diff --git a/.docker_utils/Dockerfile.f1tenth_arm b/.docker_utils/Dockerfile.f1tenth_arm
index 47678596..075f5167 100644
--- a/.docker_utils/Dockerfile.f1tenth_arm
+++ b/.docker_utils/Dockerfile.f1tenth_arm
@@ -134,7 +134,12 @@ RUN cmake --build build
 ### Create f1tenth workspace
 WORKDIR $WORKSPACE
 
-COPY ./ ./
+RUN git clone -b foxy_devel https://github.com/Triton-AI/robocar.git && \
+    mv robocar .. && \
+    cd .. && \
+    rm -rf $WORKSPACE && \
+    mv robocar/ $WORKSPACE && \
+    cd $WORKSPACE
 
 # Global Planner Dependencies
 RUN pip install trajectory_planning_helpers==0.78 \
diff --git a/.docker_utils/Dockerfile.f1tenth_x86 b/.docker_utils/Dockerfile.f1tenth_x86
index 711fe711..82334ba2 100644
--- a/.docker_utils/Dockerfile.f1tenth_x86
+++ b/.docker_utils/Dockerfile.f1tenth_x86
@@ -134,7 +134,12 @@ RUN cmake --build build
 ### Create f1tenth workspace
 WORKDIR $WORKSPACE
 
-COPY ./ ./
+RUN git clone -b foxy_devel https://github.com/Triton-AI/robocar.git && \
+    mv robocar .. && \
+    cd .. && \
+    rm -rf $WORKSPACE && \
+    mv robocar/ $WORKSPACE && \
+    cd $WORKSPACE
 
 # Global Planner Dependencies
 RUN pip install trajectory_planning_helpers==0.78 \
diff --git a/.github/workflows/publish.yml b/.github/workflows/publish.yml
index c0d7470d..478ada9d 100644
--- a/.github/workflows/publish.yml
+++ b/.github/workflows/publish.yml
@@ -80,9 +80,9 @@ jobs:
         id: meta
         uses: docker/metadata-action@v5 # 507c2f2dc502c992ad446e3d7a5dfbe311567a96
         with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}/${{ env.ROS_DISTRO }}
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
           tags: |
-            type=raw,value=${{ matrix.tag }}
+            type=raw,value=${{ env.ROS_DISTRO }}-${{ matrix.tag }}
       
       # Build and push Docker image with Buildx (don't push on PR)
       # https://github.com/docker/build-push-action