diff --git a/doc/010_Setup_Docker.md b/doc/010_Setup_Docker.md
index 2771d44..e9a94ce 100644
--- a/doc/010_Setup_Docker.md
+++ b/doc/010_Setup_Docker.md
@@ -92,6 +92,24 @@ In order to make sure that the kernel modules are properly loaded, you should re
 
 Now you are ready to use docker!
 
+### Cross Development for docker images
+
+To develop for arm-based boards on x86, you can enable your host machine execute non-native binary formats using [QEMU](https://www.qemu.org) and [binfmt_misc](https://www.kernel.org/doc/html/latest/admin-guide/binfmt-misc.html).
+
+When this is set up, docker is able to run images for the architectures supported by QEMU on your host machine (using CPU emulation).
+
+There is a docker image that can do the settings for you: [see here](https://github.com/multiarch/qemu-user-static)
+
+Quick enable:
+
+    sudo apt-get install qemu binfmt-support qemu-user-static
+    sudo docker run --rm --privileged multiarch/qemu-user-static --reset -p yes --credential yes
+
+Test it using e.g.
+
+    docker run --rm -ti arm64v8/ubuntu uname -m
+
+
 ### Using a registry
 If you want to use the image generated by the docker build from this repository, you can also use the already build image from the registry server.
 
diff --git a/docker_commands.bash b/docker_commands.bash
index 30c062f..35cba87 100755
--- a/docker_commands.bash
+++ b/docker_commands.bash
@@ -22,7 +22,7 @@ init_docker(){
         touch $GPUS_SETTINGS_FILE
         docker run --gpus=all --rm $IMAGE_NAME > /dev/null
         GPU_SUPPORTED=$?
-        echo "this file contains the gegerated result of testing the docker --gpu setting, 0=enabled, 1=disabled" > $GPUS_SETTINGS_FILE
+        echo "this file contains the generated result of testing the docker --gpu setting, 0=enabled, 1=disabled" > $GPUS_SETTINGS_FILE
         echo $GPU_SUPPORTED >> $GPUS_SETTINGS_FILE        
     fi
     HAS_GPU_SUPPORT=$(tail -n1 $GPUS_SETTINGS_FILE)
diff --git a/exec.bash b/exec.bash
index 2cb0063..824987a 100755
--- a/exec.bash
+++ b/exec.bash
@@ -98,7 +98,7 @@ DOCKER_RUN_ARGS=" \
                 --name $CONTAINER_NAME \
                 -e NUID=$(id -u) -e NGID=$(id -g) \
                 -u devel \
-                --dns $DNSIP \
+                ${DNSIP:+--dns $DNSIP} \
                 -e DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix \
                 $ADDITIONAL_DOCKER_RUN_ARGS \
                 $ADDITIONAL_DOCKER_MOUNT_ARGS \
diff --git a/image_setup/01_base_images/Dockerfile b/image_setup/01_base_images/Dockerfile
index b72f8c8..071989e 100644
--- a/image_setup/01_base_images/Dockerfile
+++ b/image_setup/01_base_images/Dockerfile
@@ -14,16 +14,15 @@ ENV DEBIAN_FRONTEND=noninteractive
 
 # general requirements
 RUN apt-get update && apt-get install -y \
-    build-essential \
     apt-utils \
-    git \
-    wget \
-    cmake \
-    sudo \
+    build-essential \
     cmake \
+    git \
+    locales \
     python3 \
     python3-dev \
-    locales
+    sudo \
+    wget 
 
 RUN locale-gen en_US.UTF-8
 ENV LANG en_US.UTF-8  
@@ -39,13 +38,13 @@ RUN /opt/install.bash ${INSTALL_ARGS}
 
 ADD init_user_id.bash /opt/init_user_id.bash
 
-# create user (usermod -u UID username will be used later to maybe adapt UID on fitst start).
+# create user (usermod -u UID username will be used later to maybe adapt UID on first start).
 # using salted password: openssl passwd -1 -salt xyz  yourpass    # pw UserRos
 # RUN useradd -m -U -p '$1$xyz$pzVfEx0ZWLPizymvlx2P70' -G sudo,users rosuser
 RUN groupadd devel-group
 RUN useradd --shell /bin/bash -c "development user" -m -G devel-group devel
 
-# set user sudoers previlege for start script (w/o password), the /opt/init_user_id.bash script
+# set user sudoers privilege for start script (w/o password), the /opt/init_user_id.bash script
 # is using NUID and NGID environment variables, but ist executed by the user using sudo, so these vars have to be kept
 RUN echo "devel ALL=(ALL) NOPASSWD: ALL \
     \nDefaults        env_keep += \"NUID\" \
diff --git a/image_setup/01_base_images/arm32v7/install_ros_dependencies.bash b/image_setup/01_base_images/arm32v7/install_ros_dependencies.bash
new file mode 100644
index 0000000..4043c30
--- /dev/null
+++ b/image_setup/01_base_images/arm32v7/install_ros_dependencies.bash
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+#install ROS melodic (second install because needs gnupg)
+export DEBIAN_FRONTEND=noninteractive
+
+DISTRO=${1:-melodic}
+[ $DISTRO == "noetic" ] && export vPYTHON=3
+
+apt-get update && apt-get install -y \
+    lsb-release \
+    gnupg2 \
+    gosu \
+    ruby \
+    ruby-dev \
+    python$vPYTHON
+
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+apt-get update && apt-get install -y \
+    ros-desktop \
+    python$vPYTHON-catkin-pkg \
+    python$vPYTHON-rosdep2 \
+    python$vPYTHON-rosinstall \
+    python$vPYTHON-rosinstall-generator \
+    python$vPYTHON-wstool
+
+
+#rosdep init && rosdep update
diff --git a/image_setup/01_base_images/arm32v7/install_ros_minimal_dependencies.bash b/image_setup/01_base_images/arm32v7/install_ros_minimal_dependencies.bash
new file mode 100644
index 0000000..92cb00b
--- /dev/null
+++ b/image_setup/01_base_images/arm32v7/install_ros_minimal_dependencies.bash
@@ -0,0 +1,30 @@
+#!/bin/bash
+
+#install ROS melodic (second install because needs gnupg)
+export DEBIAN_FRONTEND=noninteractive
+
+DISTRO=${1:-melodic}
+[ $DISTRO == "noetic" ] && export vPYTHON=3
+
+apt-get update && apt-get install -y \
+    lsb-release \
+    gnupg2 \
+    gosu \
+    ruby \
+    ruby-dev \
+    python$vPYTHON
+
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+apt-get update && apt-get install -y \
+    ros-base \
+    python$vPYTHON-catkin-pkg \
+    python$vPYTHON-rosdep2 \
+    python$vPYTHON-rosinstall \
+    python$vPYTHON-rosinstall-generator \
+    python$vPYTHON-wstool
+
+
+#rosdep init && rosdep update
+
+
diff --git a/image_setup/01_base_images/arm64v8/install_ros_dependencies.bash b/image_setup/01_base_images/arm64v8/install_ros_dependencies.bash
new file mode 100644
index 0000000..4043c30
--- /dev/null
+++ b/image_setup/01_base_images/arm64v8/install_ros_dependencies.bash
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+#install ROS melodic (second install because needs gnupg)
+export DEBIAN_FRONTEND=noninteractive
+
+DISTRO=${1:-melodic}
+[ $DISTRO == "noetic" ] && export vPYTHON=3
+
+apt-get update && apt-get install -y \
+    lsb-release \
+    gnupg2 \
+    gosu \
+    ruby \
+    ruby-dev \
+    python$vPYTHON
+
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+apt-get update && apt-get install -y \
+    ros-desktop \
+    python$vPYTHON-catkin-pkg \
+    python$vPYTHON-rosdep2 \
+    python$vPYTHON-rosinstall \
+    python$vPYTHON-rosinstall-generator \
+    python$vPYTHON-wstool
+
+
+#rosdep init && rosdep update
diff --git a/image_setup/01_base_images/arm64v8/install_ros_minimal_dependencies.bash b/image_setup/01_base_images/arm64v8/install_ros_minimal_dependencies.bash
new file mode 100644
index 0000000..71aa20e
--- /dev/null
+++ b/image_setup/01_base_images/arm64v8/install_ros_minimal_dependencies.bash
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+#install ROS melodic (second install because needs gnupg)
+export DEBIAN_FRONTEND=noninteractive
+
+DISTRO=${1:-melodic}
+[ $DISTRO == "noetic" ] && export vPYTHON=3
+
+apt-get update && apt-get install -y \
+    lsb-release \
+    gnupg2 \
+    gosu \
+    ruby \
+    ruby-dev \
+    python$vPYTHON
+
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+apt-get update && apt-get install -y \
+    ros-base \
+    python$vPYTHON-catkin-pkg \
+    python$vPYTHON-rosdep2 \
+    python$vPYTHON-rosinstall \
+    python$vPYTHON-rosinstall-generator \
+    python$vPYTHON-wstool
+
+
+#rosdep init && rosdep update
diff --git a/image_setup/01_base_images/build_plain_18.04.bash b/image_setup/01_base_images/build_plain_18.04.bash
index 6b01678..b29abfc 100755
--- a/image_setup/01_base_images/build_plain_18.04.bash
+++ b/image_setup/01_base_images/build_plain_18.04.bash
@@ -1,16 +1,22 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/plain_18.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
-export INSTALL_SCRIPT=install_plain_dependencies.bash
+# manage base image name depending on selected $ARCH in settings.bash
+if [ "$ARCH" == "" ] || [ "$ARCH" == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    export BASE_IMAGE=$ARCH/ubuntu:bionic
+    echo "Building for $ARCH processor. Using $BASE_IMAGE as base image."
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/${ARCH:+$ARCH/}plain_18.04
+export INSTALL_SCRIPT=${ARCH:+$ARCH/}install_plain_dependencies.bash
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
-
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
diff --git a/image_setup/01_base_images/build_plain_20.04.bash b/image_setup/01_base_images/build_plain_20.04.bash
index 52ae381..339a363 100755
--- a/image_setup/01_base_images/build_plain_20.04.bash
+++ b/image_setup/01_base_images/build_plain_20.04.bash
@@ -1,16 +1,22 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/plain_20.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu20.04
-export INSTALL_SCRIPT=install_plain_dependencies.bash
+# manage base image name depending on selected $ARCH in settings.bash
+if [ "$ARCH" == "" ] || [ "$ARCH" == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu20.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    export BASE_IMAGE=$ARCH/ubuntu:focal
+    echo "Building for $ARCH processor. Using $BASE_IMAGE as base image."
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/${ARCH:+$ARCH/}plain_20.04
+export INSTALL_SCRIPT=${ARCH:+$ARCH/}install_plain_dependencies.bash
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
-
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
diff --git a/image_setup/01_base_images/build_rock_master_16.04.bash b/image_setup/01_base_images/build_rock_master_16.04.bash
index c6f20e2..6391f16 100755
--- a/image_setup/01_base_images/build_rock_master_16.04.bash
+++ b/image_setup/01_base_images/build_rock_master_16.04.bash
@@ -1,16 +1,22 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/rock_master_16.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu16.04
-export INSTALL_SCRIPT=install_rock_dependencies.bash
+# manage base image name depending on selected $ARCH in settings.bash
+if [ "$ARCH" == "" ] || [ "$ARCH" == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu16.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    export BASE_IMAGE=$ARCH/ubuntu:xenial
+    echo "Building for $ARCH processor. Using $BASE_IMAGE as base image."
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/${ARCH:+$ARCH/}rock_master_16.04
+export INSTALL_SCRIPT=${ARCH:+$ARCH/}install_rock_dependencies.bash
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
-
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
diff --git a/image_setup/01_base_images/build_rock_master_18.04.bash b/image_setup/01_base_images/build_rock_master_18.04.bash
index 7a63c6b..f59bcba 100755
--- a/image_setup/01_base_images/build_rock_master_18.04.bash
+++ b/image_setup/01_base_images/build_rock_master_18.04.bash
@@ -1,16 +1,22 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/rock_master_18.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
-export INSTALL_SCRIPT=install_rock_dependencies.bash
+# manage base image name depending on selected $ARCH in settings.bash
+if [ "$ARCH" == "" ] || [ "$ARCH" == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    export BASE_IMAGE=$ARCH/ubuntu:bionic
+    echo "Building for $ARCH processor. Using $BASE_IMAGE as base image."
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/${ARCH:+$ARCH/}rock_master_18.04
+export INSTALL_SCRIPT=${ARCH:+$ARCH/}install_rock_dependencies.bash
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
-
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
diff --git a/image_setup/01_base_images/build_ros_melodic_18.04.bash b/image_setup/01_base_images/build_ros_melodic_18.04.bash
index aad4b6e..f8ed5f8 100755
--- a/image_setup/01_base_images/build_ros_melodic_18.04.bash
+++ b/image_setup/01_base_images/build_ros_melodic_18.04.bash
@@ -1,18 +1,23 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/ros_melodic_18.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
-export INSTALL_SCRIPT=install_ros_dependencies.bash
+# manage base image name depending on selected $ARCH in settings.bash
+if [ "$ARCH" == "" ] || [ "$ARCH" == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    export BASE_IMAGE=$ARCH/ubuntu:bionic
+    echo "Building for $ARCH processor. Using $BASE_IMAGE as base image."
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/${ARCH:+$ARCH/}ros_melodic_18.04
+export INSTALL_SCRIPT=${ARCH:+$ARCH/}install_ros_dependencies.bash
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
-
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
 echo
-
diff --git a/image_setup/01_base_images/build_ros_melodic_18.04_minimal.bash b/image_setup/01_base_images/build_ros_melodic_18.04_minimal.bash
index 47d4d6b..d75b1a7 100755
--- a/image_setup/01_base_images/build_ros_melodic_18.04_minimal.bash
+++ b/image_setup/01_base_images/build_ros_melodic_18.04_minimal.bash
@@ -1,18 +1,23 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/ros_melodic_18.04_minimal
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
-export INSTALL_SCRIPT=install_ros_minimal_dependencies.bash
+# manage base image name depending on selected $ARCH in settings.bash
+if [ "$ARCH" == "" ] || [ "$ARCH" == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    export BASE_IMAGE=$ARCH/ubuntu:bionic
+    echo "Building for $ARCH processor. Using $BASE_IMAGE as base image."
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/${ARCH:+$ARCH/}ros_melodic_18.04_minimal
+export INSTALL_SCRIPT=${ARCH:+$ARCH/}install_ros_minimal_dependencies.bash
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
-
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
 echo
-
diff --git a/image_setup/01_base_images/build_ros_noetic_20.04.bash b/image_setup/01_base_images/build_ros_noetic_20.04.bash
index 7d5ea25..7c7430e 100755
--- a/image_setup/01_base_images/build_ros_noetic_20.04.bash
+++ b/image_setup/01_base_images/build_ros_noetic_20.04.bash
@@ -1,19 +1,24 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/ros_noetic_20.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu20.04
-export INSTALL_SCRIPT=install_ros_dependencies.bash
+# manage base image name depending on selected $ARCH in settings.bash
+if [ "$ARCH" == "" ] || [ "$ARCH" == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu20.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    export BASE_IMAGE=$ARCH/ubuntu:focal
+    echo "Building for $ARCH processor. Using $BASE_IMAGE as base image."
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/${ARCH:+$ARCH/}ros_noetic_20.04
+export INSTALL_SCRIPT=${ARCH:+$ARCH/}install_ros_dependencies.bash
 export INSTALL_ARGS=noetic
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT --build-arg INSTALL_ARGS .
 
-
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
 echo
-
diff --git a/image_setup/01_base_images/build_ros_noetic_20.04_minimal.bash b/image_setup/01_base_images/build_ros_noetic_20.04_minimal.bash
index 8221e9d..25f830a 100755
--- a/image_setup/01_base_images/build_ros_noetic_20.04_minimal.bash
+++ b/image_setup/01_base_images/build_ros_noetic_20.04_minimal.bash
@@ -1,19 +1,24 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/ros_noetic_20.04_minimal
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu20.04
-export INSTALL_SCRIPT=install_ros_minimal_dependencies.bash
+# manage base image name depending on selected $ARCH in settings.bash
+if [ "$ARCH" == "" ] || [ "$ARCH" == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu20.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    export BASE_IMAGE=$ARCH/ubuntu:focal
+    echo "Building for $ARCH processor. Using $BASE_IMAGE as base image."
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/${ARCH:+$ARCH/}ros_noetic_20.04_minimal
+export INSTALL_SCRIPT=${ARCH:+$ARCH/}install_ros_minimal_dependencies.bash
 export INSTALL_ARGS=noetic
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT --build-arg INSTALL_ARGS .
 
-
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
 echo
-
diff --git a/image_setup/01_base_images/install_plain_dependencies.bash b/image_setup/01_base_images/install_plain_dependencies.bash
index c708786..fb43b93 100644
--- a/image_setup/01_base_images/install_plain_dependencies.bash
+++ b/image_setup/01_base_images/install_plain_dependencies.bash
@@ -1,15 +1,4 @@
 #!/bin/bash
 
-#install ROS melodic (second install because needs gnupg)
-export DEBIAN_FRONTEND=noninteractive
-
-# apt-get update && apt-get install -y \
-#     lsb-release \
-#     gnupg2 \
-#     gosu \
-#     ruby \
-#     ruby-dev \
-#     python
-
-
-
+# this script remains empty for now as all essential packages
+# for the plain base images are listed directly in the Dockerfile
diff --git a/image_setup/01_base_images/install_ros_minimal_dependencies.bash b/image_setup/01_base_images/install_ros_minimal_dependencies.bash
index f464083..27ed227 100644
--- a/image_setup/01_base_images/install_ros_minimal_dependencies.bash
+++ b/image_setup/01_base_images/install_ros_minimal_dependencies.bash
@@ -18,11 +18,11 @@ sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /
 apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 apt-get update && apt-get install -y \
     ros-$DISTRO-ros-base \
+    python$vPYTHON-catkin-tools \
+    python$vPYTHON-rosdep \
     python$vPYTHON-rosinstall \
     python$vPYTHON-rosinstall-generator \
-    python$vPYTHON-wstool \
-    python$vPYTHON-rosdep \
-    python$vPYTHON-catkin-tools
+    python$vPYTHON-wstool
 
 
 #rosdep init && rosdep update
diff --git a/image_setup/02_devel_image/Dockerfile b/image_setup/02_devel_image/Dockerfile
index 1782ee4..b53d3e4 100644
--- a/image_setup/02_devel_image/Dockerfile
+++ b/image_setup/02_devel_image/Dockerfile
@@ -20,10 +20,3 @@ RUN echo "echo" >> /opt/init_workspace.bash
 # If you want to run the setup automatically, you can add it directly to the script
 # it is executed every time the container is re-created
 #RUN echo "/opt/setup_workspace.sh" >> /opt/init_workspace.sh
-
-
-
-
-
-
-
diff --git a/image_setup/02_devel_image/build.bash b/image_setup/02_devel_image/build.bash
index bf30c9b..204b302 100644
--- a/image_setup/02_devel_image/build.bash
+++ b/image_setup/02_devel_image/build.bash
@@ -2,7 +2,6 @@
 . ../../settings.bash
 
 export BASE_IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}$WORKSPACE_BASE_IMAGE
-
 IMAGE_NAME=${DEVEL_REGISTRY:+${DEVEL_REGISTRY}/}$WORKSPACE_DEVEL_IMAGE
 
 if [ "$DOCKER_REGISTRY_AUTOPULL" = true ]; then
@@ -14,7 +13,6 @@ fi
 
 docker build --no-cache -f Dockerfile --build-arg BASE_IMAGE_NAME -t $IMAGE_NAME .
 
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME"
diff --git a/image_setup/03_release_image/build.bash b/image_setup/03_release_image/build.bash
index 5ebdef7..0a35d4b 100644
--- a/image_setup/03_release_image/build.bash
+++ b/image_setup/03_release_image/build.bash
@@ -10,16 +10,16 @@ export DEVEL_IMAGE_NAME=${DEVEL_REGISTRY:+${DEVEL_REGISTRY}/}$WORKSPACE_DEVEL_IM
     #do not pull for release, use the local image, as the release should be based on the exact same devel image
 #fi
 
-RELEASE_IMAGE_NAME=${RELEASE_REGISTRY:+${RELEASE_REGISTRY}/}$WORKSPACE_RELEASE_IMAGE
-echo "Buidling release image: ${RELEASE_IMAGE_NAME}_$TAG by $USER on $HOST Date: $DATE"
+IMAGE_NAME=${RELEASE_REGISTRY:+${RELEASE_REGISTRY}/}$WORKSPACE_RELEASE_IMAGE
+echo "Buidling release image: ${IMAGE_NAME}_$TAG by $USER on $HOST Date: $DATE"
 
-docker build --no-cache --build-arg DEVEL_IMAGE_NAME --build-arg USER --build-arg HOST --build-arg DATE -f Dockerfile -t $RELEASE_IMAGE_NAME ../..
+docker build --no-cache --build-arg DEVEL_IMAGE_NAME --build-arg USER --build-arg HOST --build-arg DATE -f Dockerfile -t $IMAGE_NAME ../..
 
-echo "tagging $RELEASE_IMAGE_NAME as ${RELEASE_IMAGE_NAME}_$TAG"
-docker tag $RELEASE_IMAGE_NAME ${RELEASE_IMAGE_NAME}_$TAG
+echo "tagging $IMAGE_NAME as ${IMAGE_NAME}_$TAG"
+docker tag $IMAGE_NAME ${IMAGE_NAME}_$TAG
 
 echo
 echo "don't forget to push the image if you wish:"
-echo "docker push $RELEASE_IMAGE_NAME"
-echo "docker push ${RELEASE_IMAGE_NAME}_$TAG"
+echo "docker push $IMAGE_NAME"
+echo "docker push ${IMAGE_NAME}_$TAG"
 echo
diff --git a/image_setup/04_save_release/build.bash b/image_setup/04_save_release/build.bash
index 1d25b86..05d384c 100644
--- a/image_setup/04_save_release/build.bash
+++ b/image_setup/04_save_release/build.bash
@@ -15,7 +15,7 @@ IMAGE_NAME=${RELEASE_REGISTRY:+${RELEASE_REGISTRY}/}$WORKSPACE_RELEASE_IMAGE
 SCRIPTFOLDER=${PROJECT_NAME_NO_SUBFOLDER}_scripts_${DATE}
 
 mkdir -p $SCRIPTFOLDER
-#build a scripts zip:
+# build a scripts zip:
 echo "creating scripts archive: $SCRIPTFOLDER.tar.gz"
 cp ../../docker_commands.bash ./$SCRIPTFOLDER/
 cp ../../settings.bash ./$SCRIPTFOLDER/
@@ -30,5 +30,3 @@ rm -rf $SCRIPTFOLDER
 
 echo "saving ${IMAGE_NAME} to ${PROJECT_NAME_NO_SUBFOLDER}_image_${DATE}.tar.gz"
 docker save ${IMAGE_NAME} | gzip > ${PROJECT_NAME_NO_SUBFOLDER}_image_${DATE}.tar.gz
-
-
diff --git a/settings.bash b/settings.bash
index 689d779..eb362c9 100755
--- a/settings.bash
+++ b/settings.bash
@@ -22,20 +22,24 @@ export DEFAULT_EXECMODE="base" # Use this only for setting up the initial devel
 # export DEFAULT_EXECMODE="devel" # This is used while deveoping code and preparing a relase
 # export DEFAULT_EXECMODE="release" # use the release as default
 
-### The base image used when building a workspace image (one of the ones build in base_images)
-# export WORKSPACE_BASE_IMAGE=developmentimage/rock_master_18.04:base # image with rock core dependencies installed
-# export WORKSPACE_BASE_IMAGE=developmentimage/ros_melodic_18.04:base # image with basic ros melodic installed
-# export WORKSPACE_BASE_IMAGE=developmentimage/ros_noetic_20.04:base # image with basic ros noetic installed
-# export WORKSPACE_BASE_IMAGE=developmentimage/plain_20.04:base # plain image with build_essentials installed
-export WORKSPACE_BASE_IMAGE=developmentimage/plain_18.04:base # plain image with build_essentials installed
+# set desired processor architecture for image build
+# available architectures on docker hub: https://github.com/docker-library/official-images#architectures-other-than-amd64
+# default: "" => x86_64
+export ARCH="arm64v8"
 
+### The base image used when building a workspace image (one of the ones build in base_images)
+# export WORKSPACE_BASE_IMAGE=developmentimage/${ARCH:+$ARCH/}rock_master_18.04:base # image with rock core dependencies installed
+# export WORKSPACE_BASE_IMAGE=developmentimage/${ARCH:+$ARCH/}ros_melodic_18.04:base # image with basic ros melodic installed
+# export WORKSPACE_BASE_IMAGE=developmentimage/${ARCH:+$ARCH/}ros_noetic_20.04:base # image with basic ros noetic installed
+# export WORKSPACE_BASE_IMAGE=developmentimage/${ARCH:+$ARCH/}plain_20.04:base # plain image with build_essentials installed
+export WORKSPACE_BASE_IMAGE=developmentimage/${ARCH:+$ARCH/}plain_18.04:base # plain image with build_essentials installed
 
 # The Name of the Workspace image to use
 # you should add a workspace name folder and a image name
 # e.g MY_PROJECT/docker_image_development:devel
 # under normal circumstances you should not need to change these
-export WORKSPACE_DEVEL_IMAGE=developmentimage/${PROJECT_NAME}:devel
-export WORKSPACE_RELEASE_IMAGE=developmentimage/${PROJECT_NAME}:release
+export WORKSPACE_DEVEL_IMAGE=developmentimage/${ARCH:+$ARCH/}${PROJECT_NAME}:devel
+export WORKSPACE_RELEASE_IMAGE=developmentimage/${ARCH:+$ARCH/}${PROJECT_NAME}:release
 
 # In case your docker container needs special run paramaters
 # like open ports, additional mounts etc.