diff --git a/CHANGELOG b/CHANGELOG
index 5918f7b..7618708 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -5,6 +5,23 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [3.2.0] - 2025-05-09
+
+### Added
+- Added new `dockerfile_templates/python.txt` template where all python related packages are defined. Now python is istalled by default
+- Added new oh-my-zsh plugins: zsh-autosuggestions, zsh-completions and zsh-syntax-highlighting
+- Added `git-lfs` to `dockerfile_templates/install_common_packages.txt`
+
+### Fixed
+- Fixed `zsh` autocompletion issue in ROS2
+
+### Changed
+- Introduced `dockerfile_templates/ros2_extra.txt` to explicitly define extra ROS packages and reduced scope of ros2.txt
+
+### Removed
+- Removed python installation from `dockerfile_templates/conan.txt` as python is installed by default now
+- Removed any pip upgrades from template files as pip is being upgraded by default at `dockerfile_templates/python.txt`
+
 ## [3.1.1] - 2025-03-21
 
 ### Fixed
diff --git a/pyproject.toml b/pyproject.toml
index cfb53f1..d372cc1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "turludock"
-version = "3.1.1"
+version = "3.2.0"
 description = "Builds ROS docker images that support GUI with either X11 or Wayland."
 authors = [
     "Athanasios <dev@tasoglou.net>",
diff --git a/turludock/assets/dockerfile_templates/conan.txt b/turludock/assets/dockerfile_templates/conan.txt
index e528682..9368446 100644
--- a/turludock/assets/dockerfile_templates/conan.txt
+++ b/turludock/assets/dockerfile_templates/conan.txt
@@ -1,7 +1,4 @@
 # Install conan
-RUN apt-get update && apt-get install -y python3-pip && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
-RUN pip install --no-cache-dir --break-system-packages --upgrade pip || pip install --no-cache-dir --upgrade pip && \
-    pip install --no-cache-dir --break-system-packages --ignore-installed PyYAML && \
+RUN pip install --no-cache-dir --break-system-packages --ignore-installed PyYAML && \
+    pip install --no-cache-dir --break-system-packages --ignore-installed distro && \
     pip install --no-cache-dir --break-system-packages conan
\ No newline at end of file
diff --git a/turludock/assets/dockerfile_templates/cpplint.txt b/turludock/assets/dockerfile_templates/cpplint.txt
index f3a1020..a10ebc8 100644
--- a/turludock/assets/dockerfile_templates/cpplint.txt
+++ b/turludock/assets/dockerfile_templates/cpplint.txt
@@ -1,6 +1,2 @@
 # Install cpplint
-RUN apt-get update && apt-get install -y python3-pip && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
-RUN pip install --user --no-cache-dir --break-system-packages --upgrade pip && \
-    pip install --user --no-cache-dir --break-system-packages cpplint
\ No newline at end of file
+RUN pip install --user --no-cache-dir --break-system-packages cpplint
\ No newline at end of file
diff --git a/turludock/assets/dockerfile_templates/install_common_packages.txt b/turludock/assets/dockerfile_templates/install_common_packages.txt
index fbf134c..dd4aa70 100644
--- a/turludock/assets/dockerfile_templates/install_common_packages.txt
+++ b/turludock/assets/dockerfile_templates/install_common_packages.txt
@@ -4,6 +4,7 @@ sudo \
 locales \
 lsb-release \
 git \
+git-lfs \
 subversion \
 nano \
 vim \
diff --git a/turludock/assets/dockerfile_templates/oh_my_zsh.txt b/turludock/assets/dockerfile_templates/oh_my_zsh.txt
index f201750..40f0e28 100644
--- a/turludock/assets/dockerfile_templates/oh_my_zsh.txt
+++ b/turludock/assets/dockerfile_templates/oh_my_zsh.txt
@@ -5,5 +5,9 @@ RUN apt-get update && apt-get install -y zsh && apt-get clean && rm -rf /var/lib
     git clone https://github.com/sindresorhus/pure /root/.oh-my-zsh/custom/pure && \
     ln -s /root/.oh-my-zsh/custom/pure/pure.zsh-theme /root/.oh-my-zsh/custom/ && \
     ln -s /root/.oh-my-zsh/custom/pure/async.zsh /root/.oh-my-zsh/custom/ && \
+    git clone https://github.com/zsh-users/zsh-autosuggestions ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-autosuggestions && \
+    git clone https://github.com/zsh-users/zsh-completions.git ${ZSH_CUSTOM:-${ZSH:-~/.oh-my-zsh}/custom}/plugins/zsh-completions && \
+    git clone https://github.com/zsh-users/zsh-syntax-highlighting.git ${ZSH_CUSTOM:-~/.oh-my-zsh/custom}/plugins/zsh-syntax-highlighting && \
     sed -i -e 's/robbyrussell/refined/g' /root/.zshrc && \
-    sed -i '/plugins=(/c\plugins=(git pyenv)' /root/.zshrc
\ No newline at end of file
+    sed -i '/plugins=(/c\plugins=(git pyenv zsh-autosuggestions zsh-syntax-highlighting)' /root/.zshrc && \
+    sed -i '/source \$ZSH\/oh-my-zsh\.sh/i # needed for zsh-completions\nfpath+=${ZSH_CUSTOM:-${ZSH:-~/.oh-my-zsh}/custom}/plugins/zsh-completions/src\nautoload -U compinit \&\& compinit\n' ~/.zshrc
\ No newline at end of file
diff --git a/turludock/assets/dockerfile_templates/python.txt b/turludock/assets/dockerfile_templates/python.txt
new file mode 100644
index 0000000..e532257
--- /dev/null
+++ b/turludock/assets/dockerfile_templates/python.txt
@@ -0,0 +1,5 @@
+# Install Python and Python related packages
+RUN apt-get update && apt-get install -y python3 python3-dev python3-venv python3-pip && \
+    apt-get clean && rm -rf /var/lib/apt/lists/*
+# Upgrade pip - but not all pip versions support "--break-system-packages"
+RUN python3 -m pip install --upgrade pip --break-system-packages --ignore-installed || python3 -m pip install --upgrade pip
\ No newline at end of file
diff --git a/turludock/assets/dockerfile_templates/ros2.txt b/turludock/assets/dockerfile_templates/ros2.txt
index 3a8a36d..a2a3ab3 100644
--- a/turludock/assets/dockerfile_templates/ros2.txt
+++ b/turludock/assets/dockerfile_templates/ros2.txt
@@ -5,10 +5,8 @@ RUN add-apt-repository -y universe && \
 
 RUN apt-get update && apt-get install -y \
     ros-$ros_version_short-desktop \
-    ros-dev-tools \
-    ros-$ros_version_short-perception \
-    libpcl-dev && \
+    ros-dev-tools && \
     apt-get clean && rm -rf /var/lib/apt/lists/*
 
 RUN echo "source /opt/ros/$ros_version_short/setup.bash" >> /root/.bashrc && \
-    echo "source /opt/ros/$ros_version_short/setup.zsh" >> /root/.zshrc
\ No newline at end of file
+    echo "source /opt/ros/$ros_version_short/setup.zsh" >> /root/.zshrc
diff --git a/turludock/assets/dockerfile_templates/ros2_autocomplete_fix.txt b/turludock/assets/dockerfile_templates/ros2_autocomplete_fix.txt
new file mode 100755
index 0000000..646f60e
--- /dev/null
+++ b/turludock/assets/dockerfile_templates/ros2_autocomplete_fix.txt
@@ -0,0 +1,4 @@
+# Fix for argcomplete for ros2 & colcon (https://github.com/ros2/ros2cli/issues/534#issuecomment-957516107)
+RUN echo "\n# Fix for argcomplete for ros2 & colcon (https://github.com/ros2/ros2cli/issues/534#issuecomment-957516107)" >> /root/.zshrc && \
+    echo 'eval "$$(/usr/bin/register-$python_argcomplete ros2)"' >> /root/.zshrc  && \
+    echo 'eval "$$(/usr/bin/register-$python_argcomplete colcon)"' >> /root/.zshrc
\ No newline at end of file
diff --git a/turludock/assets/dockerfile_templates/ros2_extra.txt b/turludock/assets/dockerfile_templates/ros2_extra.txt
new file mode 100755
index 0000000..26c8dab
--- /dev/null
+++ b/turludock/assets/dockerfile_templates/ros2_extra.txt
@@ -0,0 +1,21 @@
+# Extra ROS2 packages
+RUN apt-get update && apt-get install -y \
+    ros-$ros_version_short-rclpy-message-converter \
+    ros-$ros_version_short-diagnostic-updater \
+    ros-$ros_version_short-joint-state-publisher \
+    ros-$ros_version_short-rosbag2-storage-mcap \
+    ros-$ros_version_short-perception \
+    ros-$ros_version_short-cv-bridge \
+    ros-$ros_version_short-pcl-ros \
+    ros-$ros_version_short-pcl-conversions \
+    ros-$ros_version_short-point-cloud-transport \
+    ros-$ros_version_short-visualization-msgs \
+    ros-$ros_version_short-sensor-msgs \
+    ros-$ros_version_short-geometry-msgs \
+    ros-$ros_version_short-mavros-msgs \
+    ros-$ros_version_short-nmea-msgs \
+    ros-$ros_version_short-geographic-msgs \
+    ros-$ros_version_short-vision-msgs \
+    ros-$ros_version_short-v4l2-camera \
+    libpcl-dev && \
+    apt-get clean && rm -rf /var/lib/apt/lists/*
\ No newline at end of file
diff --git a/turludock/generate_dockerfile.py b/turludock/generate_dockerfile.py
index 1806b88..fa77f96 100644
--- a/turludock/generate_dockerfile.py
+++ b/turludock/generate_dockerfile.py
@@ -14,6 +14,7 @@
     generate_meld,
     generate_mesa,
     generate_ohmyzsh,
+    generate_python,
     generate_terminator,
     generate_vscode,
 )
@@ -31,6 +32,8 @@
     generate_header_info,
     generate_llvm,
     generate_ros,
+    generate_ros_autocomplete_fix,
+    generate_ros_extra,
     generate_tmux,
 )
 from turludock.helper_functions import (
@@ -163,6 +166,7 @@ def generate_dockerfile(yaml_config: Dict[str, Any]) -> str:
     # Common configuration for all images
     dockerfile += generate_common_env_config()
     dockerfile += generate_install_common_packages()
+    dockerfile += generate_python()
     dockerfile += generate_locale()
     dockerfile += generate_cmake(_get_package_version(yaml_config, "cmake"))
     dockerfile += generate_terminator()
@@ -208,6 +212,8 @@ def generate_dockerfile(yaml_config: Dict[str, Any]) -> str:
 
     # Add ROS
     dockerfile += generate_ros(yaml_config["ros_version"])
+    dockerfile += generate_ros_extra(yaml_config["ros_version"])
+    dockerfile += generate_ros_autocomplete_fix(yaml_config["ros_version"])
 
     # Add the extra-packages
     extra_packages_label_list = list()
diff --git a/turludock/generate_non_templated_files.py b/turludock/generate_non_templated_files.py
index 118c2a9..4077862 100644
--- a/turludock/generate_non_templated_files.py
+++ b/turludock/generate_non_templated_files.py
@@ -55,6 +55,15 @@ def generate_install_common_packages() -> str:
     return get_non_templated_file("install_common_packages.txt")
 
 
+def generate_python() -> str:
+    """Get python.txt as a string
+
+    Returns:
+        str: The python.txt as a string
+    """
+    return get_non_templated_file("python.txt")
+
+
 def generate_locale() -> str:
     """Get locale.txt as a string
 
diff --git a/turludock/generate_templated_files.py b/turludock/generate_templated_files.py
index d710886..b7ddf9e 100644
--- a/turludock/generate_templated_files.py
+++ b/turludock/generate_templated_files.py
@@ -13,7 +13,6 @@
     get_cpu_count_for_build,
     get_ros_major_version,
     get_ubuntu_version,
-    is_ros_version_supported,
     is_version_greater,
     is_version_lower,
 )
@@ -29,11 +28,18 @@ def populate_templated_file(mapping: Dict[str, str], templated_file: str) -> str
     Returns:
         str: The populated templated file.
     """
-    with importlib.resources.open_text("turludock.assets.dockerfile_templates", templated_file) as f:
-        src = Template(f.read())
-        str_output = src.substitute(mapping)
-    str_output += "\n\n"
-    return str_output
+    try:
+        with importlib.resources.open_text("turludock.assets.dockerfile_templates", templated_file) as f:
+            src = Template(f.read())
+            str_output = src.substitute(mapping)
+        str_output += "\n\n"
+        return str_output
+    except FileNotFoundError:
+        print(f"Template file '{templated_file}' not found.")
+    except KeyError as e:
+        print(f"Missing substitution key: {e}")
+    except Exception as e:
+        print(f"An unexpected error occurred at function `populate_templated_file`: {e}")
 
 
 def _get_ubuntu_base_image(version: str, nvidia: bool) -> str:
@@ -121,10 +127,6 @@ def generate_header_info(docker_label_description: str, ros_version_short: str)
     """
     logger.debug(f"Generate 'header_info.txt'. Input: {docker_label_description}, {ros_version_short}")
 
-    # Check if provided version is supported
-    if not is_ros_version_supported(ros_version_short):
-        raise ValueError(f"ROS version '{ros_version_short}' not supported. Check your configuration.")
-
     # Map the template variables
     mapping = {
         "docker_label_description": docker_label_description,
@@ -199,7 +201,7 @@ def generate_llvm(version: str) -> str:
 
 
 def generate_ros(ros_version_codename: str) -> str:
-    """Generates the 'ros1.txt' or 'ros2.txt' templated file, which is responsible for installing ROS 1 or 2
+    """Generates the 'rosX.txt' templated file, which is responsible for installing ROS 1 or 2
 
     The selection of ROS 1 or 2 is based on the provided ROS codename.
 
@@ -207,10 +209,7 @@ def generate_ros(ros_version_codename: str) -> str:
         ros_version_codename (str): The ROS version as codename.
 
     Returns:
-        str: The populated 'ros1.txt' file as a string.
-
-    Raises:
-        ValueError: If the provided ROS version is not supported.
+        str: The populated 'rosX.txt' file as a string.
     """
     # Determine if it ROS1 or ROS2
     if get_ros_major_version(ros_version_codename) == 1:
@@ -220,9 +219,32 @@ def generate_ros(ros_version_codename: str) -> str:
 
     logger.debug(f"Generate '{template_file}'. Input: {ros_version_codename}")
 
-    # Check if provided version is supported
-    if not is_ros_version_supported(ros_version_codename):
-        raise ValueError("ROS version not supported. Check your configuration.")
+    # Map the template variables
+    mapping = {"ros_version_short": ros_version_codename}
+
+    # Populate the templated file
+    return populate_templated_file(mapping, template_file)
+
+
+def generate_ros_extra(ros_version_codename: str) -> str:
+    """Generates the 'rosX_extra.txt' templated file, which is responsible for installing extra ROS packages
+
+    The selection of ROS 1 or 2 is based on the provided ROS codename.
+
+    Args:
+        ros_version_codename (str): The ROS version as codename.
+
+    Returns:
+        str: The populated 'rosX_extra.txt' file as a string.
+    """
+    # Determine if it ROS1 or ROS2
+    if get_ros_major_version(ros_version_codename) == 1:
+        # TODO
+        return ""
+    else:
+        template_file = "ros2_extra.txt"
+
+    logger.debug(f"Generate '{template_file}'. Input: {ros_version_codename}")
 
     # Map the template variables
     mapping = {"ros_version_short": ros_version_codename}
@@ -231,6 +253,45 @@ def generate_ros(ros_version_codename: str) -> str:
     return populate_templated_file(mapping, template_file)
 
 
+def generate_ros_autocomplete_fix(ros_version_codename: str) -> str:
+    """Generates the 'ros2_autocomplete_fix.txt' templated file as string
+
+    This file is responsible for introducing a fix for zsh autocomplete.
+    https://github.com/ros2/ros2cli/issues/534#issuecomment-957516107
+
+    This has the hidden assumption that a ROS2 version is always coupled to a Ubuntu version.
+    The fix should actually be on the Ubuntu version and not the ROS2 version.
+
+    Args:
+        ros_version_codename (str): The ROS version as codename.
+
+    Returns:
+        str: The populated 'ros2_autocomplete_fix.txt' file as a string.
+
+    Raises:
+        ValueError: If ROS version not supported / not yet added by this function
+    """
+
+    if get_ros_major_version(ros_version_codename) == 1:
+        return ""
+
+    template_file = "ros2_autocomplete_fix.txt"
+
+    # Only apply for Humble
+    if ros_version_codename == "humble" or ros_version_codename == "iron":
+        mapping = {"python_argcomplete": "python-argcomplete3"}
+    elif ros_version_codename == "jazzy":
+        mapping = {"python_argcomplete": "python-argcomplete"}
+    else:
+        raise ValueError(
+            f"ROS version {ros_version_codename} not yet supported by this function. "
+            "Ask the developer to add support!"
+        )
+
+    logger.debug(f"Generate '{template_file}'. Input: {ros_version_codename}")
+    return populate_templated_file(mapping, template_file)
+
+
 def generate_extra_packages_label(extra_packages_list: List[str]) -> str:
     """Generates the 'extra_packages_label.txt' templated file