diff --git a/.github/workflows/Dockerfile b/.github/workflows/Dockerfile
new file mode 100644
index 000000000..e9d3fd62c
--- /dev/null
+++ b/.github/workflows/Dockerfile
@@ -0,0 +1,35 @@
+# rhaschke/ici:rviz-noetic-ros
+# Image used for GHA CI builds
+# build with: DOCKER_BUILDKIT=1 docker build --tag rhaschke/ici:rviz-noetic-ros - < .github/workflows/Dockerfile
+
+ARG ROS_DISTRO=noetic
+FROM ros:${ROS_DISTRO}-ros-base
+
+ENV TERM xterm
+
+# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
+# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
+RUN --mount=type=bind,target=/tmp/rviz \
+    # Update apt package list as previous containers clear the cache
+    apt-get -q update && \
+    apt-get -q -y dist-upgrade && \
+    #
+    # Install some base dependencies
+    apt-get -q install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo \
+        # Preferred build tools
+        python$(test "${ROS_DISTRO}" = "noetic" && echo 3)-catkin-tools \
+        clang clang-format-10 clang-tidy clang-tools \
+        ccache && \
+    #
+    # Download all dependencies of MoveIt
+    rosdep update $(test "${ROS_DISTRO}" = "melodic" && echo "--include-eol-distros") && \
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths /tmp/rviz --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/* && \
+    # Globally disable git security
+    # https://github.blog/2022-04-12-git-security-vulnerability-announced
+    git config --global --add safe.directory "*"