diff --git a/.gitignore b/.gitignore
index 2699e61..1e212b6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -35,3 +35,5 @@
 __pycache__/
 *.py[cod]
 *$py.class
+
+*/space-ros-demos-er/
diff --git a/lunar_sim/Dockerfile b/lunar_sim/Dockerfile
new file mode 100644
index 0000000..13675db
--- /dev/null
+++ b/lunar_sim/Dockerfile
@@ -0,0 +1,157 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# A Docker configuration script to build the Space ROS image.
+#
+# The script provides the following build arguments:
+#
+#   VCS_REF     - The git revision of the Space ROS source code (no default value).
+#   VERSION     - The version of Space ROS (default: "preview")
+
+FROM osrf/space-ros:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="Lunar Sim"
+LABEL org.label-schema.description="Lunar sim demo on the Space ROS platform"
+LABEL org.label-schema.vendor="Open Robotics"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Clone all space-ros sources
+RUN mkdir ${SPACEROS_DIR}/src \
+  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV GZ_VERSION garden
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Make sure the latest versions of packages are installed
+# 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
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# Install the various build and test tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
+  build-essential \
+  clang-format \
+  cmake \
+  git \
+  libbullet-dev \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-pip \
+  python3-pytest-cov \
+  python3-rosdep \
+  python3-setuptools \
+  python3-vcstool \
+  wget
+
+# 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 apt-get install -y python3-rosinstall-generator
+
+# Install Gazebo Garder
+# 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 wget https://packages.osrfoundation.org/gazebo.gpg -O /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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
+  && sudo apt-get update -y && sudo apt-get install -y gz-garden
+
+# Generate repos file for demo dependencies, excluding packages from Space ROS core.
+COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --rosdistro ${ROSDISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/demo-pkgs.txt) \
+  > /tmp/demo_generated_pkgs.repos
+
+ 
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+RUN vcs import src < /tmp/demo_generated_pkgs.repos
+
+# Install system dependencies
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
+  && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+
+
+# # Install libmongoc for development
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get install libmongoc-dev -y
+
+# # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+#   --mount=type=cache,target=/var/lib/apt,sharing=locked \
+#   sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+# RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+# RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+# RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
+
+# Get the source for the dependencies
+# RUN vcs import src < /tmp/demo_generated_pkgs.repos
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${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"' \
+&& rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+# Copy the demo source code
+COPY --chown=${USERNAME}:${USERNAME} space-ros-demos-er src/
+
+# Build the demo
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-skip canadarm canadarm_moveit_config mars_rover space_ros_memory_allocation_demo'
+
+# Create the render group if it doesn't exist
+RUN sudo groupadd -f render
+
+# Add the user to the render group so that the user can access /dev/dri/renderD128
+RUN sudo usermod -aG render $USERNAME
+
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]
diff --git a/lunar_sim/README.md b/lunar_sim/README.md
new file mode 100644
index 0000000..3f03baa
--- /dev/null
+++ b/lunar_sim/README.md
@@ -0,0 +1 @@
+# Space ROS Lunar Sim Demo Docker Image
diff --git a/lunar_sim/build.sh b/lunar_sim/build.sh
new file mode 100755
index 0000000..25b3d3c
--- /dev/null
+++ b/lunar_sim/build.sh
@@ -0,0 +1,23 @@
+#!/usr/bin/env bash
+
+ORG=openrobotics
+IMAGE=space_robots_lunarsim_demo
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building Space ROS Demo Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
+
diff --git a/lunar_sim/demo-pkgs.txt b/lunar_sim/demo-pkgs.txt
new file mode 100644
index 0000000..fcf9006
--- /dev/null
+++ b/lunar_sim/demo-pkgs.txt
@@ -0,0 +1,4 @@
+leo_gz_plugins
+leo_description
+rviz2
+xacro
\ No newline at end of file
diff --git a/lunar_sim/demo_manual_pkgs.repos b/lunar_sim/demo_manual_pkgs.repos
new file mode 100644
index 0000000..6a74e8b
--- /dev/null
+++ b/lunar_sim/demo_manual_pkgs.repos
@@ -0,0 +1,18 @@
+repositories:
+  actuator_msgs:
+    type: git
+    url: https://github.com/rudislabs/actuator_msgs.git
+    version: main
+  ros_gz:
+    type: git
+    url: https://github.com/gazebosim/ros_gz.git
+    version: humble
+  vision_msgs:
+    type: git
+    url: https://github.com/ros-perception/vision_msgs.git
+    version: ros2
+  gps_msgs:
+    type: git
+    url: https://github.com/swri-robotics/gps_umd.git
+    path: gps_msgs
+    version: 113782d
\ No newline at end of file
diff --git a/lunar_sim/entrypoint.sh b/lunar_sim/entrypoint.sh
new file mode 100755
index 0000000..d1b51f2
--- /dev/null
+++ b/lunar_sim/entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# Setup the Demo environment
+source "${DEMO_DIR}/install/setup.bash"
+exec "$@"
diff --git a/lunar_sim/excluded-pkgs.txt b/lunar_sim/excluded-pkgs.txt
new file mode 100644
index 0000000..7a57a8a
--- /dev/null
+++ b/lunar_sim/excluded-pkgs.txt
@@ -0,0 +1,10 @@
+fastrtps
+fastcdr
+generate_parameter_library
+rmw_fastrtps_cpp
+rmw_fastrtps_dynamic_cpp
+rmw_fastrtps_shared_cpp
+rmw_connextdds
+rosidl_typesupport_fastrtps_c
+rosidl_typesupport_fastrtps_cpp
+fastrtps_cmake_module
diff --git a/lunar_sim/run.sh b/lunar_sim/run.sh
new file mode 100755
index 0000000..ff00819
--- /dev/null
+++ b/lunar_sim/run.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+# Runs a docker container with the image created by build.bash
+# Requires:
+#   docker
+#   an X server
+
+IMG_NAME=openrobotics/space_robots_lunarsim_demo
+
+# Replace `/` with `_` to comply with docker container naming
+# And append `_runtime`
+CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
+
+# Start the container
+docker run --rm -it --name $CONTAINER_NAME  --network host \
+    -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME