diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 000000000..5d4eed38d
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,4 @@
+.git
+build
+install
+log
diff --git a/Dockerfile b/Dockerfile
index 8006e4e09..ab66b73fb 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -26,8 +26,6 @@ ARG USER_GID
 # Copy source code from the workspace's ROS 2 packages to a workspace inside the container
 ARG USER_WS=/home/${USERNAME}/user_ws
 ENV USER_WS=${USER_WS}
-RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
-COPY ./src ${USER_WS}/src
 
 # Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
 WORKDIR $USER_WS
@@ -67,6 +65,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    --mount=type=bind,target=${USER_WS}/,source=. \
     . /opt/overlay_ws/install/setup.sh && \
     apt-get update && \
     rosdep install -q -y \