diff --git a/ros/humble/ubuntu/focal/README.md b/ros/humble/ubuntu/focal/README.md
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+# Instructions
+
+```bash
+# Build ROS 2 humble from source in a focal container
+cd ros-core
+docker build . -t ros:humble-ros-core-focal
+
+# Install ROS 1 binaries and then build the ros1_bridge with colcon.
+cd ../ros1-bridge
+docker build . -t ros:humble-ros1-bridge-focal
+dit ros:humble-ros1-bridge-focal
+echo $CMAKE_PREFIX_PATH
+echo $ROS1_INSTALL_PATH
+echo $ROS2_INSTALL_PATH
+
+source ${ROS1_INSTALL_PATH}/setup.bash
+# Now, source your local workspace with your messages
+source install/setup.bash # Assume this sources /opt/ros/humble underlay
+# You should see standard ROS message packages and your custom ones below.
+ros2 pkg list | grep msgs
+```
\ No newline at end of file
diff --git a/ros/humble/ubuntu/focal/ros-core/Dockerfile b/ros/humble/ubuntu/focal/ros-core/Dockerfile
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+++ b/ros/humble/ubuntu/focal/ros-core/Dockerfile
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+# Adapted from ros/foxy/ubuntu/focal/ros-core/Dockerfile
+# Usage:
+#   docker build . -t ros:humble-ros-core-focal
+# 
+# Documentation for ros1_bridge setup: https://github.com/ros2/ros1_bridge?tab=readme-ov-file#building-the-bridge-from-source
+
+# We use focal becaue ROS 1 can be installed with binaries,
+# and ROS 2 humble supports compilation as a Tier 3  platform per REP-2000.
+# There is another repository that uses a Jammy base image, but requires
+# more changes.
+# https://github.com/TommyChangUMD/ros-humble-ros1-bridge-builder/issues/21
+
+FROM ubuntu:focal
+
+# setup timezone
+RUN echo 'Etc/UTC' > /etc/timezone && \
+    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
+
+# install packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    dirmngr \
+    gnupg2 \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+
+# setup sources.list
+RUN echo "deb http://snapshots.ros.org/foxy/final/ubuntu focal main" > /etc/apt/sources.list.d/ros2-snapshots.list
+
+# setup environment
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+ENV ROS_DISTRO humble
+
+# install ros2 packages
+# Note - There don't seem to be separate VCS files for core, base, and everything.
+# For now, just use upstream's big list.
+
+# https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#install-development-tools-and-ros-tools
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3-flake8-docstrings \
+    python3-pip \
+    python3-pytest-cov \
+    ros-dev-tools \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN python3 -m pip install -U \
+    flake8-blind-except \
+    flake8-builtins \
+    flake8-class-newline \
+    flake8-comprehensions \
+    flake8-deprecated \
+    flake8-import-order \
+    flake8-quotes \
+    "pytest>=5.3" \
+    pytest-repeat \
+    pytest-rerunfailures
+
+WORKDIR /ws
+
+RUN mkdir src
+RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos src
+RUN apt-get update && \
+    rosdep init && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -y --skip-keys \
+        "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
+
+# Disable testing to make the build faster. 
+RUN colcon build --install-base /opt/ros/humble --cmake-args -DBUILD_TESTING=OFF
+
+ENV ROS2_INSTALL_PATH=/opt/ros/humble
+
+# setup entrypoint
+COPY ./ros_entrypoint.sh /
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
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diff --git a/ros/humble/ubuntu/focal/ros-core/ros_entrypoint.sh b/ros/humble/ubuntu/focal/ros-core/ros_entrypoint.sh
new file mode 100755
index 000000000..c9298da7a
--- /dev/null
+++ b/ros/humble/ubuntu/focal/ros-core/ros_entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros2 environment
+# source "/opt/ros/$ROS_DISTRO/setup.bash" --
+exec "$@"
diff --git a/ros/humble/ubuntu/focal/ros1-bridge/Dockerfile b/ros/humble/ubuntu/focal/ros1-bridge/Dockerfile
new file mode 100644
index 000000000..456498886
--- /dev/null
+++ b/ros/humble/ubuntu/focal/ros1-bridge/Dockerfile
@@ -0,0 +1,66 @@
+# Adapted from ros/foxy/ubuntu/focal/ros1-bridge/Dockerfile
+
+# Usage:
+#   docker build . -t ros:humble-ros1-bridge-focal
+
+FROM ros:humble-ros-core-focal as base
+
+# install ros1 packages
+RUN set -eux; \
+       key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; \
+       export GNUPGHOME="$(mktemp -d)"; \
+       gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
+       mkdir -p /usr/share/keyrings; \
+       gpg --batch --export "$key" > /usr/share/keyrings/ros1-latest-archive-keyring.gpg; \
+       gpgconf --kill all; \
+       rm -rf "$GNUPGHOME"
+
+# setup sources.list
+RUN echo "deb [ signed-by=/usr/share/keyrings/ros1-latest-archive-keyring.gpg ] http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list
+
+# Install ROS 1 binaries, plus the message dependencies.
+# If they don't have ROS 1 message binaries, you will need to set up a catkin workspace to build.
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-ros-core=1.5.0-1* \
+    ros-noetic-mavros-msgs \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV ROS1_INSTALL_PATH=/opt/ros/noetic
+
+FROM base as final
+
+# The path or URL to the VCS repos.
+ARG VCS_MSG_FILE="custom_msgs.repos"
+# Which packages to build
+ARG CUSTOM_MSG_PKGS="mavros_msgs"
+
+
+WORKDIR /ws
+RUN rm -rf src/* build install log
+# This COPY is only necessary if you have a local file.
+# If it's in a repo, comment this out and supply it as a build arg.
+COPY $VCS_MSG_FILE .
+RUN vcs import --input $VCS_MSG_FILE src
+# Custom messages may have dependencies.
+# Ignore any errors to keep it simple.
+RUN apt-get update && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -y -r --skip-keys \
+        "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
+# Build all custom messge packages here in the right order.
+RUN . /opt/ros/humble/setup.sh && colcon build --packages-up-to ${CUSTOM_MSG_PKGS} 
+
+# Source the local workspace then build just the ros1_bridge.
+# This links to all the other message packages at build time.
+# Order of sourcing is VERY picky and NOT clear in the ros1_bridge README.
+# https://github.com/ros2/ros1_bridge?tab=readme-ov-file#building-the-bridge-from-source
+# This shows the source order with custom workspaces
+# https://github.com/jayprajapati009/ros1_bridge_tutorial?tab=readme-ov-file#ros1_bridge-setup
+RUN . /opt/ros/noetic/setup.sh && . /opt/ros/humble/setup.sh && . install/setup.sh && colcon build --packages-select ros1_bridge
+
+# setup entrypoint
+COPY ./ros_entrypoint.sh /
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
+
diff --git a/ros/humble/ubuntu/focal/ros1-bridge/custom_msgs.repos b/ros/humble/ubuntu/focal/ros1-bridge/custom_msgs.repos
new file mode 100644
index 000000000..3f581b874
--- /dev/null
+++ b/ros/humble/ubuntu/focal/ros1-bridge/custom_msgs.repos
@@ -0,0 +1,17 @@
+repositories:
+  ros2/ros1_bridge:
+    type: git
+    url: https://github.com/ros2/ros1_bridge.git
+    version: master
+
+  # MAVROS depends on geographic_msgs, but it's not available on focal. 
+  # Therefore, we add it here.
+  # mavros_msgs: No definition of [geographic_msgs] for OS version [focal]
+  ros-geographic-info/geographic_info:
+    type: git
+    url: https://github.com/ros-geographic-info/geographic_info.git
+    version: ros2
+  mavlink/mavros:
+    type: git
+    url: https://github.com/mavlink/mavros.git
+    version: ros2
diff --git a/ros/humble/ubuntu/focal/ros1-bridge/ros_entrypoint.sh b/ros/humble/ubuntu/focal/ros1-bridge/ros_entrypoint.sh
new file mode 100755
index 000000000..c9298da7a
--- /dev/null
+++ b/ros/humble/ubuntu/focal/ros1-bridge/ros_entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup ros2 environment
+# source "/opt/ros/$ROS_DISTRO/setup.bash" --
+exec "$@"