diff --git a/.ci/Dockerfile b/.ci/Dockerfile
new file mode 100644
index 0000000000..fc039d19b9
--- /dev/null
+++ b/.ci/Dockerfile
@@ -0,0 +1,17 @@
+FROM ctumrs/ros:noetic
+
+RUN apt-get -y update
+
+# workaround interractive prompts during apt installations
+RUN echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
+RUN DEBIAN_FRONTEND=noninteractive apt-get -y install keyboard-configuration
+
+# INSTALL the MRS UAV System
+
+RUN apt-get -y install software-properties-common curl bash
+
+RUN curl https://ctu-mrs.github.io/ppa-stable/add_ppa.sh | bash
+
+RUN apt-get -y install ros-noetic-mrs-uav-system-full
+
+CMD ["bash"]
diff --git a/.ci/build_docker.sh b/.ci/build_docker.sh
index 68ed65acb3..fe713136b9 100755
--- a/.ci/build_docker.sh
+++ b/.ci/build_docker.sh
@@ -5,14 +5,16 @@ set -e
 trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
 trap 'echo "$0: \"${last_command}\" command failed with exit code $?' ERR
 
-git clone https://github.com/ctu-mrs/mrs_docker
-cd mrs_docker/recipes
+# get the path to this script
+MY_PATH=`dirname "$0"`
+MY_PATH=`( cd "$MY_PATH" && pwd )`
 
-docker login --username klaxalk --password $TOKEN
+cd $MY_PATH
 
-# docker build . --file docker/without_linux_setup --tag ctumrs/mrs_uav_system:latest
+docker login --username klaxalk --password $TOKEN
 
 WEEK_TAG="`date +%Y`_w`date +%V`"
 
-docker buildx create --name container --driver=docker-container
-docker buildx build . --file Dockerfile --builder container --tag ctumrs/mrs_uav_system:latest --tag ctumrs/mrs_uav_system:${WEEK_TAG} --platform=linux/amd64,linux/arm64 --push 
+docker buildx create --name container --driver=docker-container --use
+
+docker buildx build . --file Dockerfile --tag ctumrs/mrs_uav_system:latest --tag ctumrs/mrs_uav_system:${WEEK_TAG} --platform=linux/amd64,linux/arm64 --push