diff --git a/.github/workflows/update-ghcr.yml b/.github/workflows/update-ghcr.yml
index 134d950a..36ce8170 100644
--- a/.github/workflows/update-ghcr.yml
+++ b/.github/workflows/update-ghcr.yml
@@ -32,7 +32,7 @@ jobs:
       
     - name: Build the Docker image
       env:
-        CONFIG: base
+        BUILD_CONFIG: ghcr
       run: util/build
 
     - name: Log out from GitHub Container Registry
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 895aebdb..ee9fc211 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -5,7 +5,7 @@
 ARG BUILD_TAG
 ARG ROSDISTRO
 
-FROM ghcr.io/kth-sml/svea:${BUILD_TAG:-latest}
+FROM ${BUILD_TAG:-ghcr.io/kth-sml/svea:latest}
 
 ARG ROSDISTRO
 ARG DEBIAN_FRONTEND=noninteractive
diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index 4fdfecef..d06582e5 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -10,7 +10,7 @@ ARG WORKSPACE
 ## SVEA BASE IMAGE ##
 #####################
 
-FROM ros:${BUILD_TAG:-latest}
+FROM ${BUILD_TAG:-ros:latest}
 
 ARG ROSDISTRO
 ARG WORKSPACE
diff --git a/util/build b/util/build
index c20b0185..29b22b5d 100755
--- a/util/build
+++ b/util/build
@@ -13,20 +13,28 @@
 
 . "$(dirname "$0")/config.sh"
 
-# Set default arguments, create and set list content
-append DEFAULT_ARGS "$(ifelse IMAGE_PUSH --push --load)"
-append DEFAULT_ARGS --tag "$IMAGE_TAG" --file "$BUILD_FILE" "$BUILD_CONTEXT"
+CMD="docker buildx build"
+ARGS=""
 
-if [ -z "$*" ]; then
-    set -- $DEFAULT_ARGS
-fi
-
-istrue DEBUG && fn="echo" || fn="exec"
-
-"$fn" docker buildx build \
-    --network host \
+append ARGS \
+    --network "host" \
     --platform "$BUILD_PLATFORM" \
     --build-arg "BUILD_TAG=$BUILD_TAG" \
     --build-arg "ROSDISTRO=$ROSDISTRO" \
-    --build-arg "WORKSPACE=$WORKSPACE" \
-    "$@"
+    --build-arg "WORKSPACE=$WORKSPACE"
+        
+
+# Special case for TX2s that have old version of docker
+if [ "$(jetson_release)" = "R32" ]; then
+    CMD="docker build"
+else
+    append ARGS "$(ifelse IMAGE_PUSH --push --load)"
+fi
+
+# These args are replaced if util/build is called with arguments
+if [ -z "$*" ]
+then append ARGS --tag "$IMAGE_TAG" --file "$BUILD_FILE" "$BUILD_CONTEXT"
+else append ARGS "$@"
+fi
+
+call $CMD $ARGS
diff --git a/util/config.sh b/util/config.sh
index 9a88ed58..c9f5c231 100644
--- a/util/config.sh
+++ b/util/config.sh
@@ -11,64 +11,91 @@
 
 main() {
 
-    CONFIG="${CONFIG:-"deafult"}"
-    DEFAULT_ROSDISTRO="noetic"
-    DEFAULT_WORKSPACE="/svea_ws"
-    DEFAULT_BUILD_PLATFORM="linux/amd64"
-    DEFAULT_BUILD_FILE="docker/Dockerfile"
-    DEFAULT_BUILD_TAG="latest"
-    DEFAULT_IMAGE_PUSH="0"
-
-    if [ "$CONFIG" = "base" ]; then
-        DEFAULT_BUILD_PLATFORM="linux/amd64,linux/arm64/v8"
-        DEFAULT_BUILD_FILE="docker/Dockerfile.base"
-        DEFAULT_BUILD_TAG="$DEFAULT_ROSDISTRO"
-	IMAGE_PUSH="1"
-        IMAGE_TAG="ghcr.io/kth-sml/svea"
-    elif [ "$CONFIG" = "base-amd64" ]; then
-        DEFAULT_BUILD_PLATFORM="linux/amd64"
-        DEFAULT_BUILD_FILE="docker/Dockerfile.base"
-        DEFAULT_BUILD_TAG="$DEFAULT_ROSDISTRO"
-        IMAGE_TAG="ghcr.io/kth-sml/svea"
-    elif [ "$CONFIG" = "base-arm64" ]; then
-        DEFAULT_BUILD_PLATFORM="linux/arm64/v8"
-        DEFAULT_BUILD_FILE="docker/Dockerfile.base"
-        DEFAULT_BUILD_TAG="$DEFAULT_ROSDISTRO"
-        IMAGE_TAG="ghcr.io/kth-sml/svea"
+    withdefault DEBUG "0"
+
+    withdefault ROSDISTRO       "noetic"
+    withdefault WORKSPACE       "/svea_ws"
+    withdefault REPOSITORY_PATH "$(climb entrypoint)"
+    withdefault REPOSITORY_NAME "$(basename "$REPOSITORY_PATH")"
+
+    withdefault BUILD_CONFIG    "default"
+    if [ "$BUILD_CONFIG" = "default" ]; then
+        # building for host platform
+        withdefault BUILD_PLATFORM  "$(uname -m)"
+        withdefault BUILD_CONTEXT   "$REPOSITORY_PATH"
+        withdefault BUILD_FILE      "docker/Dockerfile"
+        withdefault BUILD_TAG       "ghcr.io/kth-sml/svea:latest"
+        withdefault IMAGE_TAG       "$REPOSITORY_NAME"
+        withdefault IMAGE_PUSH      "0"
+    elif [ "$BUILD_CONFIG" = "base" ]; then
+        # building for host platform
+        withdefault BUILD_PLATFORM  "$(uname -m)"
+        withdefault BUILD_CONTEXT   "$REPOSITORY_PATH"
+        withdefault BUILD_FILE      "docker/Dockerfile.base"
+        withdefault BUILD_TAG       "ros:$ROSDISTRO"
+        withdefault IMAGE_TAG       "ghcr.io/kth-sml/svea:latest"
+        withdefault IMAGE_PUSH      "0"
+    elif [ "$BUILD_CONFIG" = "base-amd64" ]; then
+        # building for x86_64
+        withdefault BUILD_PLATFORM  "linux/amd64"
+        withdefault BUILD_CONTEXT   "$REPOSITORY_PATH"
+        withdefault BUILD_FILE      "docker/Dockerfile.base"
+        withdefault BUILD_TAG       "ros:$ROSDISTRO"
+        withdefault IMAGE_TAG       "ghcr.io/kth-sml/svea:latest"
+        withdefault IMAGE_PUSH      "0"
+    elif [ "$BUILD_CONFIG" = "base-arm64" ]; then
+        # building for arm64/aarch64/jetson
+        withdefault BUILD_PLATFORM  "linux/arm64"
+        withdefault BUILD_CONTEXT   "$REPOSITORY_PATH"
+        withdefault BUILD_FILE      "docker/Dockerfile.base"
+        withdefault BUILD_TAG       "ros:$ROSDISTRO"
+        withdefault IMAGE_TAG       "ghcr.io/kth-sml/svea:latest"
+        withdefault IMAGE_PUSH      "0"
+    elif [ "$BUILD_CONFIG" = "ghcr" ]; then
+        # building for both amd64 and arm64
+        withdefault BUILD_PLATFORM  "linux/arm64,linux/amd64"
+        withdefault BUILD_CONTEXT   "$REPOSITORY_PATH"
+        withdefault BUILD_FILE      "docker/Dockerfile.base"
+        withdefault BUILD_TAG       "ros:$ROSDISTRO"
+        withdefault IMAGE_TAG       "ghcr.io/kth-sml/svea:latest"
+        withdefault IMAGE_PUSH      "1"
     fi
 
-    ROSDISTRO="${ROSDISTRO:-"$DEFAULT_ROSDISTRO"}"
-    WORKSPACE="${WORKSPACE:-"$DEFAULT_WORKSPACE"}"
-
-    REPOSITORY_PATH="$(climb entrypoint)"
-    REPOSITORY_NAME="$(basename "$REPOSITORY_PATH")"
-
-    BUILD_PLATFORM="${BUILD_PLATFORM:-"$DEFAULT_BUILD_PLATFORM"}"
-    BUILD_CONTEXT="${BUILD_CONTEXT:-"$REPOSITORY_PATH"}"
-    BUILD_FILE="$BUILD_CONTEXT/${BUILD_FILE:-"$DEFAULT_BUILD_FILE"}"
-    BUILD_TAG="${BUILD_TAG:-"$DEFAULT_BUILD_TAG"}"
-
-    IMAGE_PUSH="${IMAGE_PUSH:-"$DEFAULT_IMAGE_PUSH"}"
-    IMAGE_TAG="${IMAGE_TAG:-"$REPOSITORY_NAME"}"
-
-    CONTAINER_NAME="$REPOSITORY_NAME"
-    SHARED_VOLUME="$BUILD_CONTEXT/src:$WORKSPACE/src"
-
-    if [ -n "$DEBUG" ]; then
+    withdefault CONTAINER_NAME "$REPOSITORY_NAME"
+    withdefault SHARED_VOLUME  "$BUILD_CONTEXT/src:$WORKSPACE/src"
+    
+    if istrue DEBUG; then
         echo ""
-        echo "ROSDISTRO=$ROSDISTRO"
-        echo "WORKSPACE=$WORKSPACE"
-        echo "REPOSITORY_PATH=$REPOSITORY_PATH"
-        echo "REPOSITORY_NAME=$REPOSITORY_NAME"
-        echo "BUILD_PLATFORM=$BUILD_PLATFORM"
-        echo "BUILD_CONTEXT=$BUILD_CONTEXT"
-        echo "BUILD_FILE=$BUILD_FILE"
-        echo "BUILD_TAG=$BUILD_TAG"
-        echo "IMAGE_PUSH=$IMAGE_PUSH"
-        echo "IMAGE_TAG=$IMAGE_TAG"
-        echo "CONTAINER_NAME=$CONTAINER_NAME"
-        echo "SHARED_VOLUME=$SHARED_VOLUME"
+        echovar BUILD_CONFIG
         echo
+        echovar ROSDISTRO
+        echovar WORKSPACE
+        echovar REPOSITORY_PATH
+        echovar REPOSITORY_NAME
+        echovar BUILD_PLATFORM
+        echovar BUILD_CONTEXT
+        echovar BUILD_FILE
+        echovar BUILD_TAG
+        echovar IMAGE_TAG
+        echovar IMAGE_PUSH
+        echovar CONTAINER_NAME
+        echovar SHARED_VOLUME
+        echo
+    fi
+}
+
+call() {
+    if istrue DEBUG; then 
+        echo "$@"
+    else 
+        exec "$@"
+    fi
+}
+
+jetson_release() {
+    file="/etc/nv_tegra_release"
+    if [ -f "$file" ]; then
+        echo "$(index 2 $(cat "$file"))"
     fi
 }
 
@@ -124,6 +151,18 @@ climb() {
     return $?
 }
 
+# Echo shell variable
+# > echovar NAME
+echovar() {
+    eval "echo \"$1=\$$1\""
+}
+
+# Set shell variable with default
+# > withdefault NAME DEFAULT
+withdefault() {
+    eval "$1=\"\${$1:-\"$2\"}\""
+}
+
 # Echo TRUTHY if `istrue NAME` else FALSY
 # > ifelse NAME TRUTHY FALSY
 ifelse() {
@@ -133,6 +172,22 @@ ifelse() {
     fi
 }
 
+# If VALUE equals COND then echo RET, otherwise shift
+# and continue with following arguments
+# > switch VALUE [[COND RET]...]
+switch() {
+    VALUE="$1"
+    shift
+    if [ "$VALUE" = "$1" ]; then 
+        echo "$2"
+    elif [ "$#" -ge 2 ]; then
+        shift 2
+        switch "$VALUE" "$@"
+    else
+        echo "$@" # echo nothing or remaining arg
+    fi
+}
+
 # Append ARGS to shell variable with name NAME
 # > append LIST_NAME [ARGS...]
 append() {
diff --git a/util/run b/util/run
index fb4cdb79..ff661f46 100755
--- a/util/run
+++ b/util/run
@@ -8,19 +8,22 @@
 
 . "$(dirname "$0")/config.sh"
 
-# Setting default arguments
-if [ -z "$*" ]; then
-    set -- --name "$CONTAINER_NAME" "$IMAGE_TAG"
-fi
-
-istrue DEBUG && fn="echo" || fn="exec"
+CMD="docker run"
+ARGS=""
 
-"$fn" docker run \
+append ARGS \
     -it \
     -e "TERM=xterm-256color" \
     -v "/dev:/dev" \
     -v "$SHARED_VOLUME" \
     --rm \
     --network host \
-    --privileged \
-    "$@"
+    --privileged
+
+# These args are replaced if util/build is called with arguments
+if [ -z "$*" ]
+then append ARGS --name "$CONTAINER_NAME" "$IMAGE_TAG"
+else append ARGS "$@"
+fi
+
+call $CMD $ARGS