diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 85709afb..5b9bf57a 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -15,21 +15,44 @@ jobs:
         include:
         - docker_tag: kinetic
           docker_path: 'kinetic'
+          docker_platforms: |
+            linux/amd64
         - docker_tag: kinetic-latest
           docker_path: 'kinetic/latest'
+          docker_platforms: |
+            linux/amd64
         - docker_tag: melodic
           docker_path: 'melodic'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+            linux/arm/v7
         - docker_tag: melodic-latest
           docker_path: 'melodic/latest'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
         - docker_tag: noetic
           docker_path: 'noetic'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+            linux/arm/v7
         - docker_tag: noetic-latest
           docker_path: 'noetic/latest'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
     
     steps:
       -
         name: Checkout
         uses: actions/checkout@v2
+      -
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v1
+        with:
+          platforms: all
       -
         name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v1
@@ -45,6 +68,7 @@ jobs:
         with:
           context: ./docker/${{ matrix.docker_path }}
           push: true
+          platforms: ${{ matrix.docker_platforms }}
           build-args: |
             CACHE_DATE=${{ github.head_ref }}.${{ github.sha }}
           tags: introlab3it/rtabmap_ros:${{ matrix.docker_tag }}