diff --git a/.github/api-server/Dockerfile b/.github/api-server/Dockerfile
new file mode 100644
index 000000000..cb96ca6a0
--- /dev/null
+++ b/.github/api-server/Dockerfile
@@ -0,0 +1,47 @@
+ARG BRANCH=main
+ARG ROS_DISTRO=jazzy
+ARG BASE_IMAGE
+
+FROM $BASE_IMAGE as base
+
+ARG BRANCH
+
+# fetch sources
+RUN mkdir -p /ws \
+  && curl -L https://github.com/open-rmf/rmf-web/archive/$BRANCH.tar.gz -o rmf_web.tar.gz \
+  && tar zxf rmf_web.tar.gz -C /ws --strip-components=1
+
+# install deps
+RUN cd /ws \
+  && pnpm install --filter api-server...
+
+# cleanup
+RUN rm -rf \
+    /var/lib/apt/lists \
+    /dist
+
+### Set up minimal image
+FROM docker.io/library/ros:$ROS_DISTRO-ros-core
+
+ARG ROS_DISTRO
+
+RUN apt update && apt install -y ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+
+# according to rosdep, the messages have no deps so we can just copy the files directly in!
+# this reduces the image size by ~50%.
+COPY --from=base /opt/rmf/include /opt/ros/$ROS_DISTRO/include
+COPY --from=base /opt/rmf/lib /opt/ros/$ROS_DISTRO/lib
+COPY --from=base /opt/rmf/share /opt/ros/$ROS_DISTRO/share
+
+# Copy over ws alongside the python virtual environment
+RUN mkdir /ws
+COPY --from=base /ws /ws
+
+# cleanup
+RUN rm -rf \
+    /var/lib/apt/lists \
+    /dist
+
+ENV RMF_API_SERVER_CONFIG /ws/packages/api-server/sqlite_local_config.py
+WORKDIR /ws/packages/api-server
+ENTRYPOINT ["bash", "-c", ". /opt/ros/$ROS_DISTRO/setup.bash && mkdir -p run/cache && ../../.venv/bin/pipenv run python -m api_server"]
diff --git a/.github/dashboard/Dockerfile b/.github/dashboard/Dockerfile
new file mode 100644
index 000000000..6700897e0
--- /dev/null
+++ b/.github/dashboard/Dockerfile
@@ -0,0 +1,41 @@
+ARG BASE_IMAGE
+FROM $BASE_IMAGE
+ARG BRANCH=main
+
+### Build dashboard
+
+# fetch sources
+RUN mkdir -p /ws \
+  && curl -L https://github.com/open-rmf/rmf-web/archive/$BRANCH.tar.gz -o rmf_web.tar.gz \
+  && tar zxf rmf_web.tar.gz -C /ws --strip-components=1
+
+# install deps
+RUN cd /ws \
+  && pnpm install --filter rmf-dashboard...
+
+# replace configs and build
+COPY app-config.json /ws/packages/dashboard/app-config.json
+RUN cd /ws/packages/dashboard \
+  && pnpm run build
+
+### Set up bare minimum dashboard image
+
+FROM docker.io/ubuntu:24.04
+COPY --from=0 /ws/packages/dashboard/dist /opt/dashboard
+
+RUN apt update && apt install -y curl
+
+RUN curl -fsSL https://get.pnpm.io/install.sh | bash -
+# shell runs in non-interactive mode, which does not source .bashrc so we need to set the PATH manually
+ENV PNPM_HOME /root/.local/share/pnpm
+ENV PATH "$PNPM_HOME:$PATH"
+
+# nodejs seems to have changed the official mirror, the default in pnpm is very slow now
+RUN pnpm config -g set 'node-mirror:release' https://nodejs.org/dist && pnpm env use --global lts
+
+RUN npm install --global serve
+ENV PATH "$(npm bin -g):$PATH"
+
+COPY inject-env.sh /opt/inject-env.sh
+
+ENTRYPOINT ["bash", "-c", ". /opt/inject-env.sh && npx serve -s /opt/dashboard"]
diff --git a/.github/dashboard/app-config.json b/.github/dashboard/app-config.json
new file mode 100644
index 000000000..84626aeca
--- /dev/null
+++ b/.github/dashboard/app-config.json
@@ -0,0 +1,42 @@
+{
+  "$schema": "https://raw.githubusercontent.com/open-rmf/rmf-web/main/packages/dashboard/app-config.schema.json",
+  "rmfServerUrl": "__RMF_SERVER_URL__",
+  "trajectoryServerUrl": "__TRAJECTORY_SERVER_URL__",
+  "authConfig": {},
+  "helpLink": "https://osrf.github.io/ros2multirobotbook/rmf-core.html",
+  "reportIssue": "https://github.com/open-rmf/rmf-web/issues",
+  "pickupZones": [],
+  "defaultZoom": 20,
+  "defaultRobotZoom": 6,
+  "attributionPrefix": "OSRC-SG",
+  "defaultMapLevel": "L1",
+  "allowedTasks": [
+    {
+      "taskDefinitionId": "patrol"
+    },
+    {
+      "taskDefinitionId": "delivery"
+    },
+    {
+      "taskDefinitionId": "compose-clean"
+    },
+    {
+      "taskDefinitionId": "custom_compose"
+    }
+  ],
+  "resources": {
+    "default": {
+      "fleets": {},
+      "logos": {
+        "header": "/resources/defaultLogo.png"
+      }
+    }
+  },
+  "cartIds": [],
+  "buildConfig": {
+    "baseUrl": "/",
+    "authProvider": "stub",
+    "customTabs": false,
+    "adminTab": false
+  }
+}
diff --git a/.github/dashboard/inject-env.sh b/.github/dashboard/inject-env.sh
new file mode 100644
index 000000000..4284492cf
--- /dev/null
+++ b/.github/dashboard/inject-env.sh
@@ -0,0 +1,5 @@
+#!/usr/bin/bash
+set -e
+
+sed -i "s,__RMF_SERVER_URL__,${RMF_SERVER_URL},g" /opt/dashboard/index.html
+sed -i "s,__TRAJECTORY_SERVER_URL__,${TRAJECTORY_SERVER_URL},g" /opt/dashboard/index.html
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index e916601f7..164e2aec9 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -7,8 +7,8 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 jobs:
-  build-docker-images:
-    name: Push Docker images to GitHub Packages
+  build-minimal-rmf-docker-images:
+    name: Push minimal-rmf Docker image to GitHub Packages
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
@@ -20,12 +20,43 @@ jobs:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
-      - name: Build and push
+      - name: Build and push minimal-rmf
         uses: docker/build-push-action@v5
         with:
           push: true
           tags: ghcr.io/${{ github.repository }}/minimal-rmf
           context: .github/minimal-rmf
+  build-docker-images:
+    needs: build-minimal-rmf-docker-images
+    name: Push Docker images to GitHub Packages
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      - name: Login to docker
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Build and push dashboard
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          build-args: |
+            BASE_IMAGE=ghcr.io/${{ github.repository }}/minimal-rmf:latest
+          tags: ghcr.io/${{ github.repository }}/dashboard
+          context: .github/dashboard
+      - name: Build and push api-server
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          build-args: |
+            BASE_IMAGE=ghcr.io/${{ github.repository }}/minimal-rmf:latest
+            ROS_DISTRO=jazzy
+          tags: ghcr.io/${{ github.repository }}/api-server
+          context: .github/api-server
   # dashboard-e2e:
   #   strategy:
   #     matrix:
diff --git a/README.md b/README.md
index fd57be786..a214d1a62 100644
--- a/README.md
+++ b/README.md
@@ -6,15 +6,46 @@
 
 Open-RMF Web is a collection of packages that provide a web-based interface for users to visualize and control all aspects of Open-RMF deployments.
 
-- [Getting started](#getting-started)
+- [Quick start with docker](#quick-start-with-docker)
+- [Getting started from source](#getting-started-from-source)
 - [API server](packages/api-server)
 - [API client](packages/api-client)
 - [Dashboard](packages/dashboard)
 - [Configuration](#configuration)
 - [Contribution guide](#contribution-guide)
-- [Roadmap](https://github.com/open-rmf/rmf-web/wiki/Open-RMF-Web-Dashboard)
+- [Roadmap](https://github.com/orgs/open-rmf/projects/10)
 
-# Getting started
+# Quick start with docker
+
+These docker images are useful when trying out [`rmf_demos`](https://github.com/open-rmf/rmf_demos).
+
+Start the dashboard with host network access, `RMF_SERVER_URL` and `TRAJECTORY_SERVER_URL` configured accordingly. The dashboard will then accessible on `localhost:3000` by default.
+
+```bash
+docker run \
+  --network host -it --rm \
+  -e RMF_SERVER_URL=http://localhost:8000 \
+  -e TRAJECTORY_SERVER_URL=ws://localhost:8006 \
+  ghcr.io/open-rmf/rmf-web/dashboard:latest
+```
+
+> **Note**
+> The values provided for `RMF_SERVER_URL` and `TRAJECTORY_SERVER_URL` are default values when running the API server and `rmf_demos`, and can be modified to suit different setups.
+
+Start the API server with host network access, and set up the correct `ROS_DOMAIN_ID` and ROS 2 RMW implementation that will be used in the rest of the Open-RMF system. The API server will use the default port at `localhost:8000`.
+
+```bash
+docker run \
+  --network host -it --rm \
+  -e ROS_DOMAIN_ID=<ROS_DOMAIN_ID> \
+  -e RMW_IMPLEMENTATION=<RMW_IMPLEMENTATION> \
+  ghcr.io/open-rmf/rmf-web/api-server:latest
+```
+
+> **Note**
+> Users can also [configure the API server](packages/api-server/README.md/#configuration) using a mounted configuration file and setting the environment variable `RMF_API_SERVER_CONFIG`. In the default scenario, the API server will use an internal non-persistent database.
+
+# Getting started from source
 
 ### Prerequisites
 
@@ -56,7 +87,7 @@ You may also install dependencies for only a subset of the packages
 pnpm install -w --filter <package>...
 ```
 
-### Launching
+### Launching for development
 
 Source Open-RMF and launch the dashboard in development mode,
 
@@ -75,25 +106,21 @@ This starts up the API server (by default at port 8000) which sets up endpoints
 
 If presented with a login screen, use `user=admin password=admin`.
 
-Ensure that the fleet adapters in the Open-RMF deployment is configured to use the endpoints of the API server. By default it is `http://localhost:8000/_internal`. Launching a simulation from `rmf_demos_gz` for example, the command would be,
+Ensure that the fleet adapters in the Open-RMF deployment is configured to use the endpoints of the API server. By default it is `http://localhost:8000/_internal`. Launching a simulation from [`rmf_demos_gz`](https://github.com/open-rmf/rmf_demos) for example, the command would be,
 
 ```bash
 ros2 launch rmf_demos_gz office.launch.xml server_uri:="http://localhost:8000/_internal"
 ```
 
-### Launching for development
+### Launching for development separately
 
-For development purposes, it might be useful to start all the individual components separately,
+When developing individual components, it may be useful to start the dashboard and api-server separately,
 
 ```bash
 # Start the dashboard in dev, this monitors for changes in the dashboard package and performs rebuilds. A browser refresh is required after all automated builds.
 cd packages/dashboard
 pnpm run start:react
 
-# Start react-components in dev, this monitors for changes in react-components, which will in turn trigger a re-build in dashboard.
-cd packages/react-components
-pnpm run build:watch
-
 # Start the API server, this will need to be restarted for any changes to be reflected
 cd packages/api-server
 pnpm run start