diff --git a/.github/workflows/build-x64.yml b/.github/workflows/build-x64.yml
index 49c9384..0b2dbd9 100644
--- a/.github/workflows/build-x64.yml
+++ b/.github/workflows/build-x64.yml
@@ -45,5 +45,6 @@ jobs:
     steps:
     - uses: actions/checkout@v4
     - name: Push to Docker Hub
+      working-directory: ./PiCar-X
       run: |
         TAG=latest docker compose -f docker-compose-dtp.yml push
\ No newline at end of file
diff --git a/PiCar-X/docker-compose-ds.yml b/PiCar-X/docker-compose-ds.yml
index d3b4111..eff0446 100644
--- a/PiCar-X/docker-compose-ds.yml
+++ b/PiCar-X/docker-compose-ds.yml
@@ -36,7 +36,7 @@ services:
       target: desktop
       args:
         - TAG=${TAG:-latest}
-    image: abarbie/picarx-gazebo:${TAG}
+    image: abarbie/picarx-gazebo:${TAG:-latest}
     env_file:
       - ./core/dtp/env/simulation.env
     environment:
@@ -63,7 +63,7 @@ services:
         condition: service_healthy
 
   mqtt-dt:
-    image: abarbie/picarx-arches-mqtt-bridge:${TAG}
+    image: abarbie/picarx-arches-mqtt-bridge:${TAG:-latest}
     build:
       dockerfile: Dockerfile-arches-mqtt-bridge
       context: ./ros
@@ -78,7 +78,7 @@ services:
         condition: service_healthy
 
   ackermann_skill-dt:
-    image: abarbie/picarx-ackermann-skill:${TAG}
+    image: abarbie/picarx-ackermann-skill:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/skills/ackermann_drive
@@ -101,7 +101,7 @@ services:
 
   drive_monitor:
     build: ./ros/skills/ackermann_drive
-    image: abarbie/picarx-ackermann-skill:${TAG}
+    image: abarbie/picarx-ackermann-skill:${TAG:-latest}
     env_file:
       - ./core/dtp/env/picarx-dt.env
     tty: true
diff --git a/PiCar-X/docker-compose-dt.yml b/PiCar-X/docker-compose-dt.yml
index e74aa8c..a5f1502 100644
--- a/PiCar-X/docker-compose-dt.yml
+++ b/PiCar-X/docker-compose-dt.yml
@@ -38,7 +38,7 @@ services:
         condition: service_healthy
 
   mqtt-dt:
-    image: abarbie/picarx-arches-mqtt-bridge:${TAG}
+    image: abarbie/picarx-arches-mqtt-bridge:${TAG:-latest}
     build:
       dockerfile: Dockerfile-arches-mqtt-bridge
       context: ./ros
@@ -54,7 +54,7 @@ services:
         condition: service_healthy
 
   ackermann_skill-dt:
-    image: abarbie/picarx-ackermann-skill:${TAG}
+    image: abarbie/picarx-ackermann-skill:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/skills/ackermann_drive
diff --git a/PiCar-X/docker-compose-dtp-ext-gazebo.yml b/PiCar-X/docker-compose-dtp-ext-gazebo.yml
index 5e683d7..d30e651 100644
--- a/PiCar-X/docker-compose-dtp-ext-gazebo.yml
+++ b/PiCar-X/docker-compose-dtp-ext-gazebo.yml
@@ -29,7 +29,7 @@ services:
     restart: on-failure
 
   mqtt-dtp:
-    image: abarbie/picarx-arches-mqtt-bridge:${TAG}
+    image: abarbie/picarx-arches-mqtt-bridge:${TAG:-latest}
     build:
       dockerfile: Dockerfile-arches-mqtt-bridge
       context: ./ros
@@ -52,7 +52,7 @@ services:
       args:
         - TAG=${TAG:-latest}
         - ARCH=${ARCH:-}
-    image: abarbie/picarx-dcmotor-driver:${TAG}
+    image: abarbie/picarx-dcmotor-driver:${TAG:-latest}
     env_file:
       - ./core/dtp/env/picarx.env
     tty: true
@@ -70,7 +70,7 @@ services:
     restart: on-failure
 
   motor_right-dtp:
-    image: abarbie/picarx-dcmotor-driver:${TAG}
+    image: abarbie/picarx-dcmotor-driver:${TAG:-latest}
     tty: true
     env_file:
       - ./core/dtp/env/picarx.env
@@ -88,7 +88,7 @@ services:
     restart: on-failure
 
   steering-dtp:
-    image: abarbie/picarx-clutchgear-driver:${TAG}
+    image: abarbie/picarx-clutchgear-driver:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/drivers/clutchgear
@@ -112,7 +112,7 @@ services:
     restart: on-failure
 
   ackermann_skill-dtp:
-    image: abarbie/picarx-ackermann-skill:${TAG}
+    image: abarbie/picarx-ackermann-skill:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/skills/ackermann_drive
@@ -136,7 +136,7 @@ services:
     restart: on-failure
 
   motor_emulator_left-dtp:
-    image: abarbie/picarx-dcmotor-emulator:${TAG}
+    image: abarbie/picarx-dcmotor-emulator:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/emulators/dcmotor
@@ -157,7 +157,7 @@ services:
     restart: on-failure
 
   motor_emulator_right-dtp:
-    image: abarbie/picarx-dcmotor-emulator:${TAG}
+    image: abarbie/picarx-dcmotor-emulator:${TAG:-latest}
     env_file:
       - ./core/dtp/env/simulation-external.env
     tty: true
@@ -172,7 +172,7 @@ services:
     restart: on-failure
 
   steering_emulator-dtp:
-    image: abarbie/picarx-clutchgear-emulator:${TAG}
+    image: abarbie/picarx-clutchgear-emulator:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/emulators/clutchgear
diff --git a/PiCar-X/docker-compose-dtp-no-gazebo.yml b/PiCar-X/docker-compose-dtp-no-gazebo.yml
index c9e58d3..7aee7b1 100644
--- a/PiCar-X/docker-compose-dtp-no-gazebo.yml
+++ b/PiCar-X/docker-compose-dtp-no-gazebo.yml
@@ -48,7 +48,7 @@ services:
     restart: on-failure
 
   mqtt-dtp:
-    image: abarbie/picarx-arches-mqtt-bridge:${TAG}
+    image: abarbie/picarx-arches-mqtt-bridge:${TAG:-latest}
     build:
       dockerfile: Dockerfile-arches-mqtt-bridge
       context: ./ros
@@ -71,7 +71,7 @@ services:
       args:
         - TAG=${TAG:-latest}
         - ARCH=${ARCH:-}
-    image: abarbie/picarx-dcmotor-driver:${TAG}
+    image: abarbie/picarx-dcmotor-driver:${TAG:-latest}
     env_file:
       - ./core/dtp/env/picarx.env
     tty: true
@@ -89,7 +89,7 @@ services:
     restart: on-failure
 
   motor_right-dtp:
-    image: abarbie/picarx-dcmotor-driver:${TAG}
+    image: abarbie/picarx-dcmotor-driver:${TAG:-latest}
     tty: true
     env_file:
       - ./core/dtp/env/picarx.env
@@ -107,7 +107,7 @@ services:
     restart: on-failure
 
   steering-dtp:
-    image: abarbie/picarx-clutchgear-driver:${TAG}
+    image: abarbie/picarx-clutchgear-driver:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/drivers/clutchgear
@@ -131,7 +131,7 @@ services:
     restart: on-failure
 
   ackermann_skill-dtp:
-    image: abarbie/picarx-ackermann-skill:${TAG}
+    image: abarbie/picarx-ackermann-skill:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/skills/ackermann_drive
@@ -155,7 +155,7 @@ services:
     restart: on-failure
 
   motor_emulator_left-dtp:
-    image: abarbie/picarx-dcmotor-emulator:${TAG}
+    image: abarbie/picarx-dcmotor-emulator:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/emulators/dcmotor
@@ -179,7 +179,7 @@ services:
     restart: on-failure
 
   motor_emulator_right-dtp:
-    image: abarbie/picarx-dcmotor-emulator:${TAG}
+    image: abarbie/picarx-dcmotor-emulator:${TAG:-latest}
     env_file:
       - ./core/dtp/env/simulation.env
     tty: true
@@ -197,7 +197,7 @@ services:
     restart: on-failure
 
   steering_emulator-dtp:
-    image: abarbie/picarx-clutchgear-emulator:${TAG}
+    image: abarbie/picarx-clutchgear-emulator:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/emulators/clutchgear
diff --git a/PiCar-X/docker-compose-dtp.yml b/PiCar-X/docker-compose-dtp.yml
index 1678648..944762f 100644
--- a/PiCar-X/docker-compose-dtp.yml
+++ b/PiCar-X/docker-compose-dtp.yml
@@ -24,7 +24,7 @@ services:
         - TAG=${TAG:-latest}
         - ARCH=${ARCH:-}
       target: desktop
-    image: abarbie/picarx-gazebo:${TAG}
+    image: abarbie/picarx-gazebo:${TAG:-latest}
     env_file:
       - ./core/dtp/env/simulation.env
     environment:
@@ -47,7 +47,7 @@ services:
       start_period: 1s
 
   picarx-gazebo-control:
-    image: abarbie/picarx-gazebo:${TAG}
+    image: abarbie/picarx-gazebo:${TAG:-latest}
     env_file:
       - ./core/dtp/env/simulation.env
     tty: true
@@ -73,7 +73,7 @@ services:
         condition: service_healthy
 
   mqtt-dtp:
-    image: abarbie/picarx-arches-mqtt-bridge:${TAG}
+    image: abarbie/picarx-arches-mqtt-bridge:${TAG:-latest}
     build:
       dockerfile: Dockerfile-arches-mqtt-bridge
       context: ./ros
@@ -90,7 +90,7 @@ services:
         condition: service_healthy
 
   motor_left-dtp:
-    image: abarbie/picarx-dcmotor-driver:${TAG}
+    image: abarbie/picarx-dcmotor-driver:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/drivers/dcmotor/
@@ -113,7 +113,7 @@ services:
         condition: service_healthy
 
   motor_right-dtp:
-    image: abarbie/picarx-dcmotor-driver:${TAG}
+    image: abarbie/picarx-dcmotor-driver:${TAG:-latest}
     tty: true
     env_file:
       - ./core/dtp/env/picarx.env
@@ -130,7 +130,7 @@ services:
         condition: service_healthy
 
   steering-dtp:
-    image: abarbie/picarx-clutchgear-emulator:${TAG}
+    image: abarbie/picarx-clutchgear-driver:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/drivers/clutchgear
@@ -152,7 +152,7 @@ services:
         condition: service_healthy
 
   ackermann_skill-dtp:
-    image: abarbie/picarx-ackermann-skill:${TAG}
+    image: abarbie/picarx-ackermann-skill:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/skills/ackermann_drive
@@ -175,7 +175,7 @@ services:
         condition: service_healthy
 
   motor_emulator_left-dtp:
-    image: abarbie/picarx-dcmotor-emulator:${TAG}
+    image: abarbie/picarx-dcmotor-emulator:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/emulators/dcmotor
@@ -197,7 +197,7 @@ services:
         condition: service_healthy
 
   motor_emulator_right-dtp:
-    image: abarbie/picarx-dcmotor-emulator:${TAG}
+    image: abarbie/picarx-dcmotor-emulator:${TAG:-latest}
     env_file:
       - ./core/dtp/env/simulation.env
     tty: true
@@ -214,7 +214,7 @@ services:
         condition: service_healthy
 
   steering_emulator-dtp:
-    image: abarbie/picarx-clutchgear-emulator:${TAG}
+    image: abarbie/picarx-clutchgear-emulator:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/emulators/clutchgear
diff --git a/PiCar-X/docker-compose-dtsim.yml b/PiCar-X/docker-compose-dtsim.yml
index 3b46421..fc1da04 100644
--- a/PiCar-X/docker-compose-dtsim.yml
+++ b/PiCar-X/docker-compose-dtsim.yml
@@ -26,7 +26,7 @@ services:
       start_period: 1s
 
   picarx-gazebo:
-    image: abarbie/picarx-gazebo:${TAG}
+    image: abarbie/picarx-gazebo:${TAG:-latest}
     build:
       context: Dockerfile
       dockerfile: ./simulation
@@ -61,7 +61,7 @@ services:
         condition: service_healthy
 
   mqtt-dtp:
-    image: abarbie/picarx-arches-mqtt-bridge:${TAG}
+    image: abarbie/picarx-arches-mqtt-bridge:${TAG:-latest}
     build:
       dockerfile: Dockerfile-arches-mqtt-bridge
       context: ./ros
@@ -83,7 +83,7 @@ services:
       args:
         - TAG=${TAG:-latest}
         - ARCH=${ARCH:-}
-    image: abarbie/picarx-dcmotor-driver:${TAG}
+    image: abarbie/picarx-dcmotor-driver:${TAG:-latest}
     env_file:
       - ./core/dtp/env/picarx.env
     tty: true
@@ -99,7 +99,7 @@ services:
         condition: service_healthy
 
   motor_right-dtp:
-    image: abarbie/picarx-dcmotor-driver:${TAG}
+    image: abarbie/picarx-dcmotor-driver:${TAG:-latest}
     tty: true
     env_file:
       - ./core/dtp/env/picarx.env
@@ -115,7 +115,7 @@ services:
         condition: service_healthy
 
   steering-dtp:
-    image: abarbie/picarx-clutchgear-emulator:${TAG}
+    image: abarbie/picarx-clutchgear-driver:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/drivers/clutchgear
@@ -137,7 +137,7 @@ services:
         condition: service_healthy
 
   ackermann_skill-dtp:
-    image: abarbie/picarx-ackermann-skill:${TAG}
+    image: abarbie/picarx-ackermann-skill:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/skills/ackermann_drive
@@ -159,7 +159,7 @@ services:
         condition: service_healthy
 
   motor_emulator_left-dtp:
-    image: abarbie/picarx-dcmotor-emulator:${TAG}
+    image: abarbie/picarx-dcmotor-emulator:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/emulators/dcmotor
@@ -181,7 +181,7 @@ services:
         condition: service_healthy
 
   motor_emulator_right-dtp:
-    image: abarbie/picarx-dcmotor-emulator:${TAG}
+    image: abarbie/picarx-dcmotor-emulator:${TAG:-latest}
     env_file:
       - ./core/dtp/env/simulation.env
     tty: true
@@ -197,7 +197,7 @@ services:
         condition: service_healthy
 
   steering_emulator-dtp:
-    image: abarbie/picarx-clutchgear-emulator:${TAG}
+    image: abarbie/picarx-clutchgear-emulator:${TAG:-latest}
     build:
       dockerfile: Dockerfile
       context: ./ros/emulators/clutchgear
diff --git a/PiCar-X/docker-compose-pt.yml b/PiCar-X/docker-compose-pt.yml
index a918222..3a68a47 100644
--- a/PiCar-X/docker-compose-pt.yml
+++ b/PiCar-X/docker-compose-pt.yml
@@ -32,7 +32,7 @@ services:
       context: ./ros/drivers/dcmotor/
       args:
         - TAG=${TAG}
-    image: abarbie/picarx/drivers/dcmotor:${TAG}
+    image: abarbie/picarx-clutchgear-driver:${TAG:-latest}
     env_file:
       - ./core/dtp/env/picarx.env
     tty: true
@@ -49,7 +49,7 @@ services:
         condition: service_healthy
 
   motor_right-pt:
-    image: abarbie/picarx/drivers/dcmotor:${TAG}
+    image: abarbie/picarx-clutchgear-driver:${TAG:-latest}
     tty: true
     env_file:
       - ./core/dtp/env/picarx.env
@@ -71,7 +71,7 @@ services:
       context: ./ros/drivers/clutchgear
       args:
         - TAG=${TAG}
-    image: abarbie/picarx/drivers/clutchgear:${TAG}
+    image: abarbie/picarx-clutchgear-driver:${TAG:-latest}
     env_file:
       - ./core/dtp/env/picarx.env
     tty: true
@@ -93,7 +93,7 @@ services:
       context: ./ros/skills/ackermann_drive
       args:
         - TAG=${TAG}
-    image: abarbie/picarx/skills/ackermann_drive:${TAG}
+    image: abarbie/picarx-ackermann-skill:${TAG:-latest}
     env_file:
       - ./core/dtp/env/picarx.env
     tty: true
@@ -110,7 +110,7 @@ services:
         condition: service_healthy
 
   mqtt-dtp:
-    image: abarbie/picarx/arches-mqtt-bridge:${TAG}
+    image: abarbie/picarx-arches-mqtt-bridge:${TAG:-latest}
     build:
       dockerfile: Dockerfile-arches-mqtt-bridge
       context: ./ros