diff --git a/mars_rover/CMakeLists.txt b/mars_rover/CMakeLists.txt
index c2c90051..cf80b88b 100644
--- a/mars_rover/CMakeLists.txt
+++ b/mars_rover/CMakeLists.txt
@@ -44,7 +44,8 @@ install(PROGRAMS
   nodes/move_arm
   nodes/move_mast
   nodes/move_wheel
-  nodes/run_demo
+  nodes/run_demo  # To run the Gazebo rover demo
+  nodes/teleop_rover  # To run O3DE rover demo
   nodes/odom_tf_publisher
   DESTINATION lib/${PROJECT_NAME}
 )
diff --git a/mars_rover/launch/mars_rover_o3de.launch.py b/mars_rover/launch/mars_rover_o3de.launch.py
new file mode 100644
index 00000000..e465867d
--- /dev/null
+++ b/mars_rover/launch/mars_rover_o3de.launch.py
@@ -0,0 +1,212 @@
+"""
+Bring up nodes, hardware interfaces to control a Curiosity Rover in Open 3D Engine.
+
+Author:
+Azmyin Md. Kamal,
+Ph.D. student in MIE,
+Louisiana State University,
+Louisiana, USA
+
+Date: August 29th, 2024
+Version: 1.0
+
+AI: ChatGPT 4.o
+
+"""
+
+# Imports
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, RegisterEventHandler
+from launch_ros.actions import Node, SetParameter
+from launch.event_handlers import OnProcessExit
+import os
+from os import environ
+import xacro
+
+def generate_launch_description():
+    """Generate launch description to bringup curiosity rover simulation."""
+    # Define paths to mars_rover and simulation packages
+    mars_rover_demos_path = get_package_share_directory('mars_rover')
+    mars_rover_models_path = get_package_share_directory('simulation')
+    # Define 
+    env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH':
+           ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''),
+                     environ.get('LD_LIBRARY_PATH', default='')]),
+           'IGN_GAZEBO_RESOURCE_PATH':
+           ':'.join([environ.get('IGN_GAZEBO_RESOURCE_PATH', default=''), mars_rover_demos_path])}
+    
+    urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path',
+        'urdf', 'curiosity_mars_rover.xacro')
+    
+    mars_world_model = os.path.join(mars_rover_demos_path, 'worlds', 'mars_curiosity.world')
+    
+    doc = xacro.process_file(urdf_model_path)
+    robot_description = {'robot_description': doc.toxml()}
+    
+    # Arm
+    # arm_node = Node(
+    #     package="mars_rover",
+    #     executable="move_arm",
+    #     output='screen'
+    # )
+    # Sensor mast
+    # mast_node = Node(
+    #     package="mars_rover",
+    #     executable="move_mast",
+    #     output='screen'
+    # )
+    # Wheel groups
+    wheel_node = Node(
+        package="mars_rover",
+        executable="move_wheel",
+        output='screen'
+    )
+    # Node to take teleop
+    teleop_rover_node = Node(
+        package="mars_rover",
+        executable="teleop_rover",
+        output='screen'
+    )
+    # Publish odometry
+    # odom_node = Node(
+    #     package="mars_rover",
+    #     executable="odom_tf_publisher",
+    #     output='screen'
+    # )
+
+    # Fire up Gazebo Ignition
+    start_world = ExecuteProcess(
+        cmd=['ign gazebo', mars_world_model, '-r'],
+        output='screen',
+        additional_env=env,
+        shell=True
+    )
+    # Publish various joint positions and link orientation
+    # This is crucial for simulation
+    robot_state_publisher = Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[robot_description])
+    # Bridge communication between ROS 2 and the Ignition Gazebo simulation
+    ros_gz_bridge = Node(
+            package='ros_gz_bridge',
+            executable='parameter_bridge',
+            arguments=[
+                '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
+                '/model/curiosity_mars_rover/odometry@nav_msgs/msg/Odometry@ignition.msgs.Odometry',
+                '/scan@sensor_msgs/msg/LaserScan@ignition.msgs.LaserScan',
+            ],
+            output='screen')
+    # Connect image messages from Gazebo to ROS2
+    image_bridge = Node(
+            package='ros_gz_image',
+            executable='image_bridge',
+            arguments=['/image_raw', '/image_raw'],
+            output='screen')
+    # Spawn curiosity rover into the world.
+    spawn = Node(
+        package='ros_ign_gazebo', executable='create',
+        arguments=[
+            '-name', 'curiosity_mars_rover',
+            '-topic', robot_description,
+            '-z', '-7.5'
+        ],
+        output='screen'
+    )
+
+    # Control Components
+    component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}'
+    
+    # TODO what bug was resolved with this hack?
+    # Set hardware_interface state to active
+    set_hardware_interface_active = ExecuteProcess(
+        cmd=['ros2', 'service', 'call', 
+            'controller_manager/set_hardware_component_state',
+            'controller_manager_msgs/srv/SetHardwareComponentState',
+            component_state_msg]
+    )
+    
+    # Controller to broadcast all joint states
+    load_joint_state_broadcaster = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'joint_state_broadcaster'],
+        output='screen'
+    )
+    
+    # Controller for arm
+    load_arm_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'arm_joint_trajectory_controller'],
+        output='screen'
+    )
+    
+    # Controller for sensor mast
+    load_mast_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'mast_joint_trajectory_controller'],
+        output='screen'
+    )
+    
+    # Controller for wheel
+    load_wheel_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'wheel_velocity_controller'],
+        output='screen'
+    )
+    # Controller for steering
+    load_steer_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'steer_position_controller'],
+        output='screen'
+    )
+    # Controller for suspension joints
+    load_suspension_joint_traj_controller = ExecuteProcess(
+        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
+             'wheel_tree_position_controller'],
+        output='screen'
+    )
+
+    return LaunchDescription([
+        SetParameter(name='use_sim_time', value=True),
+        #start_world,
+        #robot_state_publisher,
+        #spawn,
+        # arm_node,
+        # mast_node,
+        wheel_node,
+        teleop_rover_node, # Renamed from run_node
+        # odom_node,
+        #ros_gz_bridge,
+        #image_bridge,
+
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=spawn,
+                on_exit=[set_hardware_interface_active],
+            )
+        ),
+        # After the hardware interface is activated, 
+        # the joint state broadcaster is loaded.
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=set_hardware_interface_active,
+                on_exit=[load_joint_state_broadcaster],
+            )
+        ),
+        # After the joint state broadcaster is loaded, 
+        # all trajectory controllers (arm, mast, wheel, steer, suspension) are loaded and activated.
+        RegisterEventHandler(
+            OnProcessExit(
+                target_action=load_joint_state_broadcaster,
+                on_exit=[
+                        # load_arm_joint_traj_controller,
+                        # load_mast_joint_traj_controller,
+                        load_wheel_joint_traj_controller,
+                        load_steer_joint_traj_controller,
+                        load_suspension_joint_traj_controller],
+            )
+        ),
+    ])
diff --git a/mars_rover/nodes/teleop_rover b/mars_rover/nodes/teleop_rover
new file mode 100755
index 00000000..e5c6d2d1
--- /dev/null
+++ b/mars_rover/nodes/teleop_rover
@@ -0,0 +1,115 @@
+#!/usr/bin/env python3
+
+"""
+Implementation of the TeleOpRover class.
+
+This node acts as an interface between user sent service call to publishing
+twist message that is then subscribed too by the controller
+
+Primary author:
+Space-ROS
+
+Docstrings and comments added by:
+Azmyin Md. Kamal,
+Ph.D. student in MIE, iCORE Lab,
+Louisiana State University, Louisiana, USA
+
+Date: August 29th, 2024
+Version: 1.0
+AI: ChatGPT 4.o
+
+"""
+
+# Imports
+import rclpy
+from rclpy.node import Node
+
+# from std_msgs.msg import String, Float64MultiArray
+from geometry_msgs.msg import Twist
+
+# import math
+# from random import randint
+from std_srvs.srv import Empty
+
+class TeleOpRover(Node):
+    """Node that converts user's service request / input device commands to Twist messages."""
+
+    def __init__(self) -> None:
+        super().__init__('teleop_node')
+        # Setup publishers
+        self.motion_publisher_ = self.create_publisher(Twist, '/cmd_vel', 10)
+        self.o3de_motion_publisher_ = self.create_publisher(Twist, '/rover/cmd_vel', 10)
+        # Setup services
+        self.forward_srv = self.create_service(Empty, 'move_forward', self.move_forward_callback)
+        self.stop_srv = self.create_service(Empty, 'move_stop', self.move_stop_callback)
+        self.left_srv = self.create_service(Empty, 'turn_left', self.turn_left_callback)
+        self.right_srv = self.create_service(Empty, 'turn_right', self.turn_right_callback)
+        self.stopped = True
+        timer_period = 0.1
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.curr_action = Twist()
+
+    def timer_callback(self):
+        """Periodically publish velocity of rover in 3D space as Twist messages."""
+        if (not self.stopped):
+            # Experimental
+            self.o3de_motion_publisher_.publish(self.curr_action)
+            # self.motion_publisher_.publish(self.curr_action)
+            
+
+    def move_forward_callback(self, request, response):
+        """Print message when moving forward."""
+        self.get_logger().info("Moving forward")
+        action = Twist()
+        # action.linear.x = 2.0
+        action.linear.x = 2.0 # Not sure but negative value makes it move forward
+        self.curr_action = action
+        self.stopped = False
+        return response
+
+    def move_stop_callback(self, request, response):
+        """Print message when stopped."""
+        # stop timer from publishing
+        self.stopped = True
+        self.get_logger().info("Stopping")
+        self.curr_action = Twist()
+        # publish once to ensure we stop
+        self.motion_publisher_.publish(self.curr_action)
+        self.o3de_motion_publisher_.publish(self.curr_action)
+        return response
+
+    def turn_left_callback(self, request, response):
+        """Print message when turning left."""
+        self.get_logger().info("Turning left")
+        action = Twist()
+        action.linear.x = 1.0
+        action.angular.z = 0.4
+        self.curr_action = action
+        self.stopped = False
+        return response
+
+    def turn_right_callback(self, request, response):
+        """Print message when turning right."""
+        self.get_logger().info("Turning right")
+        self.stopped = False
+        action = Twist()
+        #action.linear.x = 1.0
+        action.linear.x = 0.5
+        action.angular.z = -1.5
+        self.curr_action = action
+        self.stopped = False
+        return response
+
+def main(args=None):
+    """Run main."""
+    rclpy.init(args=args)
+    teleop_node = TeleOpRover()
+    rclpy.spin(teleop_node)
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    teleop_node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/o3de_mars_rover/DockerFile_O3DE_sample.txt b/o3de_mars_rover/DockerFile_O3DE_sample.txt
new file mode 100644
index 00000000..eb8db8f5
--- /dev/null
+++ b/o3de_mars_rover/DockerFile_O3DE_sample.txt
@@ -0,0 +1,149 @@
+# Dockerfile based on https://gist.github.com/michalpelka/a571f914bf5c9822935f2654e45811ec
+
+ARG ROS_DISTRO=humble
+
+FROM husarnet/ros:${ROS_DISTRO}-ros-core
+
+ENV O3DE_HASH=52084aee31172c0202a1de120714e811c29dd3b7
+ENV O3DE_EXTRAS_HASH=3464657cd21c324ed90332a98a140e65e25fd942
+ENV PROJECT_NAME=ROSbotXLDemo
+
+ENV WORKDIR=/data/workspace
+WORKDIR $WORKDIR
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Setup time zone and locale data (necessary for SSL and HTTPS packages)
+RUN apt-get update && DEBIAN_FRONTEND="noninteractive" apt-get -y \
+    install \
+    tzdata \
+    locales \
+    keyboard-configuration \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
+    && dpkg-reconfigure --frontend=noninteractive locales \
+    && update-locale LANG=en_US.UTF-8
+
+ENV LANG=en_US.UTF-8
+
+# Install common tools
+# deps in https://github.com/o3de/o3de/blob/development/scripts/build/build_node/Platform/Linux/package-list.ubuntu-jammy.txt
+RUN apt-get update && apt-get install -y \
+    bc \
+    bind9-utils \
+    binutils \
+    ca-certificates \
+    clang \
+    cmake \
+    file \
+    firewalld \
+    git \
+    git-lfs \
+    jq \
+    kbd \
+    kmod \
+    less \
+    lsb-release \
+    libglu1-mesa-dev \
+    libxcb-xinerama0 \
+    libfontconfig1-dev \
+    libcurl4-openssl-dev \
+    libnvidia-gl-470 \
+    libssl-dev \
+    libxcb-xkb-dev \
+    libxkbcommon-x11-dev \
+    libxkbcommon-dev \
+    libxcb-xfixes0-dev \
+    libxcb-xinput-dev \
+    libxcb-xinput0 \
+    libpcre2-16-0 \
+    lsof \
+    net-tools \
+    ninja-build \
+    pciutils \
+    python3-pip \
+    software-properties-common \
+    sudo \
+    tar \
+    unzip \
+    vim \
+    wget \
+    xz-utils \
+    && rm -rf /var/lib/apt/lists/*
+
+# Gem + ROS pacakges
+RUN apt-get update && apt-get install -y \
+    ros-$ROS_DISTRO-ackermann-msgs \
+    ros-$ROS_DISTRO-control-toolbox \
+    ros-$ROS_DISTRO-gazebo-msgs \
+    ros-$ROS_DISTRO-joy \
+    ros-$ROS_DISTRO-navigation2 \
+    ros-$ROS_DISTRO-rviz2 \
+    ros-$ROS_DISTRO-tf2-ros \
+    ros-$ROS_DISTRO-urdfdom \
+    ros-$ROS_DISTRO-vision-msgs \
+    && rm -rf /var/lib/apt/lists/*
+
+## Symlink clang version to non-versioned clang and set cc to clang
+RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
+    && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
+
+# Install o3de
+RUN git clone https://github.com/o3de/o3de.git \
+    && cd o3de \
+    && git checkout ${O3DE_HASH} \
+    && git lfs install \
+    && git lfs pull \
+    && python/get_python.sh
+
+# Install o3de-extras
+RUN git clone https://github.com/o3de/o3de-extras.git \
+    && cd o3de-extras \
+    && git checkout ${O3DE_EXTRAS_HASH} \
+    && git lfs install \
+    && git lfs pull
+
+# regiester engine and Gems from o3de-extras
+RUN ./o3de/scripts/o3de.sh register --this-engine \
+    && ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/ROS2 \
+    && ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/RosRobotSample \
+    && ./o3de/scripts/o3de.sh register --gem-path ./o3de-extras/Gems/WarehouseSample 
+
+# create in project from template in o3de-extras
+RUN ./o3de/scripts/o3de.sh create-project \
+    --project-path ${WORKDIR}/${PROJECT_NAME} \
+    --template-path ./o3de-extras/Templates/Ros2ProjectTemplate/ -f
+
+WORKDIR ${WORKDIR}/${PROJECT_NAME}
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+    && cmake -B build/linux -S . -G "Ninja Multi-Config" -DLY_STRIP_DEBUG_SYMBOLS=ON
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+    && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor AssetProcessor
+
+# This final step takes long since they Assets will be downloading
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+    && echo "This final step can take more than 1 hour. Good time for going for a coffee :)" \
+    && cmake --build build/linux --config profile --target ${PROJECT_NAME}.Assets
+
+# Installing some ros2 for navigation
+RUN apt-get update && apt-get install -y \
+    python3-colcon-common-extensions \
+    ros-$ROS_DISTRO-cyclonedds \
+    ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+    ros-$ROS_DISTRO-slam-toolbox \
+    ros-$ROS_DISTRO-navigation2 \
+    ros-$ROS_DISTRO-nav2-bringup \
+    ros-$ROS_DISTRO-pointcloud-to-laserscan \
+    ros-$ROS_DISTRO-teleop-twist-keyboard \
+    ros-$ROS_DISTRO-ackermann-msgs \
+    ros-$ROS_DISTRO-topic-tools \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip install python-statemachine
+
+WORKDIR $WORKDIR
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
\ No newline at end of file
diff --git a/o3de_mars_rover/Dockerfile b/o3de_mars_rover/Dockerfile
new file mode 100644
index 00000000..2d13dc08
--- /dev/null
+++ b/o3de_mars_rover/Dockerfile
@@ -0,0 +1,320 @@
+# Copyright 2024 Azmyin Md. Kamal
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# A Docker configuration script to build the o3de_curiosit_docker image that showcases Open 3D Engine
+# in simulating a Curiositry rover traversing through a test ground inspired by the NASA JPL Mars Yard
+# O3DE docker file based on https://github.com/husarion/o3de-docker/blob/main/Dockerfile
+#
+#
+# The script provides the following build arguments:
+#
+#   VCS_REF     - The git revision of the Space ROS source code (no default value).
+#   VERSION     - The version of Space ROS (default: "preview")
+
+FROM openrobotics/moveit2:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+ARG ROS_DISTRO=humble 
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="O3DE Curiosity Rover"
+LABEL org.label-schema.description="Curiosity rover demo on a new test enviornment on the Space ROS platform and Open 3D Engine"
+LABEL org.label-schema.vendor="Nasa Space ROS Sim Summer Spring Challenge 2024"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/Mechazo11/space-ros-docker"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a key enviornment variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION fortress
+ENV GZ_VERSION fortress
+ENV PROJECT_NAME=RobotSim
+ENV O3DE_ENGINE=${HOME_DIR}/o3de
+ENV O3DE_DIR=${HOME_DIR}/O3DE
+ENV O3DE_EXTRAS=${HOME_DIR}/o3de-extras
+ENV PROJECT_PATH=${O3DE_DIR}/Projects/${PROJECT_NAME}
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=Etc/UTC
+
+####  Install DEMO_WS   ####
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo DEBIAN_FRONTEND=noninteractive apt-get install -y \
+  python3-rosinstall-generator \
+  libboost-python-dev build-essential cmake libboost-all-dev libois-dev \
+  libzzip-dev libfreeimage-dev libfreetype6-dev libx11-dev libxt-dev libxaw7-dev \
+  libsdl2-dev libpugixml-dev libglew-dev qtbase5-dev libspdlog-dev libfmt-dev \
+  libignition-gazebo6-dev libssl-dev devscripts debian-keyring fakeroot debhelper \
+  libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen libtinyxml-dev \
+  libtinyxml2-dev python3-pyqt5 tzdata locales keyboard-configuration
+
+# RUN apt-get install -y tzdata
+# RUN apt-get install -y locales
+# RUN apt-get install -y keyboard-configuration
+
+RUN sudo sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
+    && sudo dpkg-reconfigure --frontend=noninteractive locales \
+    && sudo update-locale LANG=en_US.UTF-8
+
+# RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
+# && dpkg-reconfigure --frontend=noninteractive locales \
+# && update-locale LANG=en_US.UTF-8
+
+ENV LANG=en_US.UTF-8
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y \
+  bc \
+  bind9-utils \
+  binutils \
+  ca-certificates \
+  clang \
+  cmake \
+  file \
+  firewalld \
+  git \
+  git-lfs \
+  jq \
+  kbd \
+  kmod \
+  less \
+  lsb-release \
+  libglu1-mesa-dev \
+  libxcb-xinerama0 \
+  libfontconfig1-dev \
+  libcurl4-openssl-dev \
+  libnvidia-gl-470 \
+  libssl-dev \
+  libxcb-xkb-dev \
+  libxkbcommon-x11-dev \
+  libxkbcommon-dev \
+  libxcb-xfixes0-dev \
+  libxcb-xinput-dev \
+  libxcb-xinput0 \
+  libpcre2-16-0 \
+  lsof \
+  net-tools \
+  ninja-build \
+  pciutils \
+  python3-pip \
+  software-properties-common \
+  sudo \
+  tar \
+  unzip \
+  vim \
+  wget \
+  xz-utils
+  # && rm -rf /var/lib/apt/lists/* #  TODO need to figure out how to use this correctly
+
+
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+# Install libmongoc for development
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libmongoc-dev -y
+
+# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
+
+# Get the source for the dependencies
+# RUN vcs import src < /tmp/demo_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} o3de-robot-sim.repos /tmp/
+RUN vcs import src < /tmp/o3de-robot-sim.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
+&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+# Build the demo_ws
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Create O3DE/Projects and O3DE/Gems directory
+RUN if [ -d "${O3DE_DIR}/Projects" ]; then rm -rf ${O3DE_DIR}/Gems; fi
+RUN mkdir -p ${O3DE_DIR}/Projects
+
+RUN if [ -d "${O3DE_DIR}/Gems" ]; then rm -rf ${O3DE_DIR}/Gems; fi
+RUN mkdir -p ${O3DE_DIR}/Gems
+
+# Git clone RobotSim, NasaMarsRoverGem and MarsYardGem
+WORKDIR ${O3DE_DIR}/Projects
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/RobotSim.git
+
+WORKDIR ${O3DE_DIR}/Gems
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/NasaCuriosityRoverGem.git
+RUN git clone --branch nasa_submission https://github.com/Mechazo11/MarsYardGem.git
+
+## Symlink clang version to non-versioned clang and set cc to clang
+# RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
+#     && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
+
+####  Install Open 3D Engine   ####  
+# Install dependencies
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    sudo apt-get update -y && sudo apt-get install -y \
+    bc \
+    bind9-utils \
+    binutils \
+    ca-certificates \
+    clang \
+    cmake \
+    file \
+    firewalld \
+    git \
+    git-lfs \
+    jq \
+    kbd \
+    kmod \
+    less \
+    lsb-release \
+    libglu1-mesa-dev \
+    libxcb-xinerama0 \
+    libfontconfig1-dev \
+    libcurl4-openssl-dev \
+    libnvidia-gl-470 \
+    libssl-dev \
+    libxcb-xkb-dev \
+    libxkbcommon-x11-dev \
+    libxkbcommon-dev \
+    libxcb-xfixes0-dev \
+    libxcb-xinput-dev \
+    libxcb-xinput0 \
+    libpcre2-16-0 \
+    lsof \
+    net-tools \
+    ninja-build \
+    pciutils \
+    python3-pip \
+    software-properties-common \
+    sudo \
+    tar \
+    unzip \
+    vim \
+    wget \
+    xz-utils
+    # && rm -rf /var/lib/apt/lists/* #  TODO need to figure out how to use this correctly
+
+# Pull latest commit from development and build o3de. Note this does't build the whole engine
+WORKDIR ${HOME_DIR}
+
+# Install o3de engine (automatically pulls last commit from "development" branch)
+RUN git clone --single-branch -b development https://github.com/o3de/o3de.git \
+    && cd o3de \
+    && git lfs install \
+    && git lfs pull \
+    && python/get_python.sh
+
+# Install o3de-extras (automatically pulls last commit from "development" branch)
+# Contains ROS 2 Gem and other relevant assets
+
+WORKDIR ${HOME_DIR}
+RUN git clone --single-branch -b development https://github.com/o3de/o3de-extras.git \
+    && cd o3de-extras \
+    && git lfs install \
+    && git lfs pull
+
+WORKDIR ${HOME_DIR}/o3de
+
+# Register RobotSim with this engine
+#RUN ${O3DE_ENGINE}/scripts/o3de.sh register --this-engine 
+RUN ./scripts/o3de.sh register --this-engine 
+# Register ROS 2 Gem, Husarion robot, Curiosity rover and Mars Yard gem
+# RUN ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \
+#     && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \
+#     && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \
+#     && ${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem
+
+RUN ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/ROS2 \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/RosRobotSample \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_EXTRAS}/Gems/WarehouseSample \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/NasaCuriosityRoverGem \
+    && ./scripts/o3de.sh register --gem-path ${O3DE_DIR}/Gems/MarsYardGem
+
+# Register the Terrian gem which is located in o3de folder
+RUN ./scripts/o3de.sh register --gem-path ${HOME_DIR}/o3de/Gems/Terrain
+
+# Register RobotSim project.
+# Project must be registered at the very end after all dependent gems are registered
+#RUN {O3DE_ENGINE}/scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME}
+RUN ./scripts/o3de.sh register --project-path ${O3DE_DIR}/Projects/${PROJECT_NAME}
+
+# Move to project directory
+WORKDIR ${HOME_DIR}
+# Run cmake and build project (Warning takes about 10-15 mins)
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    sudo apt-get update -y && sudo apt-get install -y \
+    libunwind-dev
+
+# Testing build by manually building out a ROS 2 Humble core
+# RUN sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#     --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#     sudo apt-get update -y && sudo apt-get install -y \
+#     ros-humble-ros-base
+
+# # Move to project directory
+WORKDIR ${PROJECT_PATH}
+
+# Activate Cyclone DDS
+# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp 
+
+# Source space_ros, movit2 and demo_ws
+RUN /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+  && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
+  && /bin/bash -c 'source "${DEMO_DIR}/install/setup.bash"'
+  #&& cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \
+  #&& cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
+
+#RUN /bin/bash -c 'source "/opt/ros/humble/setup.bash"'
+
+RUN cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON -DAZ_USE_PHYSX5:BOOL=ON \
+  && cmake --build build/linux --config profile --target ${PROJECT_NAME} Editor ${PROJECT_NAME}.Assets
+
+
+
+
+# # Add the user to the render group so that the user can access /dev/dri/renderD128
+# # /dev/dri/renderD128 gives access to hardware-accelerated rendering tool such as GPU
+# RUN sudo usermod -aG render $USERNAME
+
+# # Setup the entrypoint
+# COPY ./entrypoint.sh /
+# ENTRYPOINT ["/entrypoint.sh"]
+# CMD ["bash"]
diff --git a/o3de_mars_rover/build.sh b/o3de_mars_rover/build.sh
new file mode 100755
index 00000000..6f8e47df
--- /dev/null
+++ b/o3de_mars_rover/build.sh
@@ -0,0 +1,23 @@
+#!/usr/bin/env bash
+
+ORG=openrobotics
+IMAGE=o3de_curiosity_docker
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building O3DE + Space ROS Demo Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
+