diff --git a/.github/workflows/docker-image-xenial.yml b/.github/workflows/docker-image-xenial.yml
new file mode 100644
index 0000000..428010e
--- /dev/null
+++ b/.github/workflows/docker-image-xenial.yml
@@ -0,0 +1,31 @@
+name: Docker Image CI (xenial)
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+jobs:
+  docker:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        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
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: Build and push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: Dockerfile.xenial
+          platforms: linux/arm/v7,linux/arm64/v8,linux/amd64
+          push: true
+          tags: ripl/libbot2-ros:xenial
diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml
index aca7f23..ebb693e 100644
--- a/.github/workflows/docker-image.yml
+++ b/.github/workflows/docker-image.yml
@@ -1,4 +1,4 @@
-name: Docker Image CI
+name: Docker Image CI (latest)
 
 on:
   push: