diff --git a/.github/workflows/build-cartographer-ws.yaml b/.github/workflows/build-cartographer-ws.yaml
index 158707a7..bf2c00cd 100644
--- a/.github/workflows/build-cartographer-ws.yaml
+++ b/.github/workflows/build-cartographer-ws.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - "main"
+    tags:
+      - v*
     paths:
       - .github/workflows/build-cartographer-ws.yaml
       - cartographer_ws/docker/Dockerfile
@@ -15,15 +17,25 @@ jobs:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
     steps:
-      -
-        name: Checkout
+      - name: Checkout
         uses: actions/checkout@v3
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
-      -
-        name: Docker meta
+      - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "main" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -32,15 +44,13 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-cartographer-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Login to Docker Hub
+            type=raw,value=${{ env.VERSION }}
+      - name: Login to Docker Hub
         uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: cartographer_ws/docker
diff --git a/.github/workflows/build-gazebo-world-ws.yaml b/.github/workflows/build-gazebo-world-ws.yaml
index 991cf613..6f6278dc 100644
--- a/.github/workflows/build-gazebo-world-ws.yaml
+++ b/.github/workflows/build-gazebo-world-ws.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - "main"
+    tags:
+      - v*
     paths:
       - .github/workflows/build-gazebo-world-ws.yaml
       - gazebo_world_ws/docker/Dockerfile
@@ -15,11 +17,21 @@ jobs:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
     steps:
-      -
-        name: Checkout
+      - name: Checkout
         uses: actions/checkout@v3
-      -
-        name: Docker meta
+      - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "main" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -28,15 +40,13 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-gazebo-world-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Login to Docker Hub
+            type=raw,value=${{ env.VERSION }}
+      - name: Login to Docker Hub
         uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: gazebo_world_ws/docker
diff --git a/.github/workflows/build-husky-ws.yaml b/.github/workflows/build-husky-ws.yaml
index 620be474..e963e514 100644
--- a/.github/workflows/build-husky-ws.yaml
+++ b/.github/workflows/build-husky-ws.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - "main"
+    tags:
+      - v*
     paths:
       - .github/workflows/build-husky-ws.yaml
       - husky_ws/docker/Dockerfile
@@ -18,15 +20,25 @@ jobs:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
     steps:
-      -
-        name: Checkout
+      - name: Checkout
         uses: actions/checkout@v3
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
-      -
-        name: Docker meta
+      - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "main" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -35,15 +47,13 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-husky-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Login to Docker Hub
+            type=raw,value=${{ env.VERSION }}
+      - name: Login to Docker Hub
         uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: husky_ws/docker
diff --git a/.github/workflows/build-kobuki-ws.yaml b/.github/workflows/build-kobuki-ws.yaml
index 7449e031..bc3b697b 100644
--- a/.github/workflows/build-kobuki-ws.yaml
+++ b/.github/workflows/build-kobuki-ws.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - "main"
+    tags:
+      - v*
     paths:
       - .github/workflows/build-kobuki-ws.yaml
       - kobuki_ws/docker/Dockerfile
@@ -17,15 +19,25 @@ jobs:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
     steps:
-      -
-        name: Checkout
+      - name: Checkout
         uses: actions/checkout@v3
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
-      -
-        name: Docker meta
+      - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "main" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -34,15 +46,13 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-kobuki-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Login to Docker Hub
+            type=raw,value=${{ env.VERSION }}
+      - name: Login to Docker Hub
         uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: kobuki_ws/docker
diff --git a/.github/workflows/build-orbslam3-ws.yaml b/.github/workflows/build-orbslam3-ws.yaml
index 14d41b13..5c62e9d1 100644
--- a/.github/workflows/build-orbslam3-ws.yaml
+++ b/.github/workflows/build-orbslam3-ws.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - "main"
+    tags:
+      - v*
     paths:
       - .github/workflows/build-orbslam3-ws.yaml
       - orbslam3_ws/docker/Dockerfile
@@ -15,11 +17,21 @@ jobs:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
     steps:
-      -
-        name: Checkout
+      - name: Checkout
         uses: actions/checkout@v3
-      -
-        name: Docker meta
+      - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "main" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -28,15 +40,13 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-orbslam3-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Login to Docker Hub
+            type=raw,value=${{ env.VERSION }}
+      - name: Login to Docker Hub
         uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: orbslam3_ws/docker
diff --git a/.github/workflows/build-ros1-bridge-ws.yaml b/.github/workflows/build-ros1-bridge-ws.yaml
index f7e33d96..d32dc409 100644
--- a/.github/workflows/build-ros1-bridge-ws.yaml
+++ b/.github/workflows/build-ros1-bridge-ws.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - "main"
+    tags:
+      - v*
     paths:
       - .github/workflows/build-ros1-bridge-ws.yaml
       - ros1_bridge_ws/docker/Dockerfile
@@ -18,15 +20,25 @@ jobs:
     runs-on: self-hosted
     timeout-minutes: 1440
     steps:
-      -
-        name: Checkout
+      - name: Checkout
         uses: actions/checkout@v3
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
-      -
-        name: Docker meta
+      - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "main" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -35,9 +47,8 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-ros1-bridge-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Docker meta (for build)
+            type=raw,value=${{ env.VERSION }}
+      - name: Docker meta (for build)
         id: meta_build
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -46,15 +57,13 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-ros1-bridge-build-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Login to Docker Hub
+            type=raw,value=${{ env.VERSION }}
+      - name: Login to Docker Hub
         uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: ros1_bridge_ws/docker
@@ -62,8 +71,7 @@ jobs:
           platforms: linux/amd64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: ros1_bridge_ws/docker
diff --git a/.github/workflows/build-rtabmap-ws.yaml b/.github/workflows/build-rtabmap-ws.yaml
index 48295687..60222fe9 100644
--- a/.github/workflows/build-rtabmap-ws.yaml
+++ b/.github/workflows/build-rtabmap-ws.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - "main"
+    tags:
+      - v*
     paths:
       - .github/workflows/build-rtabmap-ws.yaml
       - rtabmap_ws/docker/Dockerfile
@@ -15,11 +17,21 @@ jobs:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
     steps:
-      -
-        name: Checkout
+      - name: Checkout
         uses: actions/checkout@v3
-      -
-        name: Docker meta
+      - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "main" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -28,15 +40,13 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-rtabmap-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Login to Docker Hub
+            type=raw,value=${{ env.VERSION }}
+      - name: Login to Docker Hub
         uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: rtabmap_ws/docker
diff --git a/.github/workflows/build-template-ws.yaml b/.github/workflows/build-template-ws.yaml
index 327f8637..d79eb621 100644
--- a/.github/workflows/build-template-ws.yaml
+++ b/.github/workflows/build-template-ws.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - "main"
+    tags:
+      - v*
     paths:
       - .github/workflows/build-template-ws.yaml
       - template_ws/docker/Dockerfile
@@ -15,15 +17,25 @@ jobs:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
     steps:
-      -
-        name: Checkout
+      - name: Checkout
         uses: actions/checkout@v3
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
-      -
-        name: Docker meta
+      - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "main" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -32,15 +44,13 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-template-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Login to Docker Hub
+            type=raw,value=${{ env.VERSION }}
+      - name: Login to Docker Hub
         uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: template_ws/docker
diff --git a/.github/workflows/build-vlp-ws.yaml b/.github/workflows/build-vlp-ws.yaml
index f09f4940..e83e082b 100644
--- a/.github/workflows/build-vlp-ws.yaml
+++ b/.github/workflows/build-vlp-ws.yaml
@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - "main"
+    tags:
+      - v*
     paths:
       - .github/workflows/build-vlp-ws.yaml
       - vlp_ws/docker/Dockerfile
@@ -15,15 +17,25 @@ jobs:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
     steps:
-      -
-        name: Checkout
+      - name: Checkout
         uses: actions/checkout@v3
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
-      -
-        name: Docker meta
+      - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
+        name: Prepare tag name as environment variable
+        run: |
+          # This strips the git ref prefix from the version.
+          VERSION=$(echo "${{ github.ref }}" | sed -e 's,.*/\(.*\),\1,')
+          # This strips the "v" prefix from the tag name.
+          [[ "${{ github.ref }}" == "refs/tags/"* ]] && VERSION=$(echo $VERSION | sed -e 's/^v//')
+          # This uses the Docker `latest` tag convention.
+          [ "$VERSION" == "main" ] && VERSION=latest
+          # Output the environment variable
+          # Ref: https://stackoverflow.com/a/57989070
+          echo "VERSION=$VERSION" >> $GITHUB_ENV
+      - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
@@ -32,15 +44,13 @@ jobs:
           images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-vlp-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
-            type=raw,value=latest
-      -
-        name: Login to Docker Hub
+            type=raw,value=${{ env.VERSION }}
+      - name: Login to Docker Hub
         uses: docker/login-action@v2
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      -
-        name: Build and push
+      - name: Build and push
         uses: docker/build-push-action@v4
         with:
           context: vlp_ws/docker