diff --git a/.github/workflows/build-orbslam3-ws.yaml b/.github/workflows/build-orbslam3-ws.yaml
index 76b9c405..14d41b13 100644
--- a/.github/workflows/build-orbslam3-ws.yaml
+++ b/.github/workflows/build-orbslam3-ws.yaml
@@ -8,6 +8,7 @@ on:
       - .github/workflows/build-orbslam3-ws.yaml
       - orbslam3_ws/docker/Dockerfile
       - orbslam3_ws/docker/.dockerignore
+      - orbslam3_ws/docker/.bashrc
 
 jobs:
   docker:
diff --git a/orbslam3_ws/docker/.bashrc b/orbslam3_ws/docker/.bashrc
new file mode 100644
index 00000000..0fc8a65e
--- /dev/null
+++ b/orbslam3_ws/docker/.bashrc
@@ -0,0 +1,31 @@
+# Source global ROS2 environment
+source /opt/ros/$ROS_DISTRO/setup.bash
+# Optionally perform apt update if it has not been executed yet
+if [ -z "$( ls -A '/var/lib/apt/lists' )" ]; then
+    echo "apt-get update has not been executed yet. Running sudo apt-get update..."
+    sudo apt-get update
+fi
+# Optionally perform rosdep update if it has not been executed yet
+if [ ! -d $HOME/.ros/rosdep/sources.cache ]; then
+    echo "rosdep update has not been executed yet. Running rosdep update..."
+    rosdep update
+fi
+# Optionally build the workspace if it has not been built yet
+if [ ! -f $ROS2_WS/install/setup.bash ]; then
+    echo "Workspace has not been built yet. Building workspace..."
+    cd $ROS2_WS
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Intermediate/Rosdep.html
+    rosdep install --from-paths src --ignore-src -y -r
+    # TODO: If command `arch` outputs `aarch64`, consider adding `--packages-ignore <package>` to ignore x86 packages
+    # Ref: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
+    if [ $(arch) == "aarch64" ]; then
+        colcon build --symlink-install
+    else
+        colcon build --symlink-install
+    fi
+    echo "Workspace built."
+fi
+# TODO: Source other workspace environments as underlay
+source ~/test_ws/install/local_setup.bash
+# Source workspace environment
+source $ROS2_WS/install/setup.bash
diff --git a/orbslam3_ws/docker/.dockerignore b/orbslam3_ws/docker/.dockerignore
index 72e8ffc0..4901728d 100644
--- a/orbslam3_ws/docker/.dockerignore
+++ b/orbslam3_ws/docker/.dockerignore
@@ -1 +1,2 @@
 *
+!.bashrc
diff --git a/tests/lint_comp_template.py b/tests/lint_comp_template.py
index 45e962f7..7afe1ac4 100644
--- a/tests/lint_comp_template.py
+++ b/tests/lint_comp_template.py
@@ -84,6 +84,6 @@ def error(msg, i):
 compare_file_with_template(".devcontainer/devcontainer.json", ignored_workspaces=["ros1_bridge_ws"])
 compare_file_with_template(".gitignore")
 compare_file_with_template("docker/.bashrc")
-compare_file_with_template("docker/.dockerignore", ignored_workspaces=["ros1_bridge_ws", "orbslam3_ws"])
+compare_file_with_template("docker/.dockerignore", ignored_workspaces=["ros1_bridge_ws"])
 compare_file_with_template("docker/compose.yaml", ignored_workspaces=["ros1_bridge_ws"])
 compare_file_with_template("docker/Dockerfile", ignored_workspaces=["ros1_bridge_ws"])
diff --git a/tests/lint_filenames.py b/tests/lint_filenames.py
index d307fb29..a09b7f98 100644
--- a/tests/lint_filenames.py
+++ b/tests/lint_filenames.py
@@ -21,8 +21,7 @@
     for workspace_path in glob.glob(f"{repo_dir}/*_ws"):
         if not os.path.isfile(f"{workspace_path}/{filename}"):
             # Skip certain cases intentionally
-            if filename in (".gitignore", "docker/.bashrc") and os.path.basename(workspace_path) == "ros1_bridge_ws" or \
-               filename in ("docker/.bashrc") and os.path.basename(workspace_path) == "orbslam3_ws":
+            if filename in (".gitignore", "docker/.bashrc") and os.path.basename(workspace_path) == "ros1_bridge_ws":
                 continue
             # Report error
             raise ValueError(f"'{filename}' does not exist in: '{workspace_path}'")