diff --git a/.gitlab-ci/docker-ros.yml b/.gitlab-ci/docker-ros.yml
index e7888ac..3f22462 100644
--- a/.gitlab-ci/docker-ros.yml
+++ b/.gitlab-ci/docker-ros.yml
@@ -24,6 +24,7 @@ variables:
   ENABLE_INDUSTRIAL_CI:       'false'                                 # Enable industrial_ci
   ENABLE_SINGLEARCH_PUSH:     'false'                                 # Enable push of single arch images with [-amd64|-arm64] postfix
   ENABLE_PUSH_AS_LATEST:      'false'                                 # Push images with tag `latest`/`latest-dev` in addition to the configured image names
+  RMW_IMPLEMENTATION:         'rmw_cyclonedds_cpp'                    # RMW implementation to use (only for ROS 2)
   ROS_DISTRO:                 ''                                      # ROS Distro (required if ROS is not installed in `base-image`)
   GIT_HTTPS_SERVER:           ${CI_SERVER_HOST}                       # Server URL (without protocol) for cloning private Git repositories via HTTPS
   GIT_HTTPS_USER:             gitlab-ci-token                         # Username for cloning private Git repositories via HTTPS
diff --git a/README.md b/README.md
index 7d0f1b7..8c9aefd 100644
--- a/README.md
+++ b/README.md
@@ -432,6 +432,10 @@ Create a folder `additional-files` in your `docker` folder (or configure a diffe
 - **`registry-user` | `REGISTRY_USER`**  
   Docker registry username  
   *default:* `${{ github.actor }}` | `$CI_REGISTRY_USER`  
+- **`rmw-implementation` | `RMW_IMPLEMENTATION`**  
+  ROS 2 middleware implementation  
+  *default:* `rmw_cyclonedds_cpp`  
+  *supported values:* `rmw_fastrtps_cpp`, `rmw_cyclonedds_cpp`, `rmw_gurumdds_cpp`, ...  
 - **`ros-distro` | `ROS_DISTRO`**  
   ROS Distro  
   *required if ROS is not installed in `base-image`*  
diff --git a/action.yml b/action.yml
index 99d3720..dffe720 100644
--- a/action.yml
+++ b/action.yml
@@ -47,6 +47,10 @@ inputs:
     description: "Docker registry password"
     default: ${{ github.token }}
 
+  rmw-implementation:
+    description: "RMW implementation to use (only for ROS 2)"
+    default: rmw_cyclonedds_cpp
+
   ros-distro:
     description: "ROS Distro (required if ROS is not installed in `base-image`)"
   
@@ -178,6 +182,7 @@ runs:
         IMAGE_TAG: ${{ inputs.image-tag }}
         DEV_IMAGE_NAME: ${{ inputs.dev-image-name }}
         DEV_IMAGE_TAG: ${{ inputs.dev-image-tag }}
+        RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
         GIT_HTTPS_USER: ${{ inputs.git-https-user }}
@@ -235,6 +240,7 @@ runs:
         DEV_IMAGE_NAME: ${{ inputs.dev-image-name }}
         DEV_IMAGE_TAG: ${{ inputs.dev-image-tag }}
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
+        RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
         GIT_HTTPS_USER: ${{ inputs.git-https-user }}
@@ -270,6 +276,7 @@ runs:
         DEV_IMAGE_NAME: ${{ inputs.dev-image-name }}
         DEV_IMAGE_TAG: latest-dev
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
+        RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
         GIT_HTTPS_USER: ${{ inputs.git-https-user }}
diff --git a/docker/Dockerfile b/docker/Dockerfile
index c7921c1..fb70eeb 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -205,6 +205,16 @@ RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
     fi \
     && rm -rf /var/lib/apt/lists/*
 
+# install desired ROS 2 middleware
+ARG RMW_IMPLEMENTATION
+ENV RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
+RUN if [[ "$ROS_VERSION" == "2" ]]; then \
+        apt-get update && \
+        RMW_PACKAGE=ros-$ROS_DISTRO-$(echo $RMW_IMPLEMENTATION | tr '_' '-') && \
+        apt-get install -y $RMW_PACKAGE && \
+        rm -rf /var/lib/apt/lists/* ; \
+    fi
+
 # source ROS
 RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 
diff --git a/scripts/build.sh b/scripts/build.sh
index 5f3a5bd..83b59a6 100755
--- a/scripts/build.sh
+++ b/scripts/build.sh
@@ -17,6 +17,7 @@ build_image() {
         $(if [[ "${_ENABLE_IMAGE_PUSH}" == "true" ]]; then echo "--push"; else echo "--load"; fi) \
         --build-arg BASE_IMAGE="${BASE_IMAGE}" \
         --build-arg COMMAND="${COMMAND}" \
+        $(if [[ -n "${RMW_IMPLEMENTATION}" ]]; then echo "--build-arg RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}"; fi) \
         $(if [[ -n "${ROS_DISTRO}" ]]; then echo "--build-arg ROS_DISTRO=${ROS_DISTRO}"; fi) \
         $(if [[ -n "${GIT_HTTPS_SERVER}" ]]; then echo "--build-arg GIT_HTTPS_SERVER=${GIT_HTTPS_SERVER}"; fi) \
         $(if [[ -n "${GIT_HTTPS_USER}" ]]; then echo "--build-arg GIT_HTTPS_USER=${GIT_HTTPS_USER}"; fi) \
diff --git a/scripts/ci.sh b/scripts/ci.sh
index e6e6590..8f76fd4 100755
--- a/scripts/ci.sh
+++ b/scripts/ci.sh
@@ -20,6 +20,7 @@ DEV_IMAGE_TAG="${DEV_IMAGE_TAG:-${IMAGE_TAG}-dev}"
 IMAGE="${IMAGE_NAME}:${IMAGE_TAG}"
 DEV_IMAGE="${DEV_IMAGE_NAME}:${DEV_IMAGE_TAG}"
 ENABLE_SINGLEARCH_PUSH="${ENABLE_SINGLEARCH_PUSH:-false}"
+RMW_IMPLEMENTATION="${RMW_IMPLEMENTATION:-}"
 ROS_DISTRO="${ROS_DISTRO:-}"
 GIT_HTTPS_SERVER="${GIT_HTTPS_SERVER:-}"
 GIT_HTTPS_USER="${GIT_HTTPS_USER:-}"
diff --git a/templates/docker-compose.template.yml b/templates/docker-compose.template.yml
index 5018b47..54280bf 100644
--- a/templates/docker-compose.template.yml
+++ b/templates/docker-compose.template.yml
@@ -27,6 +27,7 @@ x-build: &build
     GIT_HTTPS_USER: $GIT_HTTPS_USER
     GIT_SSH_KNOWN_HOST_KEYS: $GIT_SSH_KNOWN_HOST_KEYS
     GIT_SSH_PRIVATE_KEY: $GIT_SSH_PRIVATE_KEY
+    RMW_IMPLEMENTATION: $RMW_IMPLEMENTATION
     ROS_DISTRO: $ROS_DISTRO
 
 services: