diff --git a/README.md b/README.md
index 237327f..2f824ff 100644
--- a/README.md
+++ b/README.md
@@ -28,7 +28,7 @@ ROS 1/2 bridge container with dual Humble + Jazzy targets — `ros:${ROS2_DISTRO
 
 ```bash
 ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml   # pick a bridge config (gitignored, per-clone). Skip to use the demo fallback.
-./build.sh && ./run.sh                       # default ROS2_DISTRO=humble (set via setup.conf [build] arg_4)
+make build && make run                       # default ROS2_DISTRO=humble (set via setup.conf [build] arg_4)
 ```
 
 Skipping the `ln -sf` step is fine — the Dockerfile falls back to
@@ -65,13 +65,13 @@ for the full migration rationale.
 ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml
 
 # 1. Build
-./build.sh
+make build
 
 # 2. Run (requires ROS master running)
-./run.sh
+make run
 
 # 3. Enter running container
-./exec.sh
+make exec
 ```
 
 ## Switch ROS 2 distro
@@ -80,17 +80,17 @@ Default is `humble` (jammy 22.04). To switch to `jazzy` (noble 24.04), update
 `setup.conf [build] arg_4` via the CLI:
 
 ```bash
-./setup.sh set build.arg_4 ROS2_DISTRO=jazzy
-./build.sh && ./run.sh
+make setup -- set build.arg_4 ROS2_DISTRO=jazzy
+make build && make run
 ```
 
 `set` writes the value into `setup.conf [build] arg_4` (creating the
-section / key if absent). `./build.sh` then detects the drift via the
+section / key if absent). `make build` then detects the drift via the
 `setup.conf` hash baked into `.env`, regenerates `.env` + `compose.yaml`,
 and rebuilds. The image tag (`yunchien/ros1_bridge:devel` etc.) is
 unchanged across distros — switching rebuilds in place.
 
-For an interactive picker, run `./setup_tui.sh` (dialog / whiptail
+For an interactive picker, run `make setup-tui` (dialog / whiptail
 frontend) and change `[build] arg_4` there.
 
 CI builds both distros in parallel via the matrix in `.github/workflows/main.yaml`,
@@ -103,9 +103,9 @@ regardless of what `setup.conf` says.
 ### Build
 
 ```bash
-./build.sh                       # Build devel (default)
-./build.sh -t test               # Build with smoke tests
-./build.sh -t runtime            # Build the lean runtime image
+make build                       # Build devel (default)
+make build test                  # Build with smoke tests
+make build -- -t runtime         # Build the lean runtime image
 ```
 
 ### Run
@@ -113,14 +113,14 @@ regardless of what `setup.conf` says.
 Two modes, picked by stage target:
 
 ```bash
-./run.sh                         # devel: interactive bash shell, bridge NOT running
-./run.sh -d                      # devel detached, join via ./exec.sh
+make run                         # devel: interactive bash shell, bridge NOT running
+make run -- -d                   # devel detached, join via make exec
 ```
 
 For `runtime` (auto-starts the bridge via the Dockerfile `CMD`):
 
 ```bash
-./run.sh -t runtime              # Start runtime service. Entrypoint sources both
+make run -- -t runtime           # Start runtime service. Entrypoint sources both
                                  # ROS distros, rosparam loads /bridge.yaml, then
                                  # exec's `ros2 run ros1_bridge parameter_bridge`.
                                  # Requires roscore already running on the host network.
@@ -129,8 +129,8 @@ For `runtime` (auto-starts the bridge via the Dockerfile `CMD`):
 ### Enter running container
 
 ```bash
-./exec.sh
-./exec.sh bash
+make exec
+make exec bash
 ```
 
 ## Bridge Configuration
@@ -198,19 +198,19 @@ use the same pattern: a **server** terminal that owns `roscore` +
 
 | Demo | Terminal 1 (server) | Terminal 2 (client) |
 |------|---------------------|---------------------|
-| A — ROS 1 → ROS 2 | `./exec.sh /root/demo/ros1_server.sh` | `./exec.sh /root/demo/ros2_client.sh` |
-| B — ROS 2 → ROS 1 | `./exec.sh /root/demo/ros2_server.sh` | `./exec.sh /root/demo/ros1_client.sh` |
+| A — ROS 1 → ROS 2 | `make exec -- /root/demo/ros1_server.sh` | `make exec -- /root/demo/ros2_client.sh` |
+| B — ROS 2 → ROS 1 | `make exec -- /root/demo/ros2_server.sh` | `make exec -- /root/demo/ros1_client.sh` |
 
-Steps (assuming the container is up via `./run.sh -d`):
+Steps (assuming the container is up via `make run -- -d`):
 
 ```bash
 # Terminal 1 (server) — pick one demo
-./exec.sh /root/demo/ros1_server.sh    # Demo A
-./exec.sh /root/demo/ros2_server.sh    # Demo B
+make exec -- /root/demo/ros1_server.sh    # Demo A
+make exec -- /root/demo/ros2_server.sh    # Demo B
 
 # Terminal 2 (client) — matching pair
-./exec.sh /root/demo/ros2_client.sh    # Demo A
-./exec.sh /root/demo/ros1_client.sh    # Demo B
+make exec -- /root/demo/ros2_client.sh    # Demo A
+make exec -- /root/demo/ros1_client.sh    # Demo B
 ```
 
 Server scripts log every step (`[ros1_server] step N/5: ...`) so it's
@@ -218,7 +218,7 @@ clear when `roscore` and `parameter_bridge` are up. Override the
 published string with `MESSAGE`:
 
 ```bash
-./exec.sh env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
+make exec -- env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
 ```
 
 `Ctrl+C` on the server terminal tears down `parameter_bridge` and
@@ -258,13 +258,16 @@ ros1_bridge/
 ├── compose.yaml                 # Docker Compose definition
 ├── Dockerfile                   # Multi-stage build (devel + runtime + test); source-builds Noetic + ros1_bridge
 ├── setup.conf                   # Repo override; [build] arg_4=ROS2_DISTRO selects humble|jazzy
-├── build.sh -> .base/script/docker/build.sh    # Symlink
-├── run.sh -> .base/script/docker/run.sh        # Symlink
-├── exec.sh -> .base/script/docker/exec.sh      # Symlink
-├── stop.sh -> .base/script/docker/stop.sh      # Symlink
-├── Makefile -> .base/script/docker/Makefile    # Symlink
+├── Makefile -> .base/script/docker/Makefile     # Symlink (canonical entry: make build/run/exec/stop)
 ├── .base/                    # Shared scripts, tests, CI (git subtree; version pinned in .base/.version)
 ├── script/
+│   ├── build.sh -> ../.base/script/docker/build.sh    # Wrapper symlinks
+│   ├── run.sh -> ../.base/script/docker/run.sh
+│   ├── exec.sh -> ../.base/script/docker/exec.sh
+│   ├── stop.sh -> ../.base/script/docker/stop.sh
+│   ├── setup.sh -> ../.base/script/docker/setup.sh
+│   ├── setup_tui.sh -> ../.base/script/docker/setup_tui.sh
+│   ├── prune.sh -> ../.base/script/docker/prune.sh
 │   ├── entrypoint.sh            # Sources ROS 1 + ROS 2, loads bridge config
 │   ├── ros_entrypoint.sh        # ROS env only (osrf-compatible)
 │   ├── ros1_server.sh           # Demo A publisher (bootstraps roscore + bridge)
diff --git a/doc/README.ja.md b/doc/README.ja.md
index f903ee7..2a0b66d 100644
--- a/doc/README.ja.md
+++ b/doc/README.ja.md
@@ -28,7 +28,7 @@ ROS 1/2 ブリッジコンテナ、**Humble + Jazzy のデュアルターゲッ
 
 ```bash
 ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml   # ブリッジ設定を選択（gitignored、clone 単位）。スキップしても demo にフォールバック。
-./build.sh && ./run.sh                       # デフォルト ROS2_DISTRO=humble（setup.conf [build] arg_4 で設定）
+make build && make run                       # デフォルト ROS2_DISTRO=humble（setup.conf [build] arg_4 で設定）
 ```
 
 `ln -sf` ステップをスキップしても問題ありません — Dockerfile が
@@ -67,13 +67,13 @@ Fast-DDS のメジャーバージョン差 + REP-2011 type-hash 不一致によ
 ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml
 
 # 1. ビルド
-./build.sh
+make build
 
 # 2. 実行（ROS master が起動済みであること）
-./run.sh
+make run
 
 # 3. 起動中のコンテナに接続
-./exec.sh
+make exec
 ```
 
 ## ROS 2 distro の切り替え
@@ -82,17 +82,17 @@ ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml
 CLI 経由で `setup.conf [build] arg_4` を更新します：
 
 ```bash
-./setup.sh set build.arg_4 ROS2_DISTRO=jazzy
-./build.sh && ./run.sh
+make setup -- set build.arg_4 ROS2_DISTRO=jazzy
+make build && make run
 ```
 
 `set` は値を `setup.conf [build] arg_4` に書き込みます（section / key が
-無ければ作成）。`./build.sh` は `.env` 内の `setup.conf` hash で変更を
+無ければ作成）。`make build` は `.env` 内の `setup.conf` hash で変更を
 検知し、`.env` + `compose.yaml` を自動再生成して rebuild します。image
 tag（`yunchien/ros1_bridge:devel` 等）は distro を跨いで変わらず、
 切り替えはその場で rebuild されます。
 
-対話的に編集する場合は `./setup_tui.sh`（dialog / whiptail フロントエンド）
+対話的に編集する場合は `make setup-tui`（dialog / whiptail フロントエンド）
 を実行し、TUI で `[build] arg_4` を変更します。
 
 CI は `.github/workflows/main.yaml` の matrix で両 distro を並列 build します。
@@ -104,9 +104,9 @@ setup.conf の変更はローカル build のみに影響し、`ghcr.io/ycpss912
 ### ビルド
 
 ```bash
-./build.sh                       # devel をビルド（デフォルト）
-./build.sh -t test               # smoke test 付きビルド
-./build.sh -t runtime            # 軽量な runtime image をビルド
+make build                       # devel をビルド（デフォルト）
+make build test                  # smoke test 付きビルド
+make build -- -t runtime         # 軽量な runtime image をビルド
 ```
 
 ### 実行
@@ -114,14 +114,14 @@ setup.conf の変更はローカル build のみに影響し、`ghcr.io/ycpss912
 stage target に応じて 2 モード：
 
 ```bash
-./run.sh                         # devel：対話 bash シェル、bridge は自動起動しない
-./run.sh -d                      # devel をバックグラウンド起動、./exec.sh で接続
+make run                         # devel：対話 bash シェル、bridge は自動起動しない
+make run -- -d                   # devel をバックグラウンド起動、make exec で接続
 ```
 
 `runtime`（Dockerfile `CMD` 経由で bridge 自動起動）：
 
 ```bash
-./run.sh -t runtime              # runtime service を起動。entrypoint が両 ROS を
+make run -- -t runtime           # runtime service を起動。entrypoint が両 ROS を
                                  # source、rosparam load /bridge.yaml、その後
                                  # `ros2 run ros1_bridge parameter_bridge` を exec
                                  # します。前提：host network 上に roscore が
@@ -131,8 +131,8 @@ stage target に応じて 2 モード：
 ### 起動中のコンテナに接続
 
 ```bash
-./exec.sh
-./exec.sh bash
+make exec
+make exec bash
 ```
 
 ## ブリッジ設定
@@ -202,19 +202,19 @@ terminal は subscribe するだけです。
 
 | Demo | Terminal 1 (server) | Terminal 2 (client) |
 |------|---------------------|---------------------|
-| A — ROS 1 → ROS 2 | `./exec.sh /root/demo/ros1_server.sh` | `./exec.sh /root/demo/ros2_client.sh` |
-| B — ROS 2 → ROS 1 | `./exec.sh /root/demo/ros2_server.sh` | `./exec.sh /root/demo/ros1_client.sh` |
+| A — ROS 1 → ROS 2 | `make exec -- /root/demo/ros1_server.sh` | `make exec -- /root/demo/ros2_client.sh` |
+| B — ROS 2 → ROS 1 | `make exec -- /root/demo/ros2_server.sh` | `make exec -- /root/demo/ros1_client.sh` |
 
-実際の手順（コンテナを `./run.sh -d` で起動済みとして）：
+実際の手順（コンテナを `make run -- -d` で起動済みとして）：
 
 ```bash
 # Terminal 1 (server) — どちらかを選択
-./exec.sh /root/demo/ros1_server.sh    # Demo A
-./exec.sh /root/demo/ros2_server.sh    # Demo B
+make exec -- /root/demo/ros1_server.sh    # Demo A
+make exec -- /root/demo/ros2_server.sh    # Demo B
 
 # Terminal 2 (client) — 対応するもう一方
-./exec.sh /root/demo/ros2_client.sh    # Demo A
-./exec.sh /root/demo/ros1_client.sh    # Demo B
+make exec -- /root/demo/ros2_client.sh    # Demo A
+make exec -- /root/demo/ros1_client.sh    # Demo B
 ```
 
 Server スクリプトは各ステップを明示的にログ出力します
@@ -223,7 +223,7 @@ Server スクリプトは各ステップを明示的にログ出力します
 `MESSAGE` 環境変数で上書き可能です：
 
 ```bash
-./exec.sh env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
+make exec -- env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
 ```
 
 Server terminal で `Ctrl+C` を押すと `parameter_bridge` と `roscore`
@@ -263,13 +263,16 @@ ros1_bridge/
 ├── compose.yaml                 # Docker Compose 定義
 ├── Dockerfile                   # マルチステージビルド（devel + runtime + test）；source-builds Noetic + ros1_bridge
 ├── setup.conf                   # Repo override；[build] arg_4=ROS2_DISTRO で humble|jazzy を選択
-├── build.sh -> .base/script/docker/build.sh    # Symlink
-├── run.sh -> .base/script/docker/run.sh        # Symlink
-├── exec.sh -> .base/script/docker/exec.sh      # Symlink
-├── stop.sh -> .base/script/docker/stop.sh      # Symlink
-├── Makefile -> .base/script/docker/Makefile    # Symlink
+├── Makefile -> .base/script/docker/Makefile     # Symlink
 ├── .base/                    # 共有スクリプト、テスト、CI（git subtree；バージョンは .base/.version）
 ├── script/
+│   ├── build.sh -> ../.base/script/docker/build.sh    # Wrapper symlinks
+│   ├── run.sh -> ../.base/script/docker/run.sh
+│   ├── exec.sh -> ../.base/script/docker/exec.sh
+│   ├── stop.sh -> ../.base/script/docker/stop.sh
+│   ├── setup.sh -> ../.base/script/docker/setup.sh
+│   ├── setup_tui.sh -> ../.base/script/docker/setup_tui.sh
+│   ├── prune.sh -> ../.base/script/docker/prune.sh
 │   ├── entrypoint.sh            # ROS 1 + ROS 2 を source、bridge 設定を読み込み
 │   ├── ros_entrypoint.sh        # ROS 環境のみ source（osrf 互換）
 │   ├── ros1_server.sh           # Demo A publisher（roscore + bridge を自起動）
diff --git a/doc/README.zh-CN.md b/doc/README.zh-CN.md
index 1de16ff..d7c1828 100644
--- a/doc/README.zh-CN.md
+++ b/doc/README.zh-CN.md
@@ -28,7 +28,7 @@ ROS 1/2 bridge 容器，**Humble + Jazzy 双 target** — `ros:${ROS2_DISTRO}-ro
 
 ```bash
 ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml   # 挑一份 bridge 配置（gitignored、每个 clone 各自选）。略过则走 demo fallback。
-./build.sh && ./run.sh                       # 默认 ROS2_DISTRO=humble（在 setup.conf [build] arg_4 设置）
+make build && make run                       # 默认 ROS2_DISTRO=humble（在 setup.conf [build] arg_4 设置）
 ```
 
 略过 `ln -sf` 也没问题 — Dockerfile 会自动 fallback 到
@@ -64,13 +64,13 @@ multi-arch（amd64 + arm64 含 Jetson）。完整 migration rationale 见
 ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml
 
 # 1. 构建
-./build.sh
+make build
 
 # 2. 执行（需要 ROS master 已启动）
-./run.sh
+make run
 
 # 3. 进入已启动的容器
-./exec.sh
+make exec
 ```
 
 ## 切换 ROS 2 distro
@@ -79,16 +79,16 @@ ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml
 更新 `setup.conf [build] arg_4`：
 
 ```bash
-./setup.sh set build.arg_4 ROS2_DISTRO=jazzy
-./build.sh && ./run.sh
+make setup -- set build.arg_4 ROS2_DISTRO=jazzy
+make build && make run
 ```
 
 `set` 把值写进 `setup.conf [build] arg_4`（section / key 不存在会创建）。
-`./build.sh` 接着通过 `.env` 里的 `setup.conf` hash 检测到变动，自动
+`make build` 接着通过 `.env` 里的 `setup.conf` hash 检测到变动，自动
 重生 `.env` + `compose.yaml` 并 rebuild。image tag（`yunchien/ros1_bridge:devel`
 等）跨 distro 不变，切换 = 原地 rebuild。
 
-要交互式编辑，跑 `./setup_tui.sh`（dialog / whiptail 前端），在 TUI 里
+要交互式编辑，跑 `make setup-tui`（dialog / whiptail 前端），在 TUI 里
 改 `[build] arg_4`。
 
 CI 通过 `.github/workflows/main.yaml` 的 matrix 同时 build 两个 distro，所以
@@ -100,9 +100,9 @@ setup.conf 改动只影响本地 build；发布到 `ghcr.io/ycpss91255-docker/ro
 ### 构建
 
 ```bash
-./build.sh                       # 构建 devel（默认）
-./build.sh -t test               # 构建含 smoke test
-./build.sh -t runtime            # 构建精简的 runtime image
+make build                       # 构建 devel（默认）
+make build test                  # 构建含 smoke test
+make build -- -t runtime         # 构建精简的 runtime image
 ```
 
 ### 执行
@@ -110,14 +110,14 @@ setup.conf 改动只影响本地 build；发布到 `ghcr.io/ycpss91255-docker/ro
 按 stage target 分两种模式：
 
 ```bash
-./run.sh                         # devel：交互 bash shell，不会自动运行 bridge
-./run.sh -d                      # devel 后台运行，之后用 ./exec.sh 进入
+make run                         # devel：交互 bash shell，不会自动运行 bridge
+make run -- -d                   # devel 后台运行，之后用 make exec 进入
 ```
 
 `runtime`（通过 Dockerfile `CMD` 自动启动 bridge）：
 
 ```bash
-./run.sh -t runtime              # 启动 runtime service。entrypoint 会 source 两个
+make run -- -t runtime           # 启动 runtime service。entrypoint 会 source 两个
                                  # ROS、rosparam load /bridge.yaml，然后 exec
                                  # `ros2 run ros1_bridge parameter_bridge`。
                                  # 前提：host network 上已启动 roscore。
@@ -126,8 +126,8 @@ setup.conf 改动只影响本地 build；发布到 `ghcr.io/ycpss91255-docker/ro
 ### 进入已启动的容器
 
 ```bash
-./exec.sh
-./exec.sh bash
+make exec
+make exec bash
 ```
 
 ## Bridge 设置
@@ -192,19 +192,19 @@ services_2_to_1:
 
 | Demo | Terminal 1 (server) | Terminal 2 (client) |
 |------|---------------------|---------------------|
-| A — ROS 1 → ROS 2 | `./exec.sh /root/demo/ros1_server.sh` | `./exec.sh /root/demo/ros2_client.sh` |
-| B — ROS 2 → ROS 1 | `./exec.sh /root/demo/ros2_server.sh` | `./exec.sh /root/demo/ros1_client.sh` |
+| A — ROS 1 → ROS 2 | `make exec -- /root/demo/ros1_server.sh` | `make exec -- /root/demo/ros2_client.sh` |
+| B — ROS 2 → ROS 1 | `make exec -- /root/demo/ros2_server.sh` | `make exec -- /root/demo/ros1_client.sh` |
 
-实际操作（假设容器已用 `./run.sh -d` 起好）：
+实际操作（假设容器已用 `make run -- -d` 起好）：
 
 ```bash
 # Terminal 1 (server) — 二选一
-./exec.sh /root/demo/ros1_server.sh    # Demo A
-./exec.sh /root/demo/ros2_server.sh    # Demo B
+make exec -- /root/demo/ros1_server.sh    # Demo A
+make exec -- /root/demo/ros2_server.sh    # Demo B
 
 # Terminal 2 (client) — 对应的另一半
-./exec.sh /root/demo/ros2_client.sh    # Demo A
-./exec.sh /root/demo/ros1_client.sh    # Demo B
+make exec -- /root/demo/ros2_client.sh    # Demo A
+make exec -- /root/demo/ros1_client.sh    # Demo B
 ```
 
 Server 脚本每一步都打印进度（`[ros1_server] step N/5: ...`），所以
@@ -212,7 +212,7 @@ Server 脚本每一步都打印进度（`[ros1_server] step N/5: ...`），所
 `MESSAGE` 环境变量：
 
 ```bash
-./exec.sh env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
+make exec -- env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
 ```
 
 Server terminal 按 `Ctrl+C` 会收掉 `parameter_bridge` 跟 `roscore`，
@@ -252,13 +252,16 @@ ros1_bridge/
 ├── compose.yaml                 # Docker Compose 定义
 ├── Dockerfile                   # 多阶段构建（devel + runtime + test）；source-builds Noetic + ros1_bridge
 ├── setup.conf                   # Repo override；[build] arg_4=ROS2_DISTRO 选 humble|jazzy
-├── build.sh -> .base/script/docker/build.sh    # Symlink
-├── run.sh -> .base/script/docker/run.sh        # Symlink
-├── exec.sh -> .base/script/docker/exec.sh      # Symlink
-├── stop.sh -> .base/script/docker/stop.sh      # Symlink
-├── Makefile -> .base/script/docker/Makefile    # Symlink
+├── Makefile -> .base/script/docker/Makefile     # Symlink
 ├── .base/                    # 共用脚本、测试、CI（git subtree；版本记录在 .base/.version）
 ├── script/
+│   ├── build.sh -> ../.base/script/docker/build.sh    # Wrapper symlinks
+│   ├── run.sh -> ../.base/script/docker/run.sh
+│   ├── exec.sh -> ../.base/script/docker/exec.sh
+│   ├── stop.sh -> ../.base/script/docker/stop.sh
+│   ├── setup.sh -> ../.base/script/docker/setup.sh
+│   ├── setup_tui.sh -> ../.base/script/docker/setup_tui.sh
+│   ├── prune.sh -> ../.base/script/docker/prune.sh
 │   ├── entrypoint.sh            # Source ROS 1 + ROS 2，载入 bridge 设置
 │   ├── ros_entrypoint.sh        # 仅 source ROS 环境（兼容 osrf）
 │   ├── ros1_server.sh           # Demo A publisher（自起 roscore + bridge）
diff --git a/doc/README.zh-TW.md b/doc/README.zh-TW.md
index f3f3b51..cbdd56c 100644
--- a/doc/README.zh-TW.md
+++ b/doc/README.zh-TW.md
@@ -28,7 +28,7 @@ ROS 1/2 bridge 容器，**Humble + Jazzy 雙 target** — `ros:${ROS2_DISTRO}-ro
 
 ```bash
 ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml   # 挑一份 bridge 設定（gitignored、每個 clone 各自選）。略過則走 demo fallback。
-./build.sh && ./run.sh                       # 預設 ROS2_DISTRO=humble（在 setup.conf [build] arg_4 設定）
+make build && make run                       # 預設 ROS2_DISTRO=humble（在 setup.conf [build] arg_4 設定）
 ```
 
 略過 `ln -sf` 也沒關係 — Dockerfile 會自動 fallback 到
@@ -64,13 +64,13 @@ multi-arch（amd64 + arm64 含 Jetson）。完整 migration rationale 見
 ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml
 
 # 1. 建置
-./build.sh
+make build
 
 # 2. 執行（需要 ROS master 已啟動）
-./run.sh
+make run
 
 # 3. 進入已啟動的容器
-./exec.sh
+make exec
 ```
 
 ## 切換 ROS 2 distro
@@ -79,16 +79,16 @@ ln -sf config/ros1_bridge/demo_bridge.yaml bridge.yaml
 更新 `setup.conf [build] arg_4`：
 
 ```bash
-./setup.sh set build.arg_4 ROS2_DISTRO=jazzy
-./build.sh && ./run.sh
+make setup -- set build.arg_4 ROS2_DISTRO=jazzy
+make build && make run
 ```
 
 `set` 把值寫進 `setup.conf [build] arg_4`（section / key 不存在會建好）。
-`./build.sh` 接著透過 `.env` 裡的 `setup.conf` hash 偵測到變動，自動
+`make build` 接著透過 `.env` 裡的 `setup.conf` hash 偵測到變動，自動
 重生 `.env` + `compose.yaml` 並 rebuild。image tag（`yunchien/ros1_bridge:devel`
 等）跨 distro 不變，切換 = 原地 rebuild。
 
-要互動式編輯，跑 `./setup_tui.sh`（dialog / whiptail 前端），在 TUI 裡
+要互動式編輯，跑 `make setup-tui`（dialog / whiptail 前端），在 TUI 裡
 改 `[build] arg_4`。
 
 CI 透過 `.github/workflows/main.yaml` 的 matrix 同時 build 兩個 distro，所以
@@ -100,9 +100,9 @@ setup.conf 改動只影響本地 build；發布到 `ghcr.io/ycpss91255-docker/ro
 ### 建置
 
 ```bash
-./build.sh                       # 建置 devel（預設）
-./build.sh -t test               # 建置含 smoke test
-./build.sh -t runtime            # 建置精簡的 runtime image
+make build                       # 建置 devel（預設）
+make build test                  # 建置含 smoke test
+make build -- -t runtime         # 建置精簡的 runtime image
 ```
 
 ### 執行
@@ -110,14 +110,14 @@ setup.conf 改動只影響本地 build；發布到 `ghcr.io/ycpss91255-docker/ro
 依 stage target 分兩種模式：
 
 ```bash
-./run.sh                         # devel：互動 bash shell，不會自動跑 bridge
-./run.sh -d                      # devel 背景執行，之後用 ./exec.sh 進入
+make run                         # devel：互動 bash shell，不會自動跑 bridge
+make run -- -d                   # devel 背景執行，之後用 make exec 進入
 ```
 
 `runtime`（透過 Dockerfile `CMD` 自動啟動 bridge）：
 
 ```bash
-./run.sh -t runtime              # 啟動 runtime service。entrypoint 會 source 兩個
+make run -- -t runtime           # 啟動 runtime service。entrypoint 會 source 兩個
                                  # ROS、rosparam load /bridge.yaml，然後 exec
                                  # `ros2 run ros1_bridge parameter_bridge`。
                                  # 前提：host network 上已啟動 roscore。
@@ -126,8 +126,8 @@ setup.conf 改動只影響本地 build；發布到 `ghcr.io/ycpss91255-docker/ro
 ### 進入已啟動的容器
 
 ```bash
-./exec.sh
-./exec.sh bash
+make exec
+make exec bash
 ```
 
 ## Bridge 設定
@@ -192,19 +192,19 @@ services_2_to_1:
 
 | Demo | Terminal 1 (server) | Terminal 2 (client) |
 |------|---------------------|---------------------|
-| A — ROS 1 → ROS 2 | `./exec.sh /root/demo/ros1_server.sh` | `./exec.sh /root/demo/ros2_client.sh` |
-| B — ROS 2 → ROS 1 | `./exec.sh /root/demo/ros2_server.sh` | `./exec.sh /root/demo/ros1_client.sh` |
+| A — ROS 1 → ROS 2 | `make exec -- /root/demo/ros1_server.sh` | `make exec -- /root/demo/ros2_client.sh` |
+| B — ROS 2 → ROS 1 | `make exec -- /root/demo/ros2_server.sh` | `make exec -- /root/demo/ros1_client.sh` |
 
-實際操作（假設容器已用 `./run.sh -d` 起好）：
+實際操作（假設容器已用 `make run -- -d` 起好）：
 
 ```bash
 # Terminal 1 (server) — 二選一
-./exec.sh /root/demo/ros1_server.sh    # Demo A
-./exec.sh /root/demo/ros2_server.sh    # Demo B
+make exec -- /root/demo/ros1_server.sh    # Demo A
+make exec -- /root/demo/ros2_server.sh    # Demo B
 
 # Terminal 2 (client) — 對應的另一半
-./exec.sh /root/demo/ros2_client.sh    # Demo A
-./exec.sh /root/demo/ros1_client.sh    # Demo B
+make exec -- /root/demo/ros2_client.sh    # Demo A
+make exec -- /root/demo/ros1_client.sh    # Demo B
 ```
 
 Server 腳本每一步都印出進度（`[ros1_server] step N/5: ...`），所以
@@ -212,7 +212,7 @@ Server 腳本每一步都印出進度（`[ros1_server] step N/5: ...`），所
 `MESSAGE` 環境變數：
 
 ```bash
-./exec.sh env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
+make exec -- env MESSAGE="hi from ROS 1" /root/demo/ros1_server.sh
 ```
 
 Server terminal 按 `Ctrl+C` 會收掉 `parameter_bridge` 跟 `roscore`，
@@ -252,13 +252,16 @@ ros1_bridge/
 ├── compose.yaml                 # Docker Compose 定義
 ├── Dockerfile                   # 多階段建置（devel + runtime + test）；source-builds Noetic + ros1_bridge
 ├── setup.conf                   # Repo override；[build] arg_4=ROS2_DISTRO 選 humble|jazzy
-├── build.sh -> .base/script/docker/build.sh    # Symlink
-├── run.sh -> .base/script/docker/run.sh        # Symlink
-├── exec.sh -> .base/script/docker/exec.sh      # Symlink
-├── stop.sh -> .base/script/docker/stop.sh      # Symlink
-├── Makefile -> .base/script/docker/Makefile    # Symlink
+├── Makefile -> .base/script/docker/Makefile     # Symlink（統一入口：make build/run/exec/stop）
 ├── .base/                    # 共用腳本、測試、CI（git subtree；版本紀錄在 .base/.version）
 ├── script/
+│   ├── build.sh -> ../.base/script/docker/build.sh    # Wrapper symlinks
+│   ├── run.sh -> ../.base/script/docker/run.sh
+│   ├── exec.sh -> ../.base/script/docker/exec.sh
+│   ├── stop.sh -> ../.base/script/docker/stop.sh
+│   ├── setup.sh -> ../.base/script/docker/setup.sh
+│   ├── setup_tui.sh -> ../.base/script/docker/setup_tui.sh
+│   ├── prune.sh -> ../.base/script/docker/prune.sh
 │   ├── entrypoint.sh            # Source ROS 1 + ROS 2，載入 bridge 設定
 │   ├── ros_entrypoint.sh        # 僅 source ROS 環境（相容 osrf）
 │   ├── ros1_server.sh           # Demo A publisher（自起 roscore + bridge）