diff --git a/ros/.config/legacy/ros1/Makefile.em b/ros/.config/legacy/ros1/Makefile.em
index 445578bec..19be37b87 100644
--- a/ros/.config/legacy/ros1/Makefile.em
+++ b/ros/.config/legacy/ros1/Makefile.em
@@ -1,19 +1,19 @@
 all: help
 
 help:
-	@echo ""
-	@echo "-- Help Menu"
-	@echo ""
-	@echo "   1. make build            - build all images"
-	@echo "   2. make pull             - pull all images"
-	@echo "   3. make clean            - remove all images"
-	@echo ""
+	@@echo ""
+	@@echo "-- Help Menu"
+	@@echo ""
+	@@echo "   1. make build            - build all images"
+	@@echo "   2. make pull             - pull all images"
+	@@echo "   3. make clean            - remove all images"
+	@@echo ""
 
 build:
-	@docker build --tag=ros:$release_name-ros-$os_code_name          ros/.
+	@@docker build --tag=ros:@release_name-ros-@os_code_name          ros/.
 
 pull:
-	@docker pull ros:$release_name-ros-$os_code_name
+	@@docker pull ros:@release_name-ros-@os_code_name
 
 clean:
-	@docker rmi -f ros:$release_name-ros-$os_code_name
+	@@docker rmi -f ros:@release_name-ros-@os_code_name
diff --git a/ros/.config/legacy/ros1/platform.yaml.em b/ros/.config/legacy/ros1/platform.yaml.em
index 4a164f477..1c323631c 100644
--- a/ros/.config/legacy/ros1/platform.yaml.em
+++ b/ros/.config/legacy/ros1/platform.yaml.em
@@ -2,12 +2,14 @@
 # ROS Dockerfile database
 ---
 platform:
-    os_name: $os_name
-    os_code_name: $os_code_name
-    rosdistro_name: $release_name
+    os_name: @os_name
+    os_code_name: @os_code_name
+    rosdistro_name: @release_name
     user_name: ros
     maintainer_name:
-    arch: amd64
+    archs:
+        - @('\n        - '.join(archs))@
+
     type: distribution
     version: False
     release: ros
diff --git a/ros/.config/legacy/ros2/Makefile.em b/ros/.config/legacy/ros2/Makefile.em
index 044f45b82..52912b86a 100644
--- a/ros/.config/legacy/ros2/Makefile.em
+++ b/ros/.config/legacy/ros2/Makefile.em
@@ -1,44 +1,44 @@
 all: help
 
 help:
-	@echo ""
-	@echo "-- Help Menu"
-	@echo ""
-	@echo "   1. make build            - build all images"
-	@echo "   2. make pull             - pull all images"
-	@echo "   3. make clean            - remove all images"
-	@echo ""
+	@@echo ""
+	@@echo "-- Help Menu"
+	@@echo ""
+	@@echo "   1. make build            - build all images"
+	@@echo "   2. make pull             - pull all images"
+	@@echo "   3. make clean            - remove all images"
+	@@echo ""
 
 build:
-	@docker build --tag=ros:$release_name-ros-core-$os_code_name			ros-core/.
-	@docker build --tag=ros:$release_name-ros-base-$os_code_name			ros-base/.
-	@docker build --tag=ros:$release_name-ros1-bridge-$os_code_name		ros1-bridge/.
-	# @docker build --tag=osrf/ros:$release_name-desktop-$os_code_name			desktop/.
+	@@docker build --tag=ros:@release_name-ros-core-@os_code_name			ros-core/.
+	@@docker build --tag=ros:@release_name-ros-base-@os_code_name			ros-base/.
+	@@docker build --tag=ros:@release_name-ros1-bridge-@os_code_name		ros1-bridge/.
+	# @@docker build --tag=osrf/ros:@release_name-desktop-@os_code_name			desktop/.
 
 pull:
-	@docker pull ros:$release_name-ros-core-$os_code_name
-	@docker pull ros:$release_name-ros-base-$os_code_name
-	@docker pull ros:$release_name-ros1-bridge-$os_code_name
-	# @docker pull osrf/ros:$release_name-desktop-$os_code_name
+	@@docker pull ros:@release_name-ros-core-@os_code_name
+	@@docker pull ros:@release_name-ros-base-@os_code_name
+	@@docker pull ros:@release_name-ros1-bridge-@os_code_name
+	# @@docker pull osrf/ros:@release_name-desktop-@os_code_name
 
 clean:
-	@docker rmi -f ros:$release_name-ros-core-$os_code_name
-	@docker rmi -f ros:$release_name-ros-base-$os_code_name
-	@docker rmi -f ros:$release_name-ros1-bridge-$os_code_name
-	# @docker rmi -f osrf/ros:$release_name-desktop-$os_code_name
+	@@docker rmi -f ros:@release_name-ros-core-@os_code_name
+	@@docker rmi -f ros:@release_name-ros-base-@os_code_name
+	@@docker rmi -f ros:@release_name-ros1-bridge-@os_code_name
+	# @@docker rmi -f osrf/ros:@release_name-desktop-@os_code_name
 
 ci_buildx:
-	@docker buildx build --pull --push \
-		--cache-from=type=registry,ref=osrf/ros:$release_name-desktop-$os_code_name \
+	@@docker buildx build --pull --push \
+		--cache-from=type=registry,ref=osrf/ros:@release_name-desktop-@os_code_name \
 		--cache-to=type=inline \
-		--tag=osrf/ros:$release_name-desktop-$os_code_name \
+		--tag=osrf/ros:@release_name-desktop-@os_code_name \
 		desktop/.
-	@if [ "$os_name" = "ubuntu" ]; then \
+	@@if [ "@os_name" = "ubuntu" ]; then \
 		docker pull \
-			osrf/ros:$release_name-desktop-$os_code_name; \
+			osrf/ros:@release_name-desktop-@os_code_name; \
     	docker tag \
-			osrf/ros:$release_name-desktop-$os_code_name \
-			osrf/ros:$release_name-desktop; \
+			osrf/ros:@release_name-desktop-@os_code_name \
+			osrf/ros:@release_name-desktop; \
 		docker push \
-			osrf/ros:$release_name-desktop; \
+			osrf/ros:@release_name-desktop; \
 	fi
diff --git a/ros/.config/legacy/ros2/platform.yaml.em b/ros/.config/legacy/ros2/platform.yaml.em
index 6ac6d12de..82032c4ec 100644
--- a/ros/.config/legacy/ros2/platform.yaml.em
+++ b/ros/.config/legacy/ros2/platform.yaml.em
@@ -2,12 +2,14 @@
 # ROS2 Dockerfile database
 ---
 platform:
-    os_name: $os_name
-    os_code_name: $os_code_name
-    rosdistro_name: $rosdistro_name
-    ros2distro_name: $release_name
+    os_name: @os_name
+    os_code_name: @os_code_name
+    rosdistro_name: @rosdistro_name
+    ros2distro_name: @release_name
     user_name: ros
     maintainer_name:
-    arch: amd64
+    archs:
+        - @('\n        - '.join(archs))@
+
     type: distribution
     version:
diff --git a/ros/.config/ros1/Makefile.em b/ros/.config/ros1/Makefile.em
index 9641581cd..dd948d51f 100644
--- a/ros/.config/ros1/Makefile.em
+++ b/ros/.config/ros1/Makefile.em
@@ -1,64 +1,64 @@
 all: help
 
 help:
-	@echo ""
-	@echo "-- Help Menu"
-	@echo ""
-	@echo "   1. make build            - build all images"
-	@echo "   2. make pull             - pull all images"
-	@echo "   3. make clean            - remove all images"
-	@echo ""
+	@@echo ""
+	@@echo "-- Help Menu"
+	@@echo ""
+	@@echo "   1. make build            - build all images"
+	@@echo "   2. make pull             - pull all images"
+	@@echo "   3. make clean            - remove all images"
+	@@echo ""
 
 build:
-	@docker build --tag=ros:$release_name-ros-core-$os_code_name          ros-core/.
-	@docker build --tag=ros:$release_name-ros-base-$os_code_name          ros-base/.
-	@docker build --tag=ros:$release_name-robot-$os_code_name             robot/.
-	@docker build --tag=ros:$release_name-perception-$os_code_name        perception/.
-	# @docker build --tag=osrf/ros:$release_name-desktop-$os_code_name      desktop/.
-	# @docker build --tag=osrf/ros:$release_name-desktop-full-$os_code_name desktop-full/.
+	@@docker build --tag=ros:@release_name-ros-core-@os_code_name          ros-core/.
+	@@docker build --tag=ros:@release_name-ros-base-@os_code_name          ros-base/.
+	@@docker build --tag=ros:@release_name-robot-@os_code_name             robot/.
+	@@docker build --tag=ros:@release_name-perception-@os_code_name        perception/.
+	# @@docker build --tag=osrf/ros:@release_name-desktop-@os_code_name      desktop/.
+	# @@docker build --tag=osrf/ros:@release_name-desktop-full-@os_code_name desktop-full/.
 
 pull:
-	@docker pull ros:$release_name-ros-core-$os_code_name
-	@docker pull ros:$release_name-ros-base-$os_code_name
-	@docker pull ros:$release_name-robot-$os_code_name
-	@docker pull ros:$release_name-perception-$os_code_name
-	# @docker pull osrf/ros:$release_name-desktop-$os_code_name
-	# @docker pull osrf/ros:$release_name-desktop-full-$os_code_name
+	@@docker pull ros:@release_name-ros-core-@os_code_name
+	@@docker pull ros:@release_name-ros-base-@os_code_name
+	@@docker pull ros:@release_name-robot-@os_code_name
+	@@docker pull ros:@release_name-perception-@os_code_name
+	# @@docker pull osrf/ros:@release_name-desktop-@os_code_name
+	# @@docker pull osrf/ros:@release_name-desktop-full-@os_code_name
 
 clean:
-	@docker rmi -f ros:$release_name-ros-core-$os_code_name
-	@docker rmi -f ros:$release_name-ros-base-$os_code_name
-	@docker rmi -f ros:$release_name-robot-$os_code_name
-	@docker rmi -f ros:$release_name-perception-$os_code_name
-	# @docker rmi -f osrf/ros:$release_name-desktop-$os_code_name
-	# @docker rmi -f osrf/ros:$release_name-desktop-full-$os_code_name
+	@@docker rmi -f ros:@release_name-ros-core-@os_code_name
+	@@docker rmi -f ros:@release_name-ros-base-@os_code_name
+	@@docker rmi -f ros:@release_name-robot-@os_code_name
+	@@docker rmi -f ros:@release_name-perception-@os_code_name
+	# @@docker rmi -f osrf/ros:@release_name-desktop-@os_code_name
+	# @@docker rmi -f osrf/ros:@release_name-desktop-full-@os_code_name
 
 ci_buildx:
-	@docker buildx build --pull --push \
-		--cache-from=type=registry,ref=osrf/ros:$release_name-desktop-$os_code_name \
+	@@docker buildx build --pull --push \
+		--cache-from=type=registry,ref=osrf/ros:@release_name-desktop-@os_code_name \
 		--cache-to=type=inline \
-		--tag=osrf/ros:$release_name-desktop-$os_code_name \
+		--tag=osrf/ros:@release_name-desktop-@os_code_name \
 		desktop/.
-	@if [ "$os_name" = "ubuntu" ]; then \
+	@@if [ "@os_name" = "ubuntu" ]; then \
 		docker pull \
-			osrf/ros:$release_name-desktop-$os_code_name; \
+			osrf/ros:@release_name-desktop-@os_code_name; \
 		docker tag \
-			osrf/ros:$release_name-desktop-$os_code_name \
-			osrf/ros:$release_name-desktop; \
+			osrf/ros:@release_name-desktop-@os_code_name \
+			osrf/ros:@release_name-desktop; \
 		docker push \
-			osrf/ros:$release_name-desktop; \
+			osrf/ros:@release_name-desktop; \
 	fi
-	@docker buildx build --pull --push \
-		--cache-from=type=registry,ref=osrf/ros:$release_name-desktop-full-$os_code_name \
+	@@docker buildx build --pull --push \
+		--cache-from=type=registry,ref=osrf/ros:@release_name-desktop-full-@os_code_name \
 		--cache-to=type=inline \
-		--tag=osrf/ros:$release_name-desktop-full-$os_code_name \
+		--tag=osrf/ros:@release_name-desktop-full-@os_code_name \
 		desktop-full/.
-	@if [ "$os_name" = "ubuntu" ]; then \
+	@@if [ "@os_name" = "ubuntu" ]; then \
 		docker pull \
-			osrf/ros:$release_name-desktop-full-$os_code_name; \
+			osrf/ros:@release_name-desktop-full-@os_code_name; \
 		docker tag \
-			osrf/ros:$release_name-desktop-full-$os_code_name \
-			osrf/ros:$release_name-desktop-full; \
+			osrf/ros:@release_name-desktop-full-@os_code_name \
+			osrf/ros:@release_name-desktop-full; \
 		docker push \
-			osrf/ros:$release_name-desktop-full; \
+			osrf/ros:@release_name-desktop-full; \
 	fi
diff --git a/ros/.config/ros1/platform.yaml.em b/ros/.config/ros1/platform.yaml.em
index 04d46825b..58bbd9021 100644
--- a/ros/.config/ros1/platform.yaml.em
+++ b/ros/.config/ros1/platform.yaml.em
@@ -2,11 +2,13 @@
 # ROS Dockerfile database
 ---
 platform:
-    os_name: $os_name
-    os_code_name: $os_code_name
-    rosdistro_name: $release_name
+    os_name: @os_name
+    os_code_name: @os_code_name
+    rosdistro_name: @release_name
     user_name: ros
     maintainer_name:
-    arch: amd64
+    archs:
+        - @('\n        - '.join(archs))@
+
     type: distribution
     version:
diff --git a/ros/.config/ros2/Makefile.em b/ros/.config/ros2/Makefile.em
index e80963494..bd4bcf253 100644
--- a/ros/.config/ros2/Makefile.em
+++ b/ros/.config/ros2/Makefile.em
@@ -1,78 +1,78 @@
 all: help
 
 help:
-	@echo ""
-	@echo "-- Help Menu"
-	@echo ""
-	@echo "   1. make build            - build all images"
-	@echo "   2. make pull             - pull all images"
-	@echo "   3. make clean            - remove all images"
-	@echo ""
+	@@echo ""
+	@@echo "-- Help Menu"
+	@@echo ""
+	@@echo "   1. make build            - build all images"
+	@@echo "   2. make pull             - pull all images"
+	@@echo "   3. make clean            - remove all images"
+	@@echo ""
 
 build:
-	@docker build --tag=ros:$release_name-ros-core-$os_code_name			ros-core/.
-	@docker build --tag=ros:$release_name-ros-base-$os_code_name			ros-base/.
-	@docker build --tag=ros:$release_name-perception-$os_code_name			perception/.
-	# @docker build --tag=osrf/ros:$release_name-simulation-$os_code_name			simulation/.
-	# @docker build --tag=osrf/ros:$release_name-desktop-$os_code_name			desktop/.
-	# @docker build --tag=osrf/ros:$release_name-desktop-full-$os_code_name			desktop-full/.
+	@@docker build --tag=ros:@release_name-ros-core-@os_code_name			ros-core/.
+	@@docker build --tag=ros:@release_name-ros-base-@os_code_name			ros-base/.
+	@@docker build --tag=ros:@release_name-perception-@os_code_name			perception/.
+	# @@docker build --tag=osrf/ros:@release_name-simulation-@os_code_name			simulation/.
+	# @@docker build --tag=osrf/ros:@release_name-desktop-@os_code_name			desktop/.
+	# @@docker build --tag=osrf/ros:@release_name-desktop-full-@os_code_name			desktop-full/.
 
 pull:
-	@docker pull ros:$release_name-ros-core-$os_code_name
-	@docker pull ros:$release_name-ros-base-$os_code_name
-	@docker pull ros:$release_name-perception-$os_code_name
-	# @docker pull osrf/ros:$release_name-simulation-$os_code_name
-	# @docker pull osrf/ros:$release_name-desktop-$os_code_name
-	# @docker pull osrf/ros:$release_name-desktop-full-$os_code_name
+	@@docker pull ros:@release_name-ros-core-@os_code_name
+	@@docker pull ros:@release_name-ros-base-@os_code_name
+	@@docker pull ros:@release_name-perception-@os_code_name
+	# @@docker pull osrf/ros:@release_name-simulation-@os_code_name
+	# @@docker pull osrf/ros:@release_name-desktop-@os_code_name
+	# @@docker pull osrf/ros:@release_name-desktop-full-@os_code_name
 
 clean:
-	@docker rmi -f ros:$release_name-ros-core-$os_code_name
-	@docker rmi -f ros:$release_name-ros-base-$os_code_name
-	@docker rmi -f ros:$release_name-perception-$os_code_name
-	# @docker rmi -f osrf/ros:$release_name-simulation-$os_code_name
-	# @docker rmi -f osrf/ros:$release_name-desktop-$os_code_name
-	# @docker rmi -f osrf/ros:$release_name-desktop-full-$os_code_name
+	@@docker rmi -f ros:@release_name-ros-core-@os_code_name
+	@@docker rmi -f ros:@release_name-ros-base-@os_code_name
+	@@docker rmi -f ros:@release_name-perception-@os_code_name
+	# @@docker rmi -f osrf/ros:@release_name-simulation-@os_code_name
+	# @@docker rmi -f osrf/ros:@release_name-desktop-@os_code_name
+	# @@docker rmi -f osrf/ros:@release_name-desktop-full-@os_code_name
 
 ci_buildx:
-	@docker buildx build --pull --push \
-		--cache-from=type=registry,ref=osrf/ros:$release_name-desktop-$os_code_name \
+	@@docker buildx build --pull --push \
+		--cache-from=type=registry,ref=osrf/ros:@release_name-desktop-@os_code_name \
 		--cache-to=type=inline \
-		--tag=osrf/ros:$release_name-desktop-$os_code_name \
+		--tag=osrf/ros:@release_name-desktop-@os_code_name \
 		desktop/.
-	@if [ "$os_name" = "ubuntu" ]; then \
+	@@if [ "@os_name" = "ubuntu" ]; then \
 		docker pull \
-			osrf/ros:$release_name-desktop-$os_code_name; \
+			osrf/ros:@release_name-desktop-@os_code_name; \
     	docker tag \
-			osrf/ros:$release_name-desktop-$os_code_name \
-			osrf/ros:$release_name-desktop; \
+			osrf/ros:@release_name-desktop-@os_code_name \
+			osrf/ros:@release_name-desktop; \
 		docker push \
-			osrf/ros:$release_name-desktop; \
+			osrf/ros:@release_name-desktop; \
 	fi
-	@docker buildx build --pull --push \
-		--cache-from=type=registry,ref=osrf/ros:$release_name-simulation-$os_code_name \
+	@@docker buildx build --pull --push \
+		--cache-from=type=registry,ref=osrf/ros:@release_name-simulation-@os_code_name \
 		--cache-to=type=inline \
-		--tag=osrf/ros:$release_name-simulation-$os_code_name \
+		--tag=osrf/ros:@release_name-simulation-@os_code_name \
 		simulation/.
-	@if [ "$os_name" = "ubuntu" ]; then \
+	@@if [ "@os_name" = "ubuntu" ]; then \
 		docker pull \
-			osrf/ros:$release_name-simulation-$os_code_name; \
+			osrf/ros:@release_name-simulation-@os_code_name; \
 		docker tag \
-			osrf/ros:$release_name-simulation-$os_code_name \
-			osrf/ros:$release_name-simulation; \
+			osrf/ros:@release_name-simulation-@os_code_name \
+			osrf/ros:@release_name-simulation; \
 		docker push \
-			osrf/ros:$release_name-simulation; \
+			osrf/ros:@release_name-simulation; \
 	fi
-	@docker buildx build --pull --push \
-		--cache-from=type=registry,ref=osrf/ros:$release_name-desktop-full-$os_code_name \
+	@@docker buildx build --pull --push \
+		--cache-from=type=registry,ref=osrf/ros:@release_name-desktop-full-@os_code_name \
 		--cache-to=type=inline \
-		--tag=osrf/ros:$release_name-desktop-full-$os_code_name \
+		--tag=osrf/ros:@release_name-desktop-full-@os_code_name \
 		desktop-full/.
-	@if [ "$os_name" = "ubuntu" ]; then \
+	@@if [ "@os_name" = "ubuntu" ]; then \
 		docker pull \
-			osrf/ros:$release_name-desktop-full-$os_code_name; \
+			osrf/ros:@release_name-desktop-full-@os_code_name; \
 		docker tag \
-			osrf/ros:$release_name-desktop-full-$os_code_name \
-			osrf/ros:$release_name-desktop-full; \
+			osrf/ros:@release_name-desktop-full-@os_code_name \
+			osrf/ros:@release_name-desktop-full; \
 		docker push \
-			osrf/ros:$release_name-desktop-full; \
+			osrf/ros:@release_name-desktop-full; \
 	fi
diff --git a/ros/.config/ros2/platform.yaml.em b/ros/.config/ros2/platform.yaml.em
index 67fff098b..a00d21024 100644
--- a/ros/.config/ros2/platform.yaml.em
+++ b/ros/.config/ros2/platform.yaml.em
@@ -2,11 +2,13 @@
 # ROS2 Dockerfile database
 ---
 platform:
-    os_name: $os_name
-    os_code_name: $os_code_name
-    ros2distro_name: $release_name
+    os_name: @os_name
+    os_code_name: @os_code_name
+    ros2distro_name: @release_name
     user_name: ros
     maintainer_name:
-    arch: amd64
+    archs:
+        - @('\n        - '.join(archs))@
+
     type: distribution
     version: