diff --git a/.github/workflows/build_and_push_docker_images.yml b/.github/workflows/build_and_push_docker_images.yml
new file mode 100644
index 0000000..1ca41b0
--- /dev/null
+++ b/.github/workflows/build_and_push_docker_images.yml
@@ -0,0 +1,104 @@
+# source: https://docs.github.com/en/actions/tutorials/publish-packages/publish-docker-images#publishing-images-to-github-packages
+name: Create and publish a Docker image
+
+# Configures this workflow to run every time a change is pushed to the branch called `release`.
+on:
+  push:
+    branches: ['main', '3-build-pipeline-to-push-images-into-gh-container-registry']
+
+# Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+  ROS_DISTRO: jazzy
+
+# There is a single job in this workflow. It's configured to run on the latest available version of Ubuntu.
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    # Sets the permissions granted to the `GITHUB_TOKEN` for the actions in this job.
+    permissions:
+      contents: read
+      packages: write
+      attestations: write
+      id-token: write    
+    strategy:
+      matrix:
+        variant:
+          - name: teleop
+            platforms: linux/arm64
+            context: .
+            file: ./docker/Dockerfile-teleop
+          - name: ricbot
+            platforms: linux/arm64
+            context: .
+            file: ./docker/Dockerfile-robot
+        #   - name: ui
+        #     platforms: linux/arm64
+        #     context: ./svelte-ui/
+        #     file: ./svelte-ui/docker/Dockerfile
+        #   - name: ui_com
+        #     platforms: linux/arm64
+        #     context: ./helloric_ui_com/
+        #     file: ./helloric_ui_com/Dockerfile
+          - name: ds4
+            platforms: linux/arm64
+            context: .
+            file: ./docker/Dockerfile-ds4
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v5
+        with:
+            submodules: recursive
+      # Uses the `docker/login-action` action to log in to the Container registry registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
+      - name: Log in to the Container registry
+        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      # as suggested here:   https://github.com/docker/build-push-action
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+          #  This step uses [docker/metadata-action](https://github.com/docker/metadata-action#about) to extract tags and labels that will be applied to the specified image. The `id` "meta" allows the output of this step to be referenced in a subsequent step. The `images` value provides the base name for the tags and labels.
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
+        with:
+          images: ${{ env.REGISTRY }}/helloric/${{ matrix.variant.name }}
+          tags: |
+            type=raw,value=${{ github.sha }}
+            type=raw,value=latest
+          labels: |
+            labels: |
+                org.opencontainers.image.title=HelloRic ${{ matrix.variant.name }}
+                org.opencontainers.image.description=Docker image for HelloRic ${{ matrix.variant.name }} node
+                org.opencontainers.image.url=https://github.com/helloric/robot-nodes
+                org.opencontainers.image.vendor=DFKI RIC
+                org.opencontainers.image.licenses=3-Clause BSD License
+      # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
+      # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see [Usage](https://github.com/docker/build-push-action#usage) in the README of the `docker/build-push-action` repository.
+      # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
+      - name: Build and push ALL Docker images
+        id: push
+        uses: docker/build-push-action@f2a1d5e99d037542a71f64918e516c093c6f3fc4
+        with:
+          context: ${{ matrix.variant.context }}
+          file: ${{ matrix.variant.file }}
+          build-args: |
+            ROS_DISTRO=${{ env.ROS_DISTRO }}
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: ${{ matrix.variant.platforms }}
+      
+      # This step generates an artifact attestation for the image, which is an unforgeable statement about where and how it was built. It increases supply chain security for people who consume the image. For more information, see [Using artifact attestations to establish provenance for builds](/actions/security-guides/using-artifact-attestations-to-establish-provenance-for-builds).
+      - name: Generate artifact attestation
+        uses: actions/attest-build-provenance@v3
+        with:
+          subject-name: ${{ env.REGISTRY }}/helloric/${{ matrix.variant.name }}
+          subject-digest: ${{ steps.push.outputs.digest }}
+          push-to-registry: true
+      
diff --git a/compose.yml b/compose.yml
index 2eda948..4effc24 100644
--- a/compose.yml
+++ b/compose.yml
@@ -10,7 +10,7 @@ services:
         - "linux/arm64"
       args:
         ROS_DISTRO: jazzy
-    image: harbor.hb.dfki.de/helloric/ricbot:jazzy_arm64_001
+    image: ghcr.io/helloric/ricbot:latest
     environment:
       - PYTHONUNBUFFERED=1 # important to show error messages if a ros service crashes!
     volumes:
@@ -27,7 +27,7 @@ services:
     platform: "linux/arm64"
     depends_on:
       - ui_com
-    image: harbor.hb.dfki.de/helloric/ui:arm64_001
+    image: ghcr.io/helloric/svelte-ui:latest
     build:
       context: ./svelte-ui/
       dockerfile: ./docker/Dockerfile
@@ -37,7 +37,7 @@ services:
   ui_com:
     restart: always
     platform: "linux/arm64"
-    image: harbor.hb.dfki.de/helloric/ui_com:jazzy_arm64_001
+    image: ghcr.io/helloric/helloric_ui_com:latest
     build:
       context: ./helloric_ui_com/
       dockerfile: ./Dockerfile
@@ -57,7 +57,7 @@ services:
         ROS_DISTRO: jazzy
     stdin_open: true
     tty: true
-    image: harbor.hb.dfki.de/helloric/teleop:jazzy_arm64_001
+    image: ghcr.io/helloric/teleop:latest
 
   ds4:
     platform: "linux/arm64"
@@ -69,4 +69,4 @@ services:
     devices:
       - /dev:/dev
     privileged: true
-    image: harbor.hb.dfki.de/helloric/ds4:jazzy_arm64_001
+    image: ghcr.io/helloric/ds4:latest
diff --git a/docker/Dockerfile-ds4 b/docker/Dockerfile-ds4
index 1a0bedb..dae3411 100644
--- a/docker/Dockerfile-ds4
+++ b/docker/Dockerfile-ds4
@@ -25,7 +25,8 @@ WORKDIR /opt/underlay_ws
 RUN mkdir src \
     && cd src \
     && git clone https://github.com/naoki-mizuno/ds4_driver \
-        --branch ${ROS_DISTRO}-devel
+        --branch humble-devel
+        # TODO: switch to jazzy-devel when available or better use the ROS_DISTRO arg
 RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build"
 
 COPY ./docker/entrypoint-ds4.bash /entrypoint.bash
diff --git a/helloric_ui_com b/helloric_ui_com
index 4824503..b92466e 160000
--- a/helloric_ui_com
+++ b/helloric_ui_com
@@ -1 +1 @@
-Subproject commit 4824503e57aebb085c8cc77e9a7a2a437331ca16
+Subproject commit b92466e0dd42e20b3611fb3e5f88c4bb2cbf375e
diff --git a/svelte-ui b/svelte-ui
index 70a50eb..0ddda18 160000
--- a/svelte-ui
+++ b/svelte-ui
@@ -1 +1 @@
-Subproject commit 70a50eb04567abd45d6bf1c546cee142ec386738
+Subproject commit 0ddda18d4ddbe262f997ec9310cf0ba2a98de05e