diff --git a/.circleci/config.yml b/.circleci/config.yml
index aaa85a1f..2811fc46 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -22,7 +22,7 @@ version: 2
 # Run static code analyzer for SourceCloud
 # Upload test results
 # Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available
-
+# TODO : Move this to github actions to take advantage of dynamic base branch selection
 jobs:
   build:
     # Pull docker image from docker hub
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 2589eb12..6ea9b537 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -1,10 +1,6 @@
 name: Docker build
 
 on:
-  push:
-    branches-ignore:
-      - "develop"
-      - "release/*"
   pull_request:
       types: [opened, synchronize, reopened]
 
diff --git a/.github/workflows/dockerhub.yml b/.github/workflows/dockerhub.yml
index 439a920c..77c53d2d 100644
--- a/.github/workflows/dockerhub.yml
+++ b/.github/workflows/dockerhub.yml
@@ -3,8 +3,11 @@ name: Docker Hub build
 on:
   push:
     branches:
-      - "develop"
+      - develop
+      - master
       - "release/*"
+    tags:
+      - "carma-system-*"
 
 jobs:
   dockerhub:
diff --git a/Dockerfile b/Dockerfile
index 313c2b1c..ba1a4259 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,11 +1,14 @@
-FROM usdotfhwastoldev/carma-base:develop as base_image
+ARG DOCKER_ORG=usdotfhwastoldev
+ARG DOCKER_TAG=develop
+FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base_image
 
 FROM base_image as build
+ARG GIT_BRANCH=develop
 
 COPY --chown=carma . /home/carma/autoware.auto
 RUN chmod -R 775 /home/carma/autoware.auto/docker/checkout.bash
 RUN chmod -R 775 /home/carma/autoware.auto/docker/install.sh
-RUN /home/carma/autoware.auto/docker/checkout.bash
+RUN /home/carma/autoware.auto/docker/checkout.bash -b ${GIT_BRANCH}
 RUN ./home/carma/autoware.auto/docker/install.sh
 
 FROM base_image
diff --git a/docker/checkout.bash b/docker/checkout.bash
index f873a153..dd79510e 100755
--- a/docker/checkout.bash
+++ b/docker/checkout.bash
@@ -19,11 +19,13 @@
 set -exo pipefail
 
 dir=~
+BRANCH=develop
 while [[ $# -gt 0 ]]; do
       arg="$1"
       case $arg in
-            -d|--develop)
-                  BRANCH=develop
+            -b|--branch)
+                  BRANCH=$2
+                  shift
                   shift
             ;;
             -r|--root)
@@ -33,17 +35,14 @@ while [[ $# -gt 0 ]]; do
             ;;
       esac
 done
-
-if [[ "$BRANCH" = "develop" ]]; then
-      sudo git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch $BRANCH
-      sudo git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch $BRANCH
-      sudo git clone https://github.com/usdot-fhwa-stol/autoware.ai.git ${dir}/src/autoware.ai --branch $BRANCH
+sudo git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch "$BRANCH"
+sudo git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch "$BRANCH"
+if [[ "$BRANCH" == "develop" ]] || [[ "$BRANCH" == "master" ]]; then
+      sudo git clone https://github.com/usdot-fhwa-stol/autoware.ai.git ${dir}/src/autoware.ai --branch carma-"$BRANCH"
 else
-      sudo git clone https://github.com/usdot-fhwa-stol/carma-msgs.git ${dir}/src/CARMAMsgs --branch develop
-      sudo git clone https://github.com/usdot-fhwa-stol/carma-utils.git ${dir}/src/CARMAUtils --branch develop
-      sudo git clone https://github.com/usdot-fhwa-stol/autoware.ai.git ${dir}/src/autoware.ai --branch carma-develop
+      sudo git clone https://github.com/usdot-fhwa-stol/autoware.ai.git ${dir}/src/autoware.ai --branch "$BRANCH"
 fi
-
+#TODO This probably needs to be moved into install.sh
 sudo apt-get update
 sudo apt-get install ros-foxy-nmea-msgs -y
 sudo apt-get install ros-foxy-gps-tools -y