diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 8e8f9a3..49edcc5 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -10,28 +10,38 @@ jobs:
   build:
     name: Build
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ubuntu-version:
+        - 22.04
+        - 24.04
     steps:
       - uses: actions/checkout@v4
-      - run: make update
-      - run: make build
+      - run: make UBUNTU=${{ matrix.ubuntu-version }} update
+      - run: make UBUNTU=${{ matrix.ubuntu-version }} build
       - run: |
           docker login -u ${{ secrets.DOCKER_USERNAME }} -p ${{ secrets.DOCKER_PASSWORD }}
-          make push
+          make UBUNTU=${{ matrix.ubuntu-version }} push
         if: ${{ github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main' }} 
 
   build-minimal:
     name: Build Minimal
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ubuntu-version:
+        - 22.04
+        - 24.04
     steps:
       - uses: actions/checkout@v4
-      - run: make update
-      - run: make build/minimal-cross
+      - run: make UBUNTU=${{ matrix.ubuntu-version }} update
+      - run: make UBUNTU=${{ matrix.ubuntu-version }} build/minimal-cross
       - run: |
           docker login -u ${{ secrets.DOCKER_USERNAME }} -p ${{ secrets.DOCKER_PASSWORD }}
-          make push/minimal-cross
+          make UBUNTU=${{ matrix.ubuntu-version }} push/minimal-cross
         if: ${{ github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main' }}
 
-      - run: make save/minimal-cross
+      - run: make UBUNTU=${{ matrix.ubuntu-version }} save/minimal-cross
       - uses: actions/upload-artifact@v4
         with:
           name: roborio
diff --git a/Makefile b/Makefile
index 34624b9..72b4ef8 100644
--- a/Makefile
+++ b/Makefile
@@ -18,8 +18,6 @@ build: build/base build/cross build/opensdk
 build/base:
 	cd ubuntu-base && \
 		docker build -t ${DOCKER_USER}/ubuntu-base:${UBUNTU} -f Dockerfile.${UBUNTU} .
-	cd gazebo-ubuntu && \
-		docker build -t ${DOCKER_USER}/gazebo-ubuntu:${UBUNTU} --build-arg UBUNTU=${UBUNTU} .
 
 build/cross: build/base
 	cd roborio-cross-ubuntu && \
@@ -53,7 +51,6 @@ push: $(patsubst %,push/%, base cross opensdk)
 
 push/base:
 	docker push ${DOCKER_USER}/ubuntu-base:${UBUNTU}
-	docker push ${DOCKER_USER}/gazebo-ubuntu:${UBUNTU}
 
 push/cross: push/base
 	docker push ${DOCKER_USER}/roborio-cross-ubuntu:2025-${UBUNTU}
diff --git a/ubuntu-base/Dockerfile.24.04 b/ubuntu-base/Dockerfile.24.04
new file mode 100644
index 0000000..a78a871
--- /dev/null
+++ b/ubuntu-base/Dockerfile.24.04
@@ -0,0 +1,48 @@
+FROM ubuntu:24.04
+
+RUN apt-get update && apt-get install -y apt-transport-https \
+    ca-certificates \
+    gnupg \
+    software-properties-common \
+    wget && \
+    wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null && \
+    apt-add-repository 'deb https://apt.kitware.com/ubuntu/ noble main' && \
+    add-apt-repository ppa:git-core/ppa && \
+    apt-get update && apt-get install -y tzdata && apt-get install -y \
+    build-essential \
+    ca-certificates \
+    clang-format-14 \
+    cmake \
+    curl \
+    fakeroot \
+    g++ --no-install-recommends \
+    gcc \
+    gdb \
+    git \
+    java-common \
+    libc6-dev \
+    libgl1-mesa-dev \
+    libglu1-mesa-dev \
+    libisl-dev \
+    libopencv-dev \
+    libvulkan-dev \
+    libx11-dev \
+    libxcursor-dev \
+    libxi-dev \
+    libxinerama-dev \
+    libxrandr-dev \
+    make \
+    mesa-common-dev \
+    openjdk-17-jdk \
+    python3-dev \
+    python3-pip \
+    python3-setuptools \
+    sudo \
+    unzip \
+    wget \
+    zip \
+  && rm -rf /var/lib/apt/lists/*
+
+ENV JAVA_HOME /usr/lib/jvm/java-17-openjdk-amd64
+
+WORKDIR /