diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index f9ee6b2..2ae7b67 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -3,10 +3,10 @@ name: Build
 on:
   push:
     branches:
-      - main
+      - humble-docker
   pull_request:
     branches:
-      - main
+      - humble-docker
 
 jobs:
   build:
@@ -16,5 +16,4 @@ jobs:
     - name: Build
       run: |
         nix build -Lv .#OSLiteImage
-        nix build -Lv .#OSFullImage
         nix fmt -- -c .
diff --git a/OS-image/default.nix b/OS-image/default.nix
index dcf0ea9..e2037cb 100644
--- a/OS-image/default.nix
+++ b/OS-image/default.nix
@@ -1,6 +1,7 @@
-{ OSName, OSVersion, buildSystem, lib, pkgs, fetchurl, stdenv, vmTools, ... }:
+{ OSName, OSVersion, buildSystem, lib, pkgs, fetchurl, stdenv, vmTools
+, dockerTools, ... }:
 let
-  imageSize = 8192;
+  imageSize = 12000;
   memSize = 4096;
 
   tools = import ./tools.nix { inherit lib pkgs; };
@@ -9,7 +10,17 @@ let
 
   files-full = pkgs.callPackage ./files-full { };
 
-  scripts = pkgs.callPackage ./scripts { inherit files-lite files-full; };
+  leoHumbleContainer = dockerTools.pullImage {
+    imageName = "ghcr.io/leorover/leo_humble_docker";
+    imageDigest =
+      "sha256:eb9ab4c9d03d332c097d1114fbbe0d1d1a3579300c12de87c409cb1154c057c6"; # v3
+    sha256 = "sha256-Yst+BX7Iw6ngtJJOdTZJwlUYviBGZ3qu0TtFFdMAKkk=";
+    arch = "arm64";
+  };
+
+  scripts = pkgs.callPackage ./scripts {
+    inherit files-lite files-full leoHumbleContainer;
+  };
 
   packageLists = let
     noble-updates-stamp = "20260309T120000Z";
@@ -156,6 +167,7 @@ let
       "rpi-eeprom" # Raspberry Pi EEPROM utilities
 
       ## Networking stuff
+      "ca-certificates" # CA certificates for HTTPS
       "netplan.io" # network configuration utility
       "iproute2" # ip cli utilities
       "iputils-ping" # ping utility
@@ -174,28 +186,18 @@ let
       "hostname" # hostname management
       "rtw88-dkms" # Realtek WiFi driver
 
-      "---"
+      ## Containers
+      "podman" # container management
+      "uidmap" # user namespace support for podman
 
-      # STAGE 2 - ROS base packages
+      "---"
 
+      # STAGE 2 - ommitted
       # Added here to fix a problem with deb closure generator which cannot properly
       # resolve dependencies like "python3-distro (>= 1.4.0) | python3 (<< 3.8)"
       "python3-distro"
 
       "ros2-apt-source" # Configures sources for ROS 2 repo
-      # "ros-dev-tools" # ROS development tools (rosdep, colcon, vcs etc.)
-      # The newest ROS snapshot is missing ros-dev-tools, so we install its dependencies instead
-      "build-essential"
-      "cmake"
-      "python3-setuptools"
-      "python3-bloom"
-      "python3-colcon-common-extensions"
-      "python3-colcon-mixin"
-      "python3-rosdep"
-      "python3-vcstool"
-      "wget"
-
-      "ros-jazzy-ros-base" # ROS base packages
 
       "---"
 
@@ -203,11 +205,6 @@ let
       "python3-rpi-lgpio" # Replacement for RPi.GPIO which supports RPi 5
       "python3-stm32loader" # Tool for flashing LeoCore
       "leo-ui" # Web UI for controlling Leo Rover
-      "ros-jazzy-leo-robot" # Leo Rover ROS packages
-      "ros-jazzy-leo-camera" # hidden dependency of leo_robot
-      "ros-jazzy-compressed-image-transport" # image transport plugin that provides compressed image streams
-      "ros-jazzy-micro-ros-agent" # For talking with LeoCore
-      "ros-jazzy-aruco-opencv" # For aruco tracking
 
       "---"
 
@@ -230,8 +227,6 @@ let
       "breeze-cursor-theme" # LXQt cursor theme
       "firefox-esr" # Web browser
       "tigervnc-scraping-server" # VNC server
-      "ros-jazzy-desktop" # ROS desktop packages
-      "ros-jazzy-leo-desktop" # Leo-specific ROS desktop packages
     ];
   }) { inherit fetchurl; };
 
diff --git a/OS-image/files-lite/default.nix b/OS-image/files-lite/default.nix
index d13c100..c357dd0 100644
--- a/OS-image/files-lite/default.nix
+++ b/OS-image/files-lite/default.nix
@@ -3,7 +3,7 @@
 { stdenv, fetchurl }:
 let
   fictionlab-archive-keyring = (fetchurl {
-    url = "https://files.fictionlab.pl/repo/fictionlab.gpg";
+    url = "https://archive.fictionlab.pl/fictionlab.gpg";
     sha256 = "sha256-noqi5NcMDrnwMp9JFVUrLJkH65WH9/EDISQIVT8Hnf8=";
   });
 
diff --git a/OS-image/files-lite/etc/profile.d/99-ros-container-status.sh b/OS-image/files-lite/etc/profile.d/99-ros-container-status.sh
new file mode 100644
index 0000000..7a3fab2
--- /dev/null
+++ b/OS-image/files-lite/etc/profile.d/99-ros-container-status.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# Ensure this only prints for interactive logins
+if [[ $- == *i* ]]; then
+    if systemctl --user is-active --quiet ros-nodes 2>/dev/null && systemctl --user is-active --quiet uros-agent 2>/dev/null; then
+        printf "ROS Humble containers are running. To enter the ROS bash shell, run: ros-container-bash\n"
+    else
+        printf "One or more ROS Humble containers are not running - you can find more info with: ros-status\n"
+    fi
+fi
\ No newline at end of file
diff --git a/OS-image/files-lite/etc/ros/aliases b/OS-image/files-lite/etc/ros/aliases
index f4b9d20..4eef305 100644
--- a/OS-image/files-lite/etc/ros/aliases
+++ b/OS-image/files-lite/etc/ros/aliases
@@ -1,3 +1,4 @@
+alias ros-container-bash="podman exec -ti ros-nodes /bin/bash -ic 'source install/setup.bash; exec /bin/bash -i'"
 alias ros-nodes-logs="journalctl -b --no-pager --no-hostname -all -n 1000 --user-unit ros-nodes"
 alias ros-nodes-start="systemctl --user start ros-nodes"
 alias ros-nodes-restart="systemctl --user restart ros-nodes"
diff --git a/OS-image/files-lite/etc/ros/setup.bash b/OS-image/files-lite/etc/ros/setup.bash
index 7aba803..d6bf51b 100644
--- a/OS-image/files-lite/etc/ros/setup.bash
+++ b/OS-image/files-lite/etc/ros/setup.bash
@@ -1,6 +1,3 @@
-# Source the ROS workspace
-source /opt/ros/jazzy/setup.bash
-
 # Source aliases for systemd user services
 source /etc/ros/aliases
 
diff --git a/OS-image/files-lite/etc/systemd/user/ros-nodes.service b/OS-image/files-lite/etc/systemd/user/ros-nodes.service
index 1422f4c..3c17b7f 100644
--- a/OS-image/files-lite/etc/systemd/user/ros-nodes.service
+++ b/OS-image/files-lite/etc/systemd/user/ros-nodes.service
@@ -3,12 +3,26 @@ Description=ROS nodes
 PartOf=ros.target
 
 [Service]
-Type=simple
+Type=exec
 ExecStartPre=/usr/lib/systemd/systemd-networkd-wait-online
-ExecStart=/usr/lib/ros/ros-nodes
-KillSignal=SIGINT
-KillMode=process
-TimeoutStopSec=30
+ExecStartPre=-/usr/bin/podman rm -f ros-nodes
+ExecStartPre=-/bin/rm -f /%t/ros-nodes.cid
+ExecStart=/usr/bin/podman run --rm \
+    --privileged \
+    --net=host \
+    --ipc=host \
+    --pid=host \
+    --security-opt label=disable \
+    --name ros-nodes \
+    -v /dev:/dev \
+    -v /usr/lib/ros:/usr/lib/ros \
+    -v /etc/ros:/etc/ros \
+    -v /home/%u/.ros:/root/.ros \
+    --group-add keep-groups \
+    --cidfile=/%t/ros-nodes.cid \
+    ghcr.io/leorover/leo_humble_docker ros-nodes
+KillSignal=none
+ExecStop=/usr/bin/podman stop --cidfile=/%t/ros-nodes.cid
 
 [Install]
 WantedBy=ros.target
diff --git a/OS-image/files-lite/etc/systemd/user/uros-agent.service b/OS-image/files-lite/etc/systemd/user/uros-agent.service
index a6d825a..aa3b911 100644
--- a/OS-image/files-lite/etc/systemd/user/uros-agent.service
+++ b/OS-image/files-lite/etc/systemd/user/uros-agent.service
@@ -3,9 +3,25 @@ Description=Micro-ROS agent
 PartOf=ros.target
 
 [Service]
-Type=simple
+Type=exec
 ExecStartPre=/usr/lib/systemd/systemd-networkd-wait-online
-ExecStart=/usr/lib/ros/uros-agent
+ExecStartPre=-/usr/bin/podman rm -f uros-agent
+ExecStartPre=-/bin/rm -f /%t/uros-agent.cid
+ExecStart=/usr/bin/podman run --rm \
+    --privileged \
+    --net=host \
+    --ipc=host \
+    --pid=host \
+    --security-opt label=disable \
+    --name uros-agent \
+    -v /dev:/dev \
+    -v /usr/lib/ros:/usr/lib/ros:ro \
+    -v /etc/ros:/etc/ros:ro \
+    --group-add keep-groups \
+    --cidfile=/%t/uros-agent.cid \
+    ghcr.io/leorover/leo_humble_docker uros-agent
+KillSignal=none
+ExecStop=/usr/bin/podman stop --cidfile=/%t/uros-agent.cid
 Restart=on-failure
 RestartSec=5
 
diff --git a/OS-image/scripts/buildStage4.sh b/OS-image/scripts/buildStage4.sh
index 74adfcd..336a916 100755
--- a/OS-image/scripts/buildStage4.sh
+++ b/OS-image/scripts/buildStage4.sh
@@ -72,7 +72,6 @@ done
 
 # Change file ownership
 chown ${USER_NAME}:${USER_NAME} -R "/etc/ros"
-chown root:root -R "/etc/ros/rosdep"
 
 # Enable user services
 su - ${USER_NAME} -c "systemctl --user enable ros-nodes"
@@ -80,6 +79,33 @@ su - ${USER_NAME} -c "systemctl --user enable uros-agent"
 su - ${USER_NAME} -c "systemctl --user enable ros.target"
 CHROOT
 
+# Install the container image archive
+mkdir -p /mnt/tmp
+cp -v "${LEO_HUMBLE_CONTAINER}" /mnt/tmp/leo_humble_container.tar
+
+# Load the Podman container image
+my_chroot /mnt podman load -i /tmp/leo_humble_container.tar
+
+# Remove the Podman container image archive
+rm -vf /mnt/tmp/leo_humble_container.tar
+
+# Move the Podman container storage to the user's home directory
+mkdir -vp "/mnt/home/${USER_NAME}/.local/share/containers"
+mv -v /mnt/var/lib/containers/storage "/mnt/home/${USER_NAME}/.local/share/containers/storage"
+
+# Remove the old Podman container storage database so it will be recreated
+rm /mnt/home/${USER_NAME}/.local/share/containers/storage/db.sql
+
+# Fix ownership of the Podman container storage
+my_chroot /mnt chown -R ${USER_NAME}:${USER_NAME} "/home/${USER_NAME}/.local"
+
+# Clear root podman cache
+rm -rf /mnt/var/lib/containers
+
+# Create needed directories in the user's home directory
+mkdir -vp "/mnt/home/${USER_NAME}/.ros"
+my_chroot /mnt chown ${USER_NAME}:${USER_NAME} "/home/${USER_NAME}/.ros"
+
 # Enable lingering for default user
 mkdir -p -m 755 "/mnt/var/lib/systemd/linger"
 touch "/mnt/var/lib/systemd/linger/${USER_NAME}"
diff --git a/OS-image/scripts/default.nix b/OS-image/scripts/default.nix
index 9da46d5..9ad1e59 100644
--- a/OS-image/scripts/default.nix
+++ b/OS-image/scripts/default.nix
@@ -1,4 +1,4 @@
-{ files-lite, files-full, pkgs, stdenv, makeWrapper }: {
+{ files-lite, files-full, leoHumbleContainer, pkgs, stdenv, makeWrapper }: {
   stage1 = stdenv.mkDerivation {
     name = "scripts-stage1";
     src = ./buildStage1.sh;
@@ -75,7 +75,8 @@
         lib.makeBinPath [ coreutils gnused systemd util-linux ]
       }" \
       --set FILES_DIR ${files-lite} \
-      --set UDEVD "${pkgs.systemd}/lib/systemd/systemd-udevd"
+      --set UDEVD "${pkgs.systemd}/lib/systemd/systemd-udevd" \
+      --set LEO_HUMBLE_CONTAINER ${leoHumbleContainer}
     '';
   };
 
diff --git a/flake.nix b/flake.nix
index 13a397c..08527b3 100644
--- a/flake.nix
+++ b/flake.nix
@@ -13,7 +13,7 @@
         pkgs = (import nixpkgs) { inherit system; };
 
         OSName = "LeoOS";
-        OSVersion = "2.4.0";
+        OSVersion = "2.4.0-humble-1";
 
         OSImageDerivations = pkgs.callPackage ./OS-image {
           inherit OSName OSVersion;