diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000..d30d7fae
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,69 @@
+ARG BASE_IMAGE="ubuntu"
+ARG TAG="22.04"
+FROM ${BASE_IMAGE}:${TAG}
+WORKDIR /ardupilot
+
+ARG DEBIAN_FRONTEND=noninteractive
+ARG USER_NAME=ardupilot
+ARG USER_UID=1000
+ARG USER_GID=1000
+ARG SKIP_AP_EXT_ENV=1
+ARG SKIP_AP_GRAPHIC_ENV=1
+ARG SKIP_AP_COV_ENV=1
+ARG SKIP_AP_GIT_CHECK=1
+
+RUN groupadd ${USER_NAME} --gid ${USER_GID}\
+    && useradd -l -m ${USER_NAME} -u ${USER_UID} -g ${USER_GID} -s /bin/bash
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    lsb-release \
+    sudo \
+    tzdata \
+    bash-completion \
+    git && apt-get install --reinstall -y ca-certificates && update-ca-certificates
+
+RUN git clone https://github.com/ArduPilot/ardupilot.git . && /ardupilot/Tools/gittools/submodule-sync.sh 
+
+#COPY Tools/environment_install/install-prereqs-ubuntu.sh /ardupilot/Tools/environment_install/
+#COPY Tools/completion /ardupilot/Tools/completion/
+
+# Create non root user for pip
+ENV USER=${USER_NAME}
+
+RUN echo "ardupilot ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USER_NAME}
+RUN chmod 0440 /etc/sudoers.d/${USER_NAME}
+
+RUN chown -R ${USER_NAME}:${USER_NAME} /${USER_NAME}
+
+USER ${USER_NAME}
+
+ENV SKIP_AP_EXT_ENV=$SKIP_AP_EXT_ENV SKIP_AP_GRAPHIC_ENV=$SKIP_AP_GRAPHIC_ENV SKIP_AP_COV_ENV=$SKIP_AP_COV_ENV SKIP_AP_GIT_CHECK=$SKIP_AP_GIT_CHECK
+RUN Tools/environment_install/install-prereqs-ubuntu.sh -y
+
+# add waf alias to ardupilot waf to .ardupilot_env
+RUN echo "alias waf=\"/${USER_NAME}/waf\"" >> ~/.ardupilot_env
+
+# Check that local/bin are in PATH for pip --user installed package
+RUN echo "if [ -d \"\$HOME/.local/bin\" ] ; then\nPATH=\"\$HOME/.local/bin:\$PATH\"\nfi" >> ~/.ardupilot_env
+
+# Create entrypoint as docker cannot do shell substitution correctly
+RUN export ARDUPILOT_ENTRYPOINT="/home/${USER_NAME}/ardupilot_entrypoint.sh" \
+    && echo "#!/bin/bash" > $ARDUPILOT_ENTRYPOINT \
+    && echo "set -e" >> $ARDUPILOT_ENTRYPOINT \
+    && echo "source /home/${USER_NAME}/.ardupilot_env" >> $ARDUPILOT_ENTRYPOINT \
+    && echo 'exec "$@"' >> $ARDUPILOT_ENTRYPOINT \
+    && chmod +x $ARDUPILOT_ENTRYPOINT \
+    && sudo mv $ARDUPILOT_ENTRYPOINT /ardupilot_entrypoint.sh
+
+RUN /ardupilot/waf configure && /ardupilot/modules/waf/waf-light build --target bin/ardurover
+
+# Set the buildlogs directory into /tmp as other directory aren't accessible
+ENV BUILDLOGS=/tmp/buildlogs
+
+# Cleanup
+RUN sudo apt-get clean \
+    && sudo rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+ENV CCACHE_MAXSIZE=1G
+ENTRYPOINT ["/ardupilot_entrypoint.sh"]
+CMD ["bash"]