config.rb
 
 # Source the workspaces
-RUN echo "source /aas/github_ws/install/setup.bash" >> /root/.bashrc
-RUN echo "source /aas/simulation_ws/install/setup.bash" >> /root/.bashrc
+RUN echo "source /aas/github_ws/install/setup.bash" >> /root/.bashrc \
+    && echo "source /aas/simulation_ws/install/setup.bash" >> /root/.bashrc
 # If needed (but already in .bashrc) $ source /opt/ros/humble/setup.bash && source /aas/github_ws/install/setup.bash && source /aas/simulation_ws/install/setup.bash
 
 # Final config
diff --git a/tools_and_docs/sim_build.sh b/tools_and_docs/sim_build.sh
index 5bb93b6..995a2d4 100755
--- a/tools_and_docs/sim_build.sh
+++ b/tools_and_docs/sim_build.sh
@@ -95,10 +95,13 @@ fi
 unzip -q -o "$ZIP_FILE" -d "$SCRIPT_DIR/.."
 
 if [ "$BUILD_DOCKER" = "true" ]; then
-  # The first build takes ~45' and ~70GB of disk usage (~23GB of content size)
-  docker build $BUILD_ARGS -t simulation-image -f "${SCRIPT_DIR}/docker/simulation.dockerfile" "${SCRIPT_DIR}/.."
-  docker build $BUILD_ARGS -t ground-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
+  # Build common layers reused between images
+  docker build $BUILD_ARGS --target ros2-image -t transitionary-ros2-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
+  docker build $BUILD_ARGS --target ros2-qgc-image -t transitionary-ros2-qgc-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
+  # Build the 3 main images, the first build takes ~45'
   docker build $BUILD_ARGS -t aircraft-image -f "${SCRIPT_DIR}/docker/aircraft.dockerfile" "${SCRIPT_DIR}/.."
+  docker build $BUILD_ARGS -t ground-image -f "${SCRIPT_DIR}/docker/ground.dockerfile" "${SCRIPT_DIR}/.."
+  docker build $BUILD_ARGS -t simulation-image -f "${SCRIPT_DIR}/docker/simulation.dockerfile" "${SCRIPT_DIR}/.."
 else
   echo -e "Skipping Docker builds"
 fi