diff --git a/.github/workflows/build-aloha-ws.yaml b/.github/workflows/build-aloha-ws.yaml
index 374d89f6..a447e067 100644
--- a/.github/workflows/build-aloha-ws.yaml
+++ b/.github/workflows/build-aloha-ws.yaml
@@ -1,22 +1,51 @@
 name: Build Docker Image for aloha-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-aloha-ws.yaml
-      - aloha_ws/docker/Dockerfile
-      - aloha_ws/docker/.dockerignore
-      - aloha_ws/docker/.bashrc
-      - aloha_ws/docker/script/**
-      - aloha_ws/docker/udev_rules/**
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+            - .github/workflows/build-aloha-ws.yaml
+            - aloha_ws/docker/Dockerfile
+            - aloha_ws/docker/.dockerignore
+            - aloha_ws/docker/.bashrc
+            - aloha_ws/docker/script/**
+            - aloha_ws/docker/udev_rules/**
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -31,7 +60,7 @@ jobs:
       - name: Restart docker
         run: sudo service docker restart
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
@@ -48,25 +77,63 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-aloha-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-aloha-ws
+          images: j3soon/ros2-aloha-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and push
-        uses: docker/build-push-action@v4
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
+      - name: Build image
+        uses: docker/build-push-action@v6
+        with:
+          context: aloha_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64,linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: aloha_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-aloha-ws:buildcache-amd64,mode=max
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push arm64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: aloha_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-aloha-ws:buildcache-arm64,mode=max
+          platforms: linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push image
+        uses: docker/build-push-action@v6
         with:
           context: aloha_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
           platforms: linux/amd64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/build-cartographer-ws.yaml b/.github/workflows/build-cartographer-ws.yaml
index 5640a5c5..52b29906 100644
--- a/.github/workflows/build-cartographer-ws.yaml
+++ b/.github/workflows/build-cartographer-ws.yaml
@@ -1,20 +1,49 @@
 name: Build Docker Image for cartographer-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-cartographer-ws.yaml
-      - cartographer_ws/docker/Dockerfile
-      - cartographer_ws/docker/.dockerignore
-      - cartographer_ws/docker/.bashrc
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+            - .github/workflows/build-cartographer-ws.yaml
+            - cartographer_ws/docker/Dockerfile
+            - cartographer_ws/docker/.dockerignore
+            - cartographer_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -29,7 +58,7 @@ jobs:
       - name: Restart docker
         run: sudo service docker restart
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
@@ -46,25 +75,63 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-cartographer-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-cartographer-ws
+          images: j3soon/ros2-cartographer-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and push
-        uses: docker/build-push-action@v4
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
+      - name: Build image
+        uses: docker/build-push-action@v6
+        with:
+          context: cartographer_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64,linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: cartographer_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-cartographer-ws:buildcache-amd64,mode=max
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push arm64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: cartographer_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-cartographer-ws:buildcache-arm64,mode=max
+          platforms: linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push image
+        uses: docker/build-push-action@v6
         with:
           context: cartographer_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
           platforms: linux/amd64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/build-docs.yaml b/.github/workflows/build-docs.yaml
index 2219d308..9b2cb97d 100644
--- a/.github/workflows/build-docs.yaml
+++ b/.github/workflows/build-docs.yaml
@@ -14,14 +14,14 @@ jobs:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         # Ref: https://github.com/timvink/mkdocs-git-revision-date-localized-plugin#note-when-using-build-environments
         with:
           fetch-depth: '0'
-      - uses: actions/setup-python@v4
+      - uses: actions/setup-python@v5
         with:
           python-version: 3.x
-      - uses: actions/cache@v2
+      - uses: actions/cache@v4
         with:
           key: ${{ github.ref }}
           path: .cache
diff --git a/.github/workflows/build-gazebo-world-ws.yaml b/.github/workflows/build-gazebo-world-ws.yaml
index a83c344c..c9f94823 100644
--- a/.github/workflows/build-gazebo-world-ws.yaml
+++ b/.github/workflows/build-gazebo-world-ws.yaml
@@ -1,20 +1,49 @@
 name: Build Docker Image for gazebo-world-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-gazebo-world-ws.yaml
-      - gazebo_world_ws/docker/Dockerfile
-      - gazebo_world_ws/docker/.dockerignore
-      - gazebo_world_ws/docker/.bashrc
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+            - .github/workflows/build-gazebo-world-ws.yaml
+            - gazebo_world_ws/docker/Dockerfile
+            - gazebo_world_ws/docker/.dockerignore
+            - gazebo_world_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -29,7 +58,11 @@ jobs:
       - name: Restart docker
         run: sudo service docker restart
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
       - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
         name: Prepare tag name as environment variable
         run: |
@@ -42,24 +75,53 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-gazebo-world-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-gazebo-world-ws
+          images: j3soon/ros2-gazebo-world-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and push
-        uses: docker/build-push-action@v4
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
+      - name: Build image
+        uses: docker/build-push-action@v6
+        with:
+          context: gazebo_world_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: gazebo_world_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-gazebo-world-ws:buildcache-amd64,mode=max
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push image
+        uses: docker/build-push-action@v6
         with:
           context: gazebo_world_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/build-husky-ws.yaml b/.github/workflows/build-husky-ws.yaml
index 645ad1b4..3f4f23c0 100644
--- a/.github/workflows/build-husky-ws.yaml
+++ b/.github/workflows/build-husky-ws.yaml
@@ -1,23 +1,52 @@
 name: Build Docker Image for husky-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-husky-ws.yaml
-      - husky_ws/docker/Dockerfile
-      - husky_ws/docker/.dockerignore
-      - husky_ws/docker/.bashrc
-      - husky_ws/docker/script/**
-      - husky_ws/docker/clearpath_computer_installer/**
-      - husky_ws/docker/udev_rules/**
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+            - .github/workflows/build-husky-ws.yaml
+            - husky_ws/docker/Dockerfile
+            - husky_ws/docker/.dockerignore
+            - husky_ws/docker/.bashrc
+            - husky_ws/docker/script/**
+            - husky_ws/docker/clearpath_computer_installer/**
+            - husky_ws/docker/udev_rules/**
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -32,7 +61,7 @@ jobs:
       - name: Restart docker
         run: sudo service docker restart
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
@@ -49,25 +78,63 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-husky-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-husky-ws
+          images: j3soon/ros2-husky-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and push
-        uses: docker/build-push-action@v4
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
+      - name: Build image
+        uses: docker/build-push-action@v6
+        with:
+          context: husky_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64,linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: husky_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-husky-ws:buildcache-amd64,mode=max
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push arm64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: husky_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-husky-ws:buildcache-arm64,mode=max
+          platforms: linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push image
+        uses: docker/build-push-action@v6
         with:
           context: husky_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
           platforms: linux/amd64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/build-kobuki-ws.yaml b/.github/workflows/build-kobuki-ws.yaml
index beeeb9b7..1adf30b4 100644
--- a/.github/workflows/build-kobuki-ws.yaml
+++ b/.github/workflows/build-kobuki-ws.yaml
@@ -1,22 +1,51 @@
 name: Build Docker Image for kobuki-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-kobuki-ws.yaml
-      - kobuki_ws/docker/Dockerfile
-      - kobuki_ws/docker/.dockerignore
-      - kobuki_ws/docker/.bashrc
-      - kobuki_ws/docker/kobuki_driver_ws/**
-      - kobuki_ws/docker/udev_rules/**
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+            - .github/workflows/build-kobuki-ws.yaml
+            - kobuki_ws/docker/Dockerfile
+            - kobuki_ws/docker/.dockerignore
+            - kobuki_ws/docker/.bashrc
+            - kobuki_ws/docker/kobuki_driver_ws/**
+            - kobuki_ws/docker/udev_rules/**
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -31,7 +60,7 @@ jobs:
       - name: Restart docker
         run: sudo service docker restart
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
@@ -48,25 +77,63 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-kobuki-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-kobuki-ws
+          images: j3soon/ros2-kobuki-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and push
-        uses: docker/build-push-action@v4
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
+      - name: Build image
+        uses: docker/build-push-action@v6
+        with:
+          context: kobuki_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64,linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: kobuki_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-kobuki-ws:buildcache-amd64,mode=max
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push arm64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: kobuki_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-kobuki-ws:buildcache-arm64,mode=max
+          platforms: linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push image
+        uses: docker/build-push-action@v6
         with:
           context: kobuki_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
           platforms: linux/amd64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/build-orbslam3-ws.yaml b/.github/workflows/build-orbslam3-ws.yaml
index 7c57efac..99a041b1 100644
--- a/.github/workflows/build-orbslam3-ws.yaml
+++ b/.github/workflows/build-orbslam3-ws.yaml
@@ -1,20 +1,49 @@
 name: Build Docker Image for orbslam3-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-orbslam3-ws.yaml
-      - orbslam3_ws/docker/Dockerfile
-      - orbslam3_ws/docker/.dockerignore
-      - orbslam3_ws/docker/.bashrc
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+          - .github/workflows/build-orbslam3-ws.yaml
+          - orbslam3_ws/docker/Dockerfile
+          - orbslam3_ws/docker/.dockerignore
+          - orbslam3_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -29,7 +58,11 @@ jobs:
       - name: Restart docker
         run: sudo service docker restart
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
       - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
         name: Prepare tag name as environment variable
         run: |
@@ -42,24 +75,53 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-orbslam3-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-orbslam3-ws
+          images: j3soon/ros2-orbslam3-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and push
-        uses: docker/build-push-action@v4
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
+      - name: Build image
+        uses: docker/build-push-action@v6
+        with:
+          context: orbslam3_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: orbslam3_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-orbslam3-ws:buildcache-amd64,mode=max
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push image
+        uses: docker/build-push-action@v6
         with:
           context: orbslam3_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/build-ros1-bridge-ws.yaml b/.github/workflows/build-ros1-bridge-ws.yaml
index d32dc409..ed914ce6 100644
--- a/.github/workflows/build-ros1-bridge-ws.yaml
+++ b/.github/workflows/build-ros1-bridge-ws.yaml
@@ -21,7 +21,7 @@ jobs:
     timeout-minutes: 1440
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
@@ -38,13 +38,15 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-ros1-bridge-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-ros1-bridge-ws
+          images: j3soon/ros2-ros1-bridge-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
@@ -54,17 +56,17 @@ jobs:
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-ros1-bridge-build-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-ros1-bridge-build-ws
+          images: j3soon/ros2-ros1-bridge-build-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and push
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v6
         with:
           context: ros1_bridge_ws/docker
           target: release
@@ -72,7 +74,7 @@ jobs:
           push: true
           tags: ${{ steps.meta.outputs.tags }}
       - name: Build and push
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v6
         with:
           context: ros1_bridge_ws/docker
           target: build
diff --git a/.github/workflows/build-rtabmap-ws.yaml b/.github/workflows/build-rtabmap-ws.yaml
index 112fe9a7..1b69eddb 100644
--- a/.github/workflows/build-rtabmap-ws.yaml
+++ b/.github/workflows/build-rtabmap-ws.yaml
@@ -1,20 +1,49 @@
 name: Build Docker Image for rtabmap-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-rtabmap-ws.yaml
-      - rtabmap_ws/docker/Dockerfile
-      - rtabmap_ws/docker/.dockerignore
-      - rtabmap_ws/docker/.bashrc
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+          - .github/workflows/build-rtabmap-ws.yaml
+          - rtabmap_ws/docker/Dockerfile
+          - rtabmap_ws/docker/.dockerignore
+          - rtabmap_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -29,7 +58,11 @@ jobs:
       - name: Restart docker
         run: sudo service docker restart
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
       - # Ref: https://docs.github.com/en/packages/managing-github-packages-using-github-actions-workflows/publishing-and-installing-a-package-with-github-actions#upgrading-a-workflow-that-accesses-a-registry-using-a-personal-access-token
         name: Prepare tag name as environment variable
         run: |
@@ -42,24 +75,53 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-rtabmap-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-rtabmap-ws
+          images: j3soon/ros2-rtabmap-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and push
-        uses: docker/build-push-action@v4
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
+      - name: Build image
+        uses: docker/build-push-action@v6
+        with:
+          context: rtabmap_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: rtabmap_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-rtabmap-ws:buildcache-amd64,mode=max
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push image
+        uses: docker/build-push-action@v6
         with:
           context: rtabmap_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64
           push: true
           tags: ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/build-template-ws.yaml b/.github/workflows/build-template-ws.yaml
index bc6963a1..5de9efe0 100644
--- a/.github/workflows/build-template-ws.yaml
+++ b/.github/workflows/build-template-ws.yaml
@@ -6,16 +6,49 @@ on:
       - "main"
     tags:
       - v*
-    paths:
-      - .github/workflows/build-template-ws.yaml
-      - template_ws/docker/Dockerfile
-      - template_ws/docker/.dockerignore
-      - template_ws/docker/.bashrc
 
 jobs:
-  docker:
+  paths-filter:
     if: github.repository == 'j3soon/ros2-essentials'
     runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        filters: |
+          results:
+            - .github/workflows/build-template-ws.yaml
+            - template_ws/docker/Dockerfile
+            - template_ws/docker/.dockerignore
+            - template_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Save base ref info
+      run: |
+        BASE=${{ github.event.before }}
+        CURRENT_BRANCH=${{ github.ref }}
+        echo $BASE > base.txt
+        echo $CURRENT_BRANCH > current-branch.txt
+    - name: Upload base ref info
+      uses: actions/upload-artifact@v4
+      with:
+        name: original-refs
+        path: |
+          base.txt
+          current-branch.txt
+        retention-days: 1
+  docker:
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
+    runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
         uses: easimon/maximize-build-space@master
@@ -29,7 +62,7 @@ jobs:
       - name: Restart docker
         run: sudo service docker restart
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
@@ -46,23 +79,46 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-template-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-template-ws
+          images: j3soon/ros2-template-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and push
-        uses: docker/build-push-action@v4
+      - name: Build image
+        uses: docker/build-push-action@v6
+        with:
+          context: template_ws/docker
+          platforms: linux/amd64,linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      # Ref: https://github.com/docker/buildx/discussions/1382#discussioncomment-6252049
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: template_ws/docker
+          cache-to: type=registry,ref=j3soon/ros2-template-ws:buildcache-amd64,mode=max
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push arm64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: template_ws/docker
+          cache-to: type=registry,ref=j3soon/ros2-template-ws:buildcache-arm64,mode=max
+          platforms: linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push image
+        uses: docker/build-push-action@v6
         with:
           context: template_ws/docker
           platforms: linux/amd64,linux/arm64
diff --git a/.github/workflows/build-vlp-ws.yaml b/.github/workflows/build-vlp-ws.yaml
index 77da9706..763e402b 100644
--- a/.github/workflows/build-vlp-ws.yaml
+++ b/.github/workflows/build-vlp-ws.yaml
@@ -1,20 +1,49 @@
 name: Build Docker Image for vlp-ws
 
 on:
-  push:
-    branches:
-      - "main"
-    tags:
-      - v*
-    paths:
-      - .github/workflows/build-vlp-ws.yaml
-      - vlp_ws/docker/Dockerfile
-      - vlp_ws/docker/.dockerignore
-      - vlp_ws/docker/.bashrc
+  workflow_run:
+    workflows: ["Build Docker Image for template-ws"]
+    types: [completed]
 
 jobs:
+  paths-filter:
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    outputs:
+      results: ${{ steps.filter.outputs.results }}
+    steps:
+    # Ref: https://github.com/dorny/paths-filter/issues/147#issuecomment-1287800590
+    - name: Download a single artifact
+      uses: dawidd6/action-download-artifact@v7
+      with:
+        workflow: build-template-ws.yaml
+        name: original-refs
+        workflow_conclusion: success
+    - name: set REF_BASE to env
+      run: |
+        echo "BASE=$(cat base.txt)" >> $GITHUB_ENV
+        echo "CURRENT_BRANCH=$(cat current-branch.txt)" >> $GITHUB_ENV
+    - uses: actions/checkout@v4
+    - uses: dorny/paths-filter@v3
+      id: filter
+      with:
+        base: ${{ env.BASE }}
+        ref: ${{ env.CURRENT_BRANCH }}
+        filters: |
+          results:
+            - .github/workflows/build-vlp-ws.yaml
+            - vlp_ws/docker/Dockerfile
+            - vlp_ws/docker/.dockerignore
+            - vlp_ws/docker/.bashrc
+    - name: Changes matched
+      if: steps.filter.outputs.results == 'true'
+      run: echo "Changes matched, will build image"
+    - name: Changes didn't match
+      if: steps.filter.outputs.results != 'true'
+      run: echo "Changes didn't match, will NOT build image"
   docker:
-    if: github.repository == 'j3soon/ros2-essentials'
+    needs: paths-filter
+    if: ${{ needs.paths-filter.outputs.results == 'true' }}
     runs-on: ubuntu-latest
     steps:
       - name: Maximize build space
@@ -29,7 +58,7 @@ jobs:
       - name: Restart docker
         run: sudo service docker restart
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v3
       - name: Set up Docker Buildx
@@ -46,25 +75,63 @@ jobs:
           # Output the environment variable
           # Ref: https://stackoverflow.com/a/57989070
           echo "VERSION=$VERSION" >> $GITHUB_ENV
+          # Print for debugging purpose
+          echo "VERSION=$VERSION"
       - name: Docker meta
         id: meta
         # Ref: https://github.com/docker/metadata-action
         uses: docker/metadata-action@v5
         with:
           # Link: https://hub.docker.com/repository/docker/j3soon/ros2-vlp-ws/tags
-          images: ${{ secrets.DOCKERHUB_USERNAME }}/ros2-vlp-ws
+          images: j3soon/ros2-vlp-ws
           tags: |
             type=raw,value={{date 'YYYYMMDD'}}
             type=raw,value=${{ env.VERSION }}
       - name: Login to Docker Hub
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
-          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          username: j3soon
           password: ${{ secrets.DOCKERHUB_TOKEN }}
-      - name: Build and push
-        uses: docker/build-push-action@v4
+      - name: Pull j3soon/ros2-template-ws (amd64)
+        run: docker pull --platform linux/amd64 j3soon/ros2-template-ws
+      - name: Pull j3soon/ros2-template-ws (arm64)
+        run: docker pull --platform linux/arm64 j3soon/ros2-template-ws
+      - name: Build image
+        uses: docker/build-push-action@v6
+        with:
+          context: vlp_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          platforms: linux/amd64,linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push amd64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: vlp_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-vlp-ws:buildcache-amd64,mode=max
+          platforms: linux/amd64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push arm64 cache
+        uses: docker/build-push-action@v6
+        with:
+          context: vlp_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
+          cache-to: type=registry,ref=j3soon/ros2-vlp-ws:buildcache-arm64,mode=max
+          platforms: linux/arm64
+          tags: ${{ steps.meta.outputs.tags }}
+      - name: Push image
+        uses: docker/build-push-action@v6
         with:
           context: vlp_ws/docker
+          cache-from: |
+            j3soon/ros2-template-ws:buildcache-amd64
+            j3soon/ros2-template-ws:buildcache-arm64
           platforms: linux/amd64,linux/arm64
           push: true
           tags: ${{ steps.meta.outputs.tags }}