diff --git a/.circleci/config.yml b/.circleci/config.yml
index 072cabd71f4..5293fc64afa 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -97,7 +97,7 @@ _commands:
               sha256sum $PWD/lockfile.txt >> lockfile.txt
 
               apt-get update
-              # rosdep update --rosdistro $ROS_DISTRO
+              rosdep update --rosdistro $ROS_DISTRO
               dependencies=$(
                 rosdep install -q -y \
                   --from-paths src \
diff --git a/Dockerfile b/Dockerfile
index 5ded0020d79..155f5aefbbf 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -6,7 +6,7 @@
 # docker build -t nav2:latest \
 #   --build-arg UNDERLAY_MIXINS \
 #   --build-arg OVERLAY_MIXINS ./
-ARG FROM_IMAGE=ros:rolling-ros-base-focal
+ARG FROM_IMAGE=ros:rolling
 ARG UNDERLAY_WS=/opt/underlay_ws
 ARG OVERLAY_WS=/opt/overlay_ws
 
@@ -60,7 +60,7 @@ RUN apt-get update && \
       fastcov \
       git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \
       git+https://github.com/ruffsl/colcon-clean.git@a7f1074d1ebc1a54a6508625b117974f2672f2a9 \
-    # && rosdep update \
+    && rosdep update \
     && colcon mixin update \
     && colcon metadata update \
     && rm -rf /var/lib/apt/lists/*
diff --git a/tools/distro.Dockerfile b/tools/distro.Dockerfile
index 2e8e712d689..6ae66fb66e6 100644
--- a/tools/distro.Dockerfile
+++ b/tools/distro.Dockerfile
@@ -13,7 +13,7 @@
 #   --build-arg OVERLAY_MIXINS \
 #   -f distro.Dockerfile ../
 
-ARG FROM_IMAGE=ros:rolling-ros-base-focal
+ARG FROM_IMAGE=ros:rolling
 ARG OVERLAY_WS=/opt/overlay_ws
 
 # multi-stage for caching
@@ -56,8 +56,8 @@ RUN --mount=type=cache,target=/var/cache/apt \
     apt-get update && apt-get install -q -y \
       ccache \
       lcov \
-      lld
-    # && rosdep update
+      lld \
+    && rosdep update
 
 # install overlay dependencies
 ARG OVERLAY_WS
diff --git a/tools/source.Dockerfile b/tools/source.Dockerfile
index 0d294ceb6c1..90cdc223ea7 100644
--- a/tools/source.Dockerfile
+++ b/tools/source.Dockerfile
@@ -82,8 +82,8 @@ RUN --mount=type=cache,target=/var/cache/apt \
       ccache \
       libasio-dev \
       libtinyxml2-dev \
-      lld
-    # && rosdep update
+      lld \
+    && rosdep update
 
 ENV ROS_VERSION=2 \
     ROS_PYTHON_VERSION=3