diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 00000000..6d8b9f0b
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,3 @@
+Dockerfile
+.dockerignore
+build
\ No newline at end of file
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 00000000..f5ee64c2
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,112 @@
+name: ci
+
+on:
+  push:
+    branches:
+      - "*"
+    tags:
+      - "*"
+
+env:
+  BASE_IMAGE: sadraiiali/rcssserver
+  BASE_TAG: latest
+  RELEASE_PREFIX: "rcssserver-"
+
+jobs:
+      
+  docker:
+    runs-on: ubuntu-latest
+    name: Build & Push Docker
+    if: github.ref == 'refs/heads/master'
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Find CMakeLists.txt version
+        id: cmake_version
+        run: |
+          cmake_version=$(grep -oP 'project\(.* VERSION \K[0-9]+\.[0-9]+\.[0-9]+' CMakeLists.txt)
+          echo "version=${cmake_version}" >> $GITHUB_OUTPUT
+
+      - name: Build and push RCSSServer
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./utils/docker/Dockerfile
+          push: true
+          tags: "${{ env.BASE_IMAGE }}:latest,${{ env.BASE_IMAGE }}:ubuntu-24-${{ steps.cmake_version.outputs.version }}"
+
+      - name: Docker Hub Description
+        uses: peter-evans/dockerhub-description@v4
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+          repository: ${{ env.BASE_IMAGE }}
+          readme-filepath: utils/docker/README.md
+          short-description: "RoboCup Soccer Simulator Server"
+
+  app-image:
+    runs-on: ubuntu-latest
+    name: Build AppImage
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Create release folder
+        run: |
+          mkdir -p ${{ github.workspace }}/artifact
+
+      - name: Find CMakeLists.txt version
+        id: cmake_version
+        run: |
+          cmake_version=$(grep -oP 'project\(.* VERSION \K[0-9]+\.[0-9]+\.[0-9]+' CMakeLists.txt)
+          echo "version=${cmake_version}" >> $GITHUB_OUTPUT
+          
+      # ------------------------------------------- Ubuntu 20.04 AppImage
+      - name: Prepare builder image for 20.04
+        run: |
+          docker build -t builder-image:2004 -f ./utils/appimage/Dockerfile.builder-2004 .
+
+      - name: Build app image on 20.04
+        run: |
+          docker run --privileged --name builder-2004 \
+            builder-image:2004 /rcssserver/utils/appimage/build_appimage.sh
+          docker cp builder-2004:/rcssserver-x86_64.AppImage ${{ github.workspace }}/artifact/rcssserver-${{ steps.cmake_version.outputs.version }}-x86_64.AppImage
+
+      # ------------------------------------------- Artifact
+      - name: Upload Artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: rcssserver-x86_64
+          path: ${{ github.workspace }}/artifact/*
+          retention-days: 5
+        
+      - name: Check if there is no release with the same tag
+        id: check_release
+        run: |
+          out=$(curl -s -o /dev/null -w "%{http_code}" https://api.github.com/repos/${{ github.repository }}/releases/tags/${{ steps.cmake_version.outputs.version }})
+          echo "release_exists=${out}" >> $GITHUB_OUTPUT
+
+
+      # ------------------------------------------- Release
+      - name: Create Release
+        if: ${{ steps.check_release.outputs.release_exists == '404' }}
+        id: create_release
+        uses: ncipollo/release-action@v1
+        with:
+          artifacts: "${{ github.workspace }}/artifact/rcssserver-${{ steps.cmake_version.outputs.version }}-x86_64.AppImage"
+          token: ${{ secrets.GITHUB_TOKEN }}
+          body: "TBD"
+          name: "${{ env.RELEASE_PREFIX }}${{ steps.cmake_version.outputs.version }}"
+          tag: ${{ steps.cmake_version.outputs.version }}
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 00000000..57f0ca45
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+build
+*.o
+*.so
+*.a
+.vscode/
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 098f5030..ea707c3a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,6 +5,9 @@ project(RCSSServer VERSION 18.1.3)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -lstdc++fs")
+
+
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
 endif()
@@ -34,6 +37,8 @@ check_include_file_cxx("unistd.h" HAVE_UNISTD_H)
 check_include_file_cxx("poll.h" HAVE_POLL_H)
 check_include_file_cxx("pwd.h" HAVE_PWD_H)
 
+
+
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake config.h)
 
 add_subdirectory(rcss)
diff --git a/utils/appimage/Dockerfile.builder-1804 b/utils/appimage/Dockerfile.builder-1804
new file mode 100644
index 00000000..c34733fc
--- /dev/null
+++ b/utils/appimage/Dockerfile.builder-1804
@@ -0,0 +1,36 @@
+FROM ubuntu:18.04
+
+COPY . /rcssserver
+
+RUN apt-get clean && apt-get update --allow-insecure-repositories && \
+    DEBIAN_FRONTEND="noninteractive" apt-get -y install \
+    tzdata \
+    gcc \
+    g++ \
+    wget \
+    libfl-dev \
+    flex \
+    bison \
+    libboost-all-dev \
+    automake \
+    make \
+    cmake \
+    iputils-ping \
+    build-essential \
+    libtool \
+    fuse \
+    libfuse-dev \
+    zlib1g-dev
+
+RUN cd /rcssserver && \
+    find . -type f -name "*.cpp" -exec sed -i 's/#include <filesystem>/#include <experimental\/filesystem>/g' {} \; && \
+    find . -type f -name "*.h" -exec sed -i 's/#include <filesystem>/#include <experimental\/filesystem>/g' {} \; && \
+    find . -type f -name "*.hpp" -exec sed -i 's/#include <filesystem>/#include <experimental\/filesystem>/g' {} \; && \
+    find . -type f -name "*.cpp" -exec sed -i 's/std::filesystem/std::experimental::filesystem/g' {} \; && \
+    find . -type f -name "*.h" -exec sed -i 's/std::filesystem/std::experimental::filesystem/g' {} \; && \
+    find . -type f -name "*.hpp" -exec sed -i 's/std::filesystem/std::experimental::filesystem/g' {} \; && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make && \
+    cd ..
\ No newline at end of file
diff --git a/utils/appimage/Dockerfile.builder-2004 b/utils/appimage/Dockerfile.builder-2004
new file mode 100644
index 00000000..91035f26
--- /dev/null
+++ b/utils/appimage/Dockerfile.builder-2004
@@ -0,0 +1,30 @@
+FROM ubuntu:20.04
+
+COPY . /rcssserver
+
+RUN apt-get clean && apt-get update --allow-insecure-repositories && \
+    DEBIAN_FRONTEND="noninteractive" apt-get -y install \
+    tzdata \
+    gcc \
+    g++ \
+    wget \
+    libfl-dev \
+    flex \
+    bison \
+    libboost-all-dev \
+    automake \
+    make \
+    cmake \
+    iputils-ping \
+    build-essential \
+    libtool \
+    fuse \
+    libfuse-dev \
+    zlib1g-dev
+
+RUN cd /rcssserver && \
+    mkdir build && \
+    cd build && \
+    cmake .. && \
+    make && \
+    cd ..
diff --git a/utils/appimage/Dockerfile.builder-2404 b/utils/appimage/Dockerfile.builder-2404
new file mode 100644
index 00000000..73de5c1d
--- /dev/null
+++ b/utils/appimage/Dockerfile.builder-2404
@@ -0,0 +1,24 @@
+FROM ubuntu:24.04
+
+COPY . /rcssserver
+
+RUN apt-get clean && apt-get update --allow-insecure-repositories && \
+    DEBIAN_FRONTEND="noninteractive" apt-get -y install \
+    tzdata \
+    gcc \
+    g++ \
+    wget \
+    libfl-dev \
+    flex \
+    bison \
+    libboost-all-dev \
+    automake \
+    make \
+    cmake \
+    iputils-ping \
+    build-essential \
+    libtool \
+    fuse \
+    libfuse-dev
+
+RUN cd /rcssserver && ./utils/appimage/build_code.sh
\ No newline at end of file
diff --git a/utils/appimage/build_appimage.sh b/utils/appimage/build_appimage.sh
new file mode 100755
index 00000000..6bd2b776
--- /dev/null
+++ b/utils/appimage/build_appimage.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+set -e
+
+wget -c "https://github.com/linuxdeploy/linuxdeploy/releases/download/continuous/linuxdeploy-x86_64.AppImage" -O linuxdeploy-x86_64.AppImage
+chmod +x linuxdeploy-x86_64.AppImage
+mkdir rcssserver-x86_64
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+BUILD_PWD="${SCRIPT_DIR}/../../build"
+APP_IMAGE_DIR="${SCRIPT_DIR}"
+
+
+# find libc and libstdc++ libz dependencies
+LIBSTDCPP_PATH=$(ldd $BUILD_PWD/rcssserver | grep libstdc++ | awk '{ print $3 }')
+LIBZ_PATH=$(ldd $BUILD_PWD/rcssserver | grep libz.so | awk '{ print $3 }')
+LIBRCSSCLANGPARSER_PATH=$(ldd $BUILD_PWD/rcssserver | grep librcssclangparser.so | awk '{ print $3 }')
+LIBRCSSCONFPARSER_PATH=$(ldd $BUILD_PWD/rcssserver | grep librcssconfparser.so | awk '{ print $3 }')
+LIBRCSSGZ_PATH=$(ldd $BUILD_PWD/rcssserver | grep librcssgz.so | awk '{ print $3 }')
+LIBRCSSNET_PATH=$(ldd $BUILD_PWD/rcssserver | grep librcssnet.so | awk '{ print $3 }')
+
+echo "LIBSTDCPP_PATH=" $LIBSTDCPP_PATH
+echo "LIBZ_PATH=" $LIBZ_PATH
+echo "LIBRCSSCLANGPARSER_PATH=" $LIBRCSSCLANGPARSER_PATH
+echo "LIBRCSSCONFPARSER_PATH=" $LIBRCSSCONFPARSER_PATH
+echo "LIBRCSSGZ_PATH=" $LIBRCSSGZ_PATH
+echo "LIBRCSSNET_PATH=" $LIBRCSSNET_PATH
+
+./linuxdeploy-x86_64.AppImage --appdir ./rcssserver-x86_64 \
+                                -e $BUILD_PWD/rcssserver \
+                                -l $LIBRCSSCLANGPARSER_PATH \
+                                -l $LIBRCSSCONFPARSER_PATH \
+                                -l $LIBRCSSGZ_PATH \
+                                -l $LIBRCSSNET_PATH \
+                                -l $LIBSTDCPP_PATH \
+                                -l $LIBZ_PATH \
+                                -d $APP_IMAGE_DIR/rcssserver.desktop \
+                                -i $APP_IMAGE_DIR/rcssserver.png \
+                                --output appimage 
+echo "App Image Created."
diff --git a/utils/appimage/build_code.sh b/utils/appimage/build_code.sh
new file mode 100755
index 00000000..01236968
--- /dev/null
+++ b/utils/appimage/build_code.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+mkdir build
+cd build
+cmake -DCMAKE_CXX_STANDARD=17 ..
+make
+cd ..
\ No newline at end of file
diff --git a/utils/appimage/rcssserver.desktop b/utils/appimage/rcssserver.desktop
new file mode 100644
index 00000000..5d011484
--- /dev/null
+++ b/utils/appimage/rcssserver.desktop
@@ -0,0 +1,14 @@
+[Desktop Entry]
+Version=1.0
+Type=Application
+Name=rcssserver
+Comment=Robocup 2D Soccer Simulation Server
+TryExec=rcssserver
+Exec=rcssserver
+Icon=rcssserver
+MimeType=image/x-foo;
+Categories=Development;
+X-KDE-Library=librcssserver
+X-KDE-FactoryName=rcssserverfactory
+X-KDE-ServiceType=RcssserverService
+
diff --git a/utils/appimage/rcssserver.png b/utils/appimage/rcssserver.png
new file mode 100644
index 00000000..2c29a896
Binary files /dev/null and b/utils/appimage/rcssserver.png differ
diff --git a/utils/docker/Dockerfile b/utils/docker/Dockerfile
new file mode 100644
index 00000000..e8912e7e
--- /dev/null
+++ b/utils/docker/Dockerfile
@@ -0,0 +1,60 @@
+#------------------------------------------------------
+# build stage
+#------------------------------------------------------
+
+FROM ubuntu:24.04 AS BUILD
+
+WORKDIR /rcssserver
+
+# set environment variables
+ENV config_file=server.conf \
+    DATE_FORMAT="%Y%m%d%H%M%S" \
+    VERSION=18.1.3
+
+
+# install dependencies
+RUN apt-get clean && apt-get update --allow-insecure-repositories && \
+    DEBIAN_FRONTEND="noninteractive" apt-get -y install \
+    tzdata \
+    sudo \
+    gcc \
+    g++ \
+    wget \
+    flex \
+    bison \
+    libboost-all-dev \
+    automake \
+    make \
+    cmake \
+    iputils-ping
+
+# copy rcssserver source code
+#COPY [ "./src", "./rcss", "./m4", "config*","Make*" , "CMake*", "/rcssserver/"]
+COPY . /rcssserver/
+
+# make and install rcssserver
+RUN cd /rcssserver/ \
+    && ./bootstrap \
+    && ./configure --prefix=`pwd`/server-bin \
+    && make \
+    && make install \
+    && ldconfig
+
+
+
+
+#------------------------------------------------------
+# run stage
+#------------------------------------------------------
+FROM ubuntu:24.04 AS RUN
+
+ENV LD_LIBRARY_PATH=/app/server-bin/lib:/usr/local/lib:/usr/lib:/lib \
+    PATH=/app/server-bin/bin:$PATH 
+
+WORKDIR /app
+
+COPY --from=BUILD /rcssserver/server-bin /app/server-bin
+
+COPY utils/docker/docker-entrypoint.sh /app/docker-entrypoint.sh
+
+CMD [ "bash", "/app/docker-entrypoint.sh" ]
\ No newline at end of file
diff --git a/utils/docker/README.md b/utils/docker/README.md
new file mode 100644
index 00000000..af9d7d1b
--- /dev/null
+++ b/utils/docker/README.md
@@ -0,0 +1,39 @@
+# RoboCup Soccer Simulator Server
+This image contains the RoboCup Soccer Simulator Server (rcssserver) installed and ready to use.
+
+## Tags
+- latest
+
+## How to use this image
+
+Run the following command to start the server:
+```bash
+docker run --name rcssserver --network host -it rcssserver:latest
+```
+Now you can connect to the server using the monitor or a client.
+
+## How to use custom configuration files
+1. You can mount a volume with your custom configuration files, like:
+```bash
+docker run --name rcssserver --network host -v /path/to/your/configs:/root/.rcssserver -it rcssserver:latest
+```
+2. You can run server with custom command line arguments, like:
+```bash
+docker run --name rcssserver --network host -it rcssserver:latest rcssserver server::synch_mode=true
+
+```
+
+
+**Note**: You can either use one of the above methods at a time. 
+It means:
+* if there is a server configuration file environment variable will be ignored. 
+* if you use third method, the second method will be ignored.
+
+
+
+## :incoming_envelope: Contributing
+
+For bug reports, feature requests and latest updates, please goto
+https://github.com/rcsoccersim/rcssserver and open an issue or a pull request.
+
+> The RoboCup Soccer Server Maintainance Group
diff --git a/utils/docker/docker-entrypoint.sh b/utils/docker/docker-entrypoint.sh
new file mode 100755
index 00000000..29eaed28
--- /dev/null
+++ b/utils/docker/docker-entrypoint.sh
@@ -0,0 +1,11 @@
+#!/bin/env bash
+
+SERVER_CONFIG_FOLDER='/root/.rcssserver'
+LOGS_FOLDER='/root/rcssserver-logs'
+
+mkdir -p $LOGS_FOLDER
+cd $LOGS_FOLDER
+
+rcssserver 
+
+