diff --git a/.github/workflows/run-test.yaml b/.github/workflows/run-test.yaml
index 73bfcd55..099501ea 100644
--- a/.github/workflows/run-test.yaml
+++ b/.github/workflows/run-test.yaml
@@ -13,14 +13,6 @@ jobs:
   run_unittest:
     runs-on: ubuntu-20.04
     steps:
-    - name: Maximize build space
-      run:  |
-            sudo rm -rf /usr/local/lib/android # will release about 10 GB if you don't need Android
-            sudo rm -rf /usr/share/dotnet # will release about 20GB if you don't need .NET
-            sudo rm -rf /opt/ghc
-            echo "Available storage:"
-            df -h
-
     - uses: actions/checkout@v4
 
     - name: Install vcs
@@ -29,9 +21,9 @@ jobs:
     - name: Prepare thirdparty repos
       run: ./setup-dependency.sh
 
-    - name: Build images
+    - name: Pull images and build workspace
       shell: bash
-      run: ./build-docker.sh -p -i -w
+      run: ./manage-docker-image.sh -a pull -i "ros2 localization" -o cmucal -t ros2-dev-latest
 
     - name: Run unittest
       shell: bash
diff --git a/manage-docker-image.sh b/manage-docker-image.sh
new file mode 100755
index 00000000..24cbab2f
--- /dev/null
+++ b/manage-docker-image.sh
@@ -0,0 +1,246 @@
+#!/bin/bash
+
+# Copyright (c) 2022  Carnegie Mellon University, IBM Corporation, and others
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+
+function join_by {
+  local d=${1-} f=${2-}
+  if shift 2; then
+    printf %s "$f" "${@/#/$d}"
+  fi
+}
+
+function red {
+    echo -en "\033[31m"  ## red
+    echo $1
+    echo -en "\033[0m"  ## reset color
+}
+function blue {
+    echo -en "\033[36m"  ## blue
+    echo $1
+    echo -en "\033[0m"  ## reset color
+}
+function help {
+    echo "Usage: $0 <option>"
+    echo "Example usage"
+    echo "$0 -t latest -i all -a tag -o <registory>        # to tag all built images for a registory"
+    echo "$0 -t latest -i all -a push -o <registory>       # to push all tagged images to the registory"
+    echo ""
+    echo "-h                 show this help"
+    echo "-a <action>        $(join_by '|' $all_actions)"
+    echo "   tag : docker tag  <prefix>_<image>         <registry>/cabot_<image>:<tag>"
+    echo "   pull: docker pull <registry>/cabot_<image>:<tag>"
+    echo "         docker tag  <registry>/cabot_<image>:<tag> <prefix>_<image>"
+    echo "   push: docker push <registry>/cabot_<image>:<tag>"
+    echo "   rmi : docker rmi  <prefix>_<image> <registry>/cabot_<image>:<tag>"
+    echo "   list: list available tags for <registry>/cabot_<image>"
+    echo "   del : TBD delete <registory>/cabot_<image>:<tag>"
+    echo "   tz  : overwrite image timezone with the host timezone if needed"
+    echo "   uid : overwrite image user uid (with your uid)"
+    echo ""
+    echo "-i \"<image names>\" $(join_by '|' $all_images)"
+    echo "-o <registry>      dockerhub organization or private server"
+    echo "-t <tag name>      tagname (default=latest)"
+    echo "-n                 do not overwrite timezone when pulling image"
+    echo "-z <time zone>     specify time zone (default=$(cat /etc/timezone) - /etc/timezone)"
+}
+
+pwd=`pwd`
+scriptdir=`dirname $0`
+cd $scriptdir
+scriptdir=`pwd`
+
+all_actions="tag pull push list rmi del tz uid"
+all_images="ros2 localization"
+
+option="--progress=tty"
+debug=0
+pwd=`pwd`
+prefix_option=
+prefix=`basename $pwd`
+tagname=latest
+images=
+actions=
+org=
+no_tz_overwrite=0
+local_tz=$(cat /etc/timezone)
+
+while getopts "ht:i:a:o:r:nz:" arg; do
+    case $arg in
+        h)
+            help
+            exit
+            ;;
+        t)
+            tagname=$OPTARG
+            ;;
+        i)
+            images=$OPTARG
+            ;;
+        a)
+            actions=$OPTARG
+            ;;
+        o)
+            org=$OPTARG
+            ;;
+        n)
+            no_tz_overwrite=1
+            ;;
+        z)
+            local_tz=$OPTARG
+            ;;
+    esac
+done
+shift $((OPTIND-1))
+
+error=0
+pat=$(join_by "|" $all_actions)
+if [ -z $actions ] || [[ ! $actions =~ ^($pat)$ ]]; then
+    red "need to specify action $pat"
+    error=1
+fi
+
+pat="all|"$(join_by "|" $all_images)
+if [ -z "$images" ] || [[ ! "$images" =~ ^($pat)( ($pat))*$ ]]; then
+    red "need to specify image, $pat"
+    error=1
+fi
+
+if [ -z $tagname ]; then
+    red "need to specify a tag on repository"
+    error=1
+fi
+
+if [ -z $org ]; then
+    red "need to specify dockerhub organization or private repo server address"
+    error=1
+fi
+
+if [ $error -eq 1 ]; then
+    exit
+fi
+
+if [ "$images" == "all" ]; then
+    images=$all_images
+fi
+
+
+if [ $actions = "pull" ]; then
+    if [ $no_tz_overwrite -eq 0 ]; then
+        actions="$actions tz uid copy-tag"
+    else
+        actions="$actions uid copy-tag"
+    fi
+fi
+
+for image in $images; do
+    blue "$image image"
+    for action in $actions; do
+        blue "executing $action"
+
+        if [ $action == "tag" ]; then
+            com="docker ${action} ${prefix}-${image}:latest ${org}/cabot_${image}:${tagname}"
+            echo $com
+            eval $com
+            if [[ $? -ne 0 ]]; then exit 1; fi
+        fi
+
+        if [ $action == "push" ]; then
+            com="docker ${action} ${org}/cabot_${image}:${tagname}"
+            echo $com
+            eval $com
+            if [[ $? -ne 0 ]]; then exit 2; fi
+        fi
+
+        if [ $action == "pull" ]; then
+            com="docker ${action} ${org}/cabot_${image}:${tagname}"
+            echo $com
+            eval $com
+            if [[ $? -ne 0 ]]; then exit 3; fi
+            com="docker tag ${org}/cabot_${image}:${tagname} ${prefix}-${image}"
+            echo $com
+            eval $com
+            if [[ $? -ne 0 ]]; then exit 4; fi
+        fi
+
+        if [ $action == "list" ]; then
+            repo="${org}/cabot_${image}"
+            blue "--Available-Images---------------"
+            curl -L -s "https://registry.hub.docker.com/v2/repositories/${repo}/tags?page_size=100" | \
+                jq -r "[\"Last Modified Time      \",\"Image Name:Tag\"], [\"---------------------------\",\"---------------------------------\"], \
+            (.[\"results\"][] |	     [.last_updated, @text \"${repo}:\(.name)\"]) | @tsv"
+            echo ""
+            blue "--Rate-Limit---------------------"
+            TOKEN=$(curl -s "https://auth.docker.io/token?service=registry.docker.io&scope=repository:${repo}:pull" | jq -r .token)
+            curl -s --head -H "Authorization: Bearer $TOKEN" https://registry-1.docker.io/v2/${repo}/manifests/latest | grep -E "^ratelimit" | sed "s/;.*//"
+            SEC=$(curl -s --head -H "Authorization: Bearer $TOKEN" https://registry-1.docker.io/v2/${repo}/manifests/latest | grep -E "^ratelimit-limit" | sed "s/.*;w=//" | sed "s/\r//" )
+            echo "in" $(echo "$SEC/3600" | bc) "hours"
+        fi
+
+        if [ $action == "rmi" ]; then
+            com="docker ${action} ${org}/cabot_${image}:${tagname}"
+            echo $com
+            eval $com
+            if [[ $? -ne 0 ]]; then exit 5; fi
+            com="docker ${action} ${prefix}-${image}"
+            echo $com
+            eval $com
+            if [[ $? -ne 0 ]]; then exit 6; fi
+        fi
+
+        if [ $action == "tz" ]; then
+            image_tz=$(docker run --rm ${prefix}-${image} cat /etc/timezone)
+            blue "Image TZ:'$image_tz'    Local TZ:'$local_tz'   - ${prefix}-${image}"
+            if [ "$local_tz" != "$image_tz" ]; then
+                blue "Overwrite timezone of $image from $image_tz to $local_tz"
+                docker build --build-arg TZ_OVERWRITE=$local_tz --build-arg FROM_IMAGE=${prefix}-${image} $scriptdir/docker/timezone -t ${prefix}-${image}
+            fi
+        fi
+
+        if [ $action == "uid" ]; then
+            image_uid=$(docker run --rm ${prefix}-${image} id -u)
+            uid=$(id -u)
+            if [ $image_uid -ne 0 ] && [ "$uid" != "$image_uid" ]; then
+                blue "Overwrite uid of $image from $image_uid to $uid"
+                docker build --build-arg UID=$uid --build-arg FROM_IMAGE=${prefix}-${image} $scriptdir/docker/uid -t ${prefix}-${image}
+            fi
+        fi
+
+        if [ $action == "copy-tag" ]; then
+            if [ $image == "ros2" ]; then
+                for target in "bag" "gazebo" "gui" "navigation" "diagnostic"; do
+                    com="docker tag ${prefix}-ros2:latest ${prefix}-${target}:latest"
+                    echo $com
+                    eval $com
+                    if [[ $? -ne 0 ]]; then exit 7; fi
+                done
+            fi
+            if [ $image == "localization" ]; then
+                for target in "mapping" "post-process" "rtk-gnss"; do
+                    com="docker tag ${prefix}-localization:latest ${prefix}-${target}:latest"
+                    echo $com
+                    eval $com
+                    if [[ $? -ne 0 ]]; then exit 8; fi
+                done
+            fi
+        fi
+    done
+done