diff --git a/.github/workflows/docker-base.yml b/.github/workflows/docker-base.yml
index 18a9a900ea..838e1e8702 100644
--- a/.github/workflows/docker-base.yml
+++ b/.github/workflows/docker-base.yml
@@ -22,19 +22,20 @@ jobs:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-          since_last_remote_commit: true
       - name: Get changed files
         id: changed-files
         uses: tj-actions/changed-files@v23.1
         with:
+          since_last_remote_commit: true
           files: |
             .docker/Dockerfile
             moveit2_tutorials.repos
+            doc/tutorials/*
       - name: Set up Docker Buildx
         if: steps.changed-files.outputs.any_changed == 'true'
         uses: docker/setup-buildx-action@v2
       - name: Login to Github Container Registry
-        if: steps.changed-files.outputs.any_changed == 'true' && env.PUSH == 'true'
+        if: steps.changed-files.outputs.any_changed == 'true'
         uses: docker/login-action@v2
         with:
           registry: ghcr.io
@@ -58,3 +59,14 @@ jobs:
           tags: |
             ${{ env.GH_IMAGE }}
 #            ${{ env.DH_IMAGE }}
+      - name: Build and Push PR Image
+        uses: docker/build-push-action@v3
+        if: steps.changed-files.outputs.any_changed == 'true' && env.PUSH == 'false' &&  github.event_name == 'pull_request'
+        with:
+          file: .docker/Dockerfile
+          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          target: base_image
+          push: true
+          no-cache: false
+          tags: |
+            ${{ env.GH_IMAGE }}-PR-${{ github.head_ref }}
diff --git a/.github/workflows/docker-images.yml b/.github/workflows/docker-images.yml
index 61b940bc70..f85cd74e63 100644
--- a/.github/workflows/docker-images.yml
+++ b/.github/workflows/docker-images.yml
@@ -19,6 +19,10 @@ jobs:
       PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2_tutorials') }}
 
     steps:
+      - name: Add -PR-<branch_name> to base image if this is a PR
+        if: github.event_name == 'pull_request'
+        run: |
+          echo "BASE_IMAGE_BRANCH=-PR-${{ github.head_ref }}" >> $GITHUB_ENV
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
       - name: Login to Github Container Registry
@@ -38,7 +42,9 @@ jobs:
         uses: docker/build-push-action@v3
         with:
           file: .docker/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: |
+                ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+                BASE_BRANCH=${{ env.BASE_IMAGE_BRANCH }}
           target: hello_world_image
           push: ${{ env.PUSH }}
           no-cache: false
@@ -49,7 +55,9 @@ jobs:
         uses: docker/build-push-action@v3
         with:
           file: .docker/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: |
+                ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+                BASE_BRANCH=${{ env.BASE_IMAGE_BRANCH }}
           target: planning_around_objects_image
           push: ${{ env.PUSH }}
           no-cache: false
@@ -60,7 +68,9 @@ jobs:
         uses: docker/build-push-action@v3
         with:
           file: .docker/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: |
+                ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+                BASE_BRANCH=${{ env.BASE_IMAGE_BRANCH }}
           target: pick_and_place_image
           push: ${{ env.PUSH }}
           no-cache: false
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 4904fb4fe1..07c4c1e405 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -12,7 +12,7 @@ on:
     paths:
       - moveit2_tutorials.repos
       - .docker/**
-      - doc/**
+      - doc/tutorials/**
 
 jobs:
   call-docker-base: