diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
index 5df9c21..0c2acc9 100644
--- a/.github/workflows/coverage_report.yml
+++ b/.github/workflows/coverage_report.yml
@@ -16,29 +16,20 @@ jobs:
         rosdistro: ['noetic']
         gcc: ['10']
         cxx: ['17']
-    container: ros:${{ matrix.rosdistro }}-ros-base-focal
+    container:
+      image: omavteam/ubuntu-omav-ros:ros-noetic-ros-base
+      credentials:
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
     steps:
       - uses: actions/checkout@v3
         name: Checkout lpp
         with:
           repository: ethz-asl/lpp
-          token: ${{ secrets.PAT }}
           path: catkin_ws/src/lpp
 
-      - name: Install newest git version
-        run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
-
-      - name: Install GCC version ${{ matrix.gcc }}
-        run: sudo add-apt-repository ppa:ubuntu-toolchain-r/ppa -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
-
-      - name: Install catkin tools
-        run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
-
-      - name: Install system dependencies
-        run: sudo apt install -y libgoogle-glog-dev
-
       - name: Install gcovr
-        run: sudo apt install -y gcovr
+        run: sudo apt update && sudo apt install -y gcovr
 
       - name: Build lpp
         run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 -DLPP_BUILD_TESTS=1 && make
diff --git a/.github/workflows/cpp_ubuntu20_04.yml b/.github/workflows/cpp_ubuntu20_04.yml
index 07c46be..d21434b 100644
--- a/.github/workflows/cpp_ubuntu20_04.yml
+++ b/.github/workflows/cpp_ubuntu20_04.yml
@@ -9,41 +9,39 @@ on:
 
 jobs:
   build:
-    runs-on: [self-hosted, linux]
+    runs-on: [ self-hosted, linux ]
     strategy:
       fail-fast: false
       matrix:
-        rosdistro: ['noetic']
-        gcc: ['8', '9', '10', '11', '13']
-        cxx: ['11', '14', '17', '20']
-    container: ros:${{ matrix.rosdistro }}-ros-base-focal
+        rosdistro: [ 'noetic' ]
+        gcc: [ '8', '9', '10', '11', '13' ]
+        cxx: [ '11', '14', '17', '20' ]
+    container:
+      image: omavteam/ubuntu-omav-ros:ros-noetic-ros-base
+      credentials:
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
     name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }} - C++${{ matrix.cxx }}
     steps:
-    - uses: actions/checkout@v4
-      name: Checkout lpp
-      with:
-        repository: ethz-asl/lpp
-        token: ${{ secrets.PAT }}
-        path: catkin_ws/src/lpp
+      - uses: actions/checkout@v4
+        name: Checkout lpp
+        with:
+          repository: ethz-asl/lpp
+          path: catkin_ws/src/lpp
 
-    - name: Install newest git version
-      run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+      - name: Switch GCC version
+        run: |
+          update-alternatives --set gcc /usr/bin/gcc-${{ matrix.gcc }}
+          update-alternatives --set g++ /usr/bin/g++-${{ matrix.gcc}}
+          gcc --version
+          g++ --version
 
-    - name: Install GCC version ${{ matrix.gcc }}
-      run: sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }} && gcc --version && g++ --version
+      - name: Build lpp
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build -DCMAKE_C_COMPILER=/usr/bin/gcc -DCMAKE_CXX_COMPILER=/usr/bin/g++ -DCMAKE_CXX_STANDARD=${{ matrix.cxx }} -DLPP_BUILD_TESTS=1 lpp && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
+        working-directory: catkin_ws
+        shell: bash
 
-    - name: Install catkin tools
-      run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
-
-    - name: Install system dependencies
-      run: sudo apt install -y libgoogle-glog-dev
-
-    - name: Build lpp
-      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build -DCMAKE_C_COMPILER=/usr/bin/gcc -DCMAKE_CXX_COMPILER=/usr/bin/g++ -DCMAKE_CXX_STANDARD=${{ matrix.cxx }} -DLPP_BUILD_TESTS=1 lpp && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
-      working-directory: catkin_ws
-      shell: bash
-
-    - name: Run unittests
-      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash && rosrun lpp test_lpp && rosrun lpp test_glog && rosrun lpp test_lpp_custom && rosrun lpp test_nolog && rosrun lpp test_default && rosrun lpp test_roslog
-      working-directory: catkin_ws
-      shell: bash
+      - name: Run unittests
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash && rosrun lpp test_lpp && rosrun lpp test_glog && rosrun lpp test_lpp_custom && rosrun lpp test_nolog && rosrun lpp test_default && rosrun lpp test_roslog
+        working-directory: catkin_ws
+        shell: bash
diff --git a/.github/workflows/deploy_coverage_report.yml b/.github/workflows/deploy_coverage_report.yml
index e8b83d0..51fb213 100644
--- a/.github/workflows/deploy_coverage_report.yml
+++ b/.github/workflows/deploy_coverage_report.yml
@@ -17,7 +17,11 @@ jobs:
         rosdistro: ['noetic']
         gcc: ['10']
         cxx: ['17']
-    container: ros:${{ matrix.rosdistro }}-ros-base-focal
+    container:
+      image: omavteam/ubuntu-omav-ros:ros-noetic-ros-base
+      credentials:
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
     permissions:
       pages: write      # to deploy to Pages
       id-token: write   # to verify the deployment originates from an appropriate source
@@ -26,23 +30,10 @@ jobs:
         name: Checkout lpp
         with:
           repository: ethz-asl/lpp
-          token: ${{ secrets.PAT }}
           path: catkin_ws/src/lpp
 
-      - name: Install newest git version
-        run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
-
-      - name: Install GCC version ${{ matrix.gcc }}
-        run: sudo add-apt-repository ppa:ubuntu-toolchain-r/ppa -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
-
-      - name: Install catkin tools
-        run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
-
-      - name: Install system dependencies
-        run: sudo apt install -y libgoogle-glog-dev
-
       - name: Install gcovr
-        run: sudo apt install -y gcovr
+        run: sudo apt update && sudo apt install -y gcovr
 
       - name: Build lpp
         run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 -DLPP_BUILD_TESTS=1 && make
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 484f7a0..026b267 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,7 +11,11 @@ endif ()
 # Set standard of top level project or C++17
 if (NOT DEFINED CMAKE_CXX_STANDARD)
         set(CMAKE_CXX_STANDARD 17)
-        add_definitions(-Wall -Wextra -Wpedantic -Werror -Wno-unknown-pragmas)
+        if (ENABLE_COVERAGE) # Do not enable -Werror for coverage builds
+                add_definitions(-Wall -Wextra -Wpedantic -Wno-unknown-pragmas)
+        else ()
+                add_definitions(-Wall -Wextra -Wpedantic -Werror -Wno-unknown-pragmas)
+        endif ()
 else ()
         set(CMAKE_CXX_STANDARD ${CMAKE_CXX_STANDARD})
 endif ()