diff --git a/.env b/.env
new file mode 100644
index 0000000..cc56610
--- /dev/null
+++ b/.env
@@ -0,0 +1,2 @@
+UBUNTU_VERSION_LATEST=22.04
+UBUNTU_VERSION_PREVIOUS=20.04
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index 5cd88ca..25eedd1 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,12 @@
-FROM ripl/lcm:latest
+# Parameters
+ARG REPO_NAME="libbot2-docker"
+ARG DESCRIPTION="Contains the libbot libraries and executables"
+ARG MAINTAINER="Matthew Walter (mwalter@ttic.edu)"
+
+ARG UBUNTU_VERSION=20.04
+
+# Base image
+FROM ripl/lcm:$UBUNTU_VERSION
 
 # arguments
 ARG INSTALL_DIR=/usr/local
@@ -16,6 +24,7 @@ RUN apt update && apt install -y \
     freeglut3-dev \
     libgtk-3-dev \
     libxmu-dev \
+    libjpeg8-dev \
     python3-numpy \
     python3-scipy \
     && rm -rf /var/lib/apt/lists/*
@@ -32,11 +41,13 @@ RUN mkdir -p /tmp/libbot2 && \
   #./scripts/setup/linux/ubuntu/$UBUNTU_DISTRIB_CODENAME/install_prereqs && \
   #rm -rf /var/lib/apt/lists/* && \
   cd .. && \
-  mkdir libbot2-build && \
-  # build libbot2
-  cd libbot2-build && \
-  cmake -DCMAKE_INSTALL_PREFIX=$LIBBOT2_INSTALL_DIR ../libbot2-master && \
-  make install && \
-  # remove source code
-  cd / && \
-  rm -rf /tmp/libbot2
\ No newline at end of file
+  mkdir libbot2-build 
+  
+#   && \
+#   # build libbot2
+#   cd libbot2-build && \
+#   cmake -DCMAKE_INSTALL_PREFIX=$LIBBOT2_INSTALL_DIR ../libbot2-master && \
+#   make install && \
+#   # remove source code
+#   cd / && \
+#   rm -rf /tmp/libbot2
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diff --git a/Makefile b/Makefile
index ab8e660..fb8b7ae 100644
--- a/Makefile
+++ b/Makefile
@@ -1,24 +1,33 @@
 REGISTRY_HOST=docker.io
 USERNAME=ripl
-NAME=libbot2-docker
+#NAME=$(shell basename $(CURDIR))
+NAME=libbot2
 
 IMAGE=$(USERNAME)/$(NAME)
 
 
-# Common variables
-LCM_VERSION = "1.5.0"
+# Ubuntu versions are stored in the .env file
+include .env
+
+# Base environments
+BASE_IMAGE_ENVIRONMENT_LATEST = ripl/lcm:${UBUNTU_VERSION_LATEST}
+BASE_IMAGE_ENVIRONMENT_PREVIOUS = ripl/lcm:${UBUNTU_VERSION_PREVIOUS}
+
 
 # Tag: latest
-BASE_IMAGE_LATEST = "ripl/lcm:latest"
-BUILD_IMAGE_LATEST = "${IMAGE}:latest"
+BUILD_IMAGE_LATEST = $(IMAGE):${UBUNTU_VERSION_LATEST}
+BUILD_IMAGE_PREVIOUS = $(IMAGE):${UBUNTU_VERSION_PREVIOUS}
+
 
 .PHONY: pre-build docker-build build release showver \
-        push cleanup
+	push cleanup
 
 build: pre-build docker-build ## builds a new version of the container image(s)
 
 pre-build: ## Update the base environment images
-	docker pull $(BASE_IMAGE_LATEST)
+	docker pull $(BASE_IMAGE_ENVIRONMENT_LATEST)
+	docker pull $(BASE_IMAGE_ENVIRONMENT_PREVIOUS)
+
 
 
 post-build:
@@ -32,20 +41,90 @@ post-push:
 
 docker-build:
 
-	# Build latest
-	docker buildx build --platform linux/arm64/v8,linux/amd64 --tag $(BUILD_IMAGE_LATEST) -f Dockerfile .
+	# Build latest with multiple tags
+	docker buildx build --build-arg="UBUNTU_VERSION=${UBUNTU_VERSION_LATEST}" --platform linux/arm64/v8,linux/amd64 --tag $(BUILD_IMAGE_LATEST) --tag $(IMAGE):latest -f Dockerfile .
+
+	# Build previous
+	docker buildx build --build-arg="UBUNTU_VERSION=${UBUNTU_VERSION_PREVIOUS}" --platform linux/arm64/v8,linux/amd64 --tag $(BUILD_IMAGE_PREVIOUS) -f Dockerfile .
 
-release: build push     ## builds a new version of your container image(s), and pushes it/them to the registry
 
-push: pre-push do-push post-push
+release: build push	## builds a new version of your container image(s), and pushes it/them to the registry
 
-do-push:
+
+push: pre-push do-push post-push ## pushes the images to dockerhub
+
+do-push: 
 	# Push lateset
-	docker buildx build --platform linux/arm64/v8,linux/amd64 --push --tag $(BUILD_IMAGE_LATEST) -f Dockerfile .
+	docker buildx build --build-arg="UBUNTU_VERSION=${UBUNTU_VERSION_LATEST}" --platform linux/arm64/v8,linux/amd64 --push --tag $(BUILD_IMAGE_LATEST)  --tag $(IMAGE):latest -f Dockerfile .
+
+	# Push previous
+	docker buildx build --build-arg="UBUNTU_VERSION=${UBUNTU_VERSION_PREVIOUS}" --platform linux/arm64/v8,linux/amd64 --push --tag $(BUILD_IMAGE_PREVIOUS) -f Dockerfile .
+
 
 cleanup: ## Remove images pulled/generated as part of the build process
-	docker rmi $(BASE_IMAGE_LATEST)
 	docker rmi $(BUILD_IMAGE_LATEST)
+	docker rmi $(IMAGE):latest
+	docker rmi $(BUILD_IMAGE_PREVIOUS)
+	docker rmi $(BASE_IMAGE_ENVIRONMENT_LATEST)
+	docker rmi $(BASE_IMAGE_ENVIRONMENT_PREVIOUS)
+
+
+showver:	## shows the current release tag based on the workspace
+	echo "RELEASE_VERSION: $(RELEASE_VERSION)"
+
+
+help:           ## show this help.
+	@fgrep -h "##" $(MAKEFILE_LIST) | grep -v fgrep | sed -e 's/\([^:]*\):[^#]*##\(.*\)/printf '"'%-20s - %s\\\\n' '\1' '\2'"'/' |bash
+
+
+# REGISTRY_HOST=docker.io
+# USERNAME=ripl
+# NAME=libbot2-docker
+
+# IMAGE=$(USERNAME)/$(NAME)
+
+
+# # Common variables
+# LCM_VERSION = "1.5.0"
+
+# # Tag: latest
+# BASE_IMAGE_LATEST = "ripl/lcm:latest"
+# BUILD_IMAGE_LATEST = "${IMAGE}:latest"
+
+# .PHONY: pre-build docker-build build release showver \
+#         push cleanup
+
+# build: pre-build docker-build ## builds a new version of the container image(s)
+
+# pre-build: ## Update the base environment images
+# 	docker pull $(BASE_IMAGE_LATEST)
+
+
+# post-build:
+
+
+# pre-push:
+
+
+# post-push:
+
+
+# docker-build:
+
+# 	# Build latest
+# 	docker buildx build --platform linux/arm64/v8,linux/amd64 --tag $(BUILD_IMAGE_LATEST) -f Dockerfile .
+
+# release: build push     ## builds a new version of your container image(s), and pushes it/them to the registry
+
+# push: pre-push do-push post-push
+
+# do-push:
+# 	# Push lateset
+# 	docker buildx build --platform linux/arm64/v8,linux/amd64 --push --tag $(BUILD_IMAGE_LATEST) -f Dockerfile .
+
+# cleanup: ## Remove images pulled/generated as part of the build process
+# 	docker rmi $(BASE_IMAGE_LATEST)
+# 	docker rmi $(BUILD_IMAGE_LATEST)
 
-help:   ## show this help.
-	@fgrep -h "##" $(MAKEFILE_LIST) | grep -v fgrep | sed -e 's/\([^:]*\):[^#]*##\(.*\)/printf '"'%-20s - %s\\\\n' '\1' '\2'"'/' |bash
\ No newline at end of file
+# help:   ## show this help.
+# 	@fgrep -h "##" $(MAKEFILE_LIST) | grep -v fgrep | sed -e 's/\([^:]*\):[^#]*##\(.*\)/printf '"'%-20s - %s\\\\n' '\1' '\2'"'/' |bash
\ No newline at end of file