diff --git a/gazebo/gazebo b/gazebo/gazebo
@@ -9,12 +9,12 @@ GitRepo: https://github.com/osrf/docker_images.git
 
 Tags: gzserver7, gzserver7-xenial
 Architectures: amd64
-GitCommit: e296cc1a131ef3b2ac62a91d6bf31ab6fb27884d
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/7/ubuntu/xenial/gzserver7
 
 Tags: libgazebo7, libgazebo7-xenial
 Architectures: amd64
-GitCommit: e296cc1a131ef3b2ac62a91d6bf31ab6fb27884d
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/7/ubuntu/xenial/libgazebo7
 
 
@@ -26,38 +26,38 @@ Directory: gazebo/7/ubuntu/xenial/libgazebo7
 
 Tags: gzserver9-xenial
 Architectures: amd64
-GitCommit: 844fe41c654dd84ba291d01620fc11f7ec99c9ad
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/9/ubuntu/xenial/gzserver9
 
 Tags: libgazebo9-xenial
 Architectures: amd64
-GitCommit: 844fe41c654dd84ba291d01620fc11f7ec99c9ad
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/9/ubuntu/xenial/libgazebo9
 
 ########################################
 # Distro: ubuntu:bionic
 
 Tags: gzserver9, gzserver9-bionic
 Architectures: amd64
-GitCommit: 2f090a032f756498681f948e60711908cfb524d6
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/9/ubuntu/bionic/gzserver9
 
 Tags: libgazebo9, libgazebo9-bionic
 Architectures: amd64
-GitCommit: 2f090a032f756498681f948e60711908cfb524d6
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/9/ubuntu/bionic/libgazebo9
 
 ########################################
 # Distro: debian:stretch
 
 Tags: gzserver9-stretch
 Architectures: amd64
-GitCommit: e02819ea8bb6838c133d476a7f41f5079836eb4a
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/9/debian/stretch/gzserver9
 
 Tags: libgazebo9-stretch
 Architectures: amd64
-GitCommit: e02819ea8bb6838c133d476a7f41f5079836eb4a
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/9/debian/stretch/libgazebo9
 
 
@@ -69,12 +69,12 @@ Directory: gazebo/9/debian/stretch/libgazebo9
 
 Tags: gzserver10, gzserver10-bionic
 Architectures: amd64
-GitCommit: f1b7ad09fa3bc6b88621c5f4ff2da9669c9ccb3e
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/10/ubuntu/bionic/gzserver10
 
 Tags: libgazebo10, libgazebo10-bionic
 Architectures: amd64
-GitCommit: f1b7ad09fa3bc6b88621c5f4ff2da9669c9ccb3e
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/10/ubuntu/bionic/libgazebo10
 
 
@@ -86,11 +86,11 @@ Directory: gazebo/10/ubuntu/bionic/libgazebo10
 
 Tags: gzserver11, gzserver11-bionic
 Architectures: amd64
-GitCommit: bd0ef992496452d93ea929ea5921b123acdab58c
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/11/ubuntu/bionic/gzserver11
 
 Tags: libgazebo11, libgazebo11-bionic, latest
 Architectures: amd64
-GitCommit: bd0ef992496452d93ea929ea5921b123acdab58c
+GitCommit: 6f18102d57b424ce454f61e4ac432e3d6d71f670
 Directory: gazebo/11/ubuntu/bionic/libgazebo11
 
diff --git a/ros/.config/ros1/images.yaml.em b/ros/.config/ros1/images.yaml.em
@@ -19,6 +19,7 @@ images:
             - docker_templates
         ros_packages:
             - ros-base
+        bootstrap_ros_tools:
     robot:
         base_image: @(user_name):@(rosdistro_name)-ros-base-@(os_code_name)
         maintainer_name: @(maintainer_name)

diff --git a/ros/.config/ros2/images.yaml.em b/ros/.config/ros2/images.yaml.em
@@ -19,6 +19,7 @@ images:
             - docker_templates
         ros2_packages:
             - ros-base
+        bootstrap_ros_tools:
     desktop:
         base_image: @(user_name):@(ros2distro_name)-ros-base-@(os_code_name)
         maintainer_name: @(maintainer_name)

diff --git a/ros/dashing/ubuntu/bionic/desktop/Dockerfile b/ros/dashing/ubuntu/bionic/desktop/Dockerfile
@@ -1,8 +1,9 @@
 # This is an auto generated Dockerfile for ros:desktop
 # generated from docker_images_ros2/create_ros_image.Dockerfile.em
 FROM ros:dashing-ros-base-bionic
+
 # install ros2 packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-dashing-desktop=0.7.3-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/dashing/ubuntu/bionic/images.yaml.em b/ros/dashing/ubuntu/bionic/images.yaml.em
@@ -19,6 +19,7 @@ images:
             - docker_templates
         ros2_packages:
             - ros-base
+        bootstrap_ros_tools:
     desktop:
         base_image: @(user_name):@(ros2distro_name)-ros-base-@(os_code_name)
         maintainer_name: @(maintainer_name)

diff --git a/ros/dashing/ubuntu/bionic/ros-base/Dockerfile b/ros/dashing/ubuntu/bionic/ros-base/Dockerfile
@@ -1,8 +1,31 @@
 # This is an auto generated Dockerfile for ros:ros-base
 # generated from docker_images_ros2/create_ros_image.Dockerfile.em
 FROM ros:dashing-ros-core-bionic
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    git \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+
+# setup colcon mixin and metadata
+RUN colcon mixin add default \
+      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+
 # install ros2 packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-dashing-ros-base=0.7.3-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/dashing/ubuntu/bionic/ros-core/Dockerfile b/ros/dashing/ubuntu/bionic/ros-core/Dockerfile
@@ -5,10 +5,12 @@ FROM ubuntu:bionic
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \
     ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
-    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     dirmngr \
     gnupg2 \
     && rm -rf /var/lib/apt/lists/*
@@ -19,34 +21,14 @@ RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6
 # setup sources.list
 RUN echo "deb http://packages.ros.org/ros2/ubuntu bionic main" > /etc/apt/sources.list.d/ros2-latest.list
 
-# install bootstrap tools
-RUN apt-get update && apt-get install --no-install-recommends -y \
-    git \
-    python3-colcon-common-extensions \
-    python3-colcon-mixin \
-    python3-rosdep \
-    python3-vcstool \
-    && rm -rf /var/lib/apt/lists/*
-
 # setup environment
 ENV LANG C.UTF-8
 ENV LC_ALL C.UTF-8
 
 ENV ROS_DISTRO dashing
-# bootstrap rosdep
-RUN rosdep init && \
-  rosdep update --rosdistro $ROS_DISTRO
-
-# setup colcon mixin and metadata
-RUN colcon mixin add default \
-      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
-    colcon mixin update && \
-    colcon metadata add default \
-      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
-    colcon metadata update
 
 # install ros2 packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-dashing-ros-core=0.7.3-1* \
     && rm -rf /var/lib/apt/lists/*
 

diff --git a/ros/dashing/ubuntu/bionic/ros1-bridge/Dockerfile b/ros/dashing/ubuntu/bionic/ros1-bridge/Dockerfile
@@ -11,14 +11,14 @@ RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources
 ENV ROS1_DISTRO melodic
 ENV ROS2_DISTRO dashing
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-ros-comm=1.14.5-1* \
     ros-melodic-roscpp-tutorials=0.9.2-1* \
     ros-melodic-rospy-tutorials=0.9.2-1* \
     && rm -rf /var/lib/apt/lists/*
 
 # install ros2 packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-dashing-ros1-bridge=0.7.5-1* \
     ros-dashing-demo-nodes-cpp=0.7.9-1* \
     ros-dashing-demo-nodes-py=0.7.9-1* \

diff --git a/ros/eloquent/ubuntu/bionic/desktop/Dockerfile b/ros/eloquent/ubuntu/bionic/desktop/Dockerfile
@@ -1,8 +1,9 @@
 # This is an auto generated Dockerfile for ros:desktop
 # generated from docker_images_ros2/create_ros_image.Dockerfile.em
 FROM ros:eloquent-ros-base-bionic
+
 # install ros2 packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-eloquent-desktop=0.8.4-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/eloquent/ubuntu/bionic/images.yaml.em b/ros/eloquent/ubuntu/bionic/images.yaml.em
@@ -19,6 +19,7 @@ images:
             - docker_templates
         ros2_packages:
             - ros-base
+        bootstrap_ros_tools:
     desktop:
         base_image: @(user_name):@(ros2distro_name)-ros-base-@(os_code_name)
         maintainer_name: @(maintainer_name)

diff --git a/ros/eloquent/ubuntu/bionic/ros-base/Dockerfile b/ros/eloquent/ubuntu/bionic/ros-base/Dockerfile
@@ -1,8 +1,31 @@
 # This is an auto generated Dockerfile for ros:ros-base
 # generated from docker_images_ros2/create_ros_image.Dockerfile.em
 FROM ros:eloquent-ros-core-bionic
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    git \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+
+# setup colcon mixin and metadata
+RUN colcon mixin add default \
+      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+
 # install ros2 packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-eloquent-ros-base=0.8.4-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/eloquent/ubuntu/bionic/ros-core/Dockerfile b/ros/eloquent/ubuntu/bionic/ros-core/Dockerfile
@@ -5,10 +5,12 @@ FROM ubuntu:bionic
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \
     ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
-    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     dirmngr \
     gnupg2 \
     && rm -rf /var/lib/apt/lists/*
@@ -19,34 +21,14 @@ RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6
 # setup sources.list
 RUN echo "deb http://packages.ros.org/ros2/ubuntu bionic main" > /etc/apt/sources.list.d/ros2-latest.list
 
-# install bootstrap tools
-RUN apt-get update && apt-get install --no-install-recommends -y \
-    git \
-    python3-colcon-common-extensions \
-    python3-colcon-mixin \
-    python3-rosdep \
-    python3-vcstool \
-    && rm -rf /var/lib/apt/lists/*
-
 # setup environment
 ENV LANG C.UTF-8
 ENV LC_ALL C.UTF-8
 
 ENV ROS_DISTRO eloquent
-# bootstrap rosdep
-RUN rosdep init && \
-  rosdep update --rosdistro $ROS_DISTRO
-
-# setup colcon mixin and metadata
-RUN colcon mixin add default \
-      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
-    colcon mixin update && \
-    colcon metadata add default \
-      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
-    colcon metadata update
 
 # install ros2 packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-eloquent-ros-core=0.8.4-1* \
     && rm -rf /var/lib/apt/lists/*
 

diff --git a/ros/eloquent/ubuntu/bionic/ros1-bridge/Dockerfile b/ros/eloquent/ubuntu/bionic/ros1-bridge/Dockerfile
@@ -11,14 +11,14 @@ RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources
 ENV ROS1_DISTRO melodic
 ENV ROS2_DISTRO eloquent
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-ros-comm=1.14.5-1* \
     ros-melodic-roscpp-tutorials=0.9.2-1* \
     ros-melodic-rospy-tutorials=0.9.2-1* \
     && rm -rf /var/lib/apt/lists/*
 
 # install ros2 packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-eloquent-ros1-bridge=0.8.2-1* \
     ros-eloquent-demo-nodes-cpp=0.8.4-1* \
     ros-eloquent-demo-nodes-py=0.8.4-1* \

diff --git a/ros/kinetic/ubuntu/xenial/desktop-full/Dockerfile b/ros/kinetic/ubuntu/xenial/desktop-full/Dockerfile
@@ -3,7 +3,7 @@
 FROM osrf/ros:kinetic-desktop-xenial
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-desktop-full=1.3.2-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/kinetic/ubuntu/xenial/desktop/Dockerfile b/ros/kinetic/ubuntu/xenial/desktop/Dockerfile
@@ -3,7 +3,7 @@
 FROM ros:kinetic-robot-xenial
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-desktop=1.3.2-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/kinetic/ubuntu/xenial/images.yaml.em b/ros/kinetic/ubuntu/xenial/images.yaml.em
@@ -19,6 +19,7 @@ images:
             - docker_templates
         ros_packages:
             - ros-base
+        bootstrap_ros_tools:
     robot:
         base_image: @(user_name):@(rosdistro_name)-ros-base-@(os_code_name)
         maintainer_name: @(maintainer_name)

diff --git a/ros/kinetic/ubuntu/xenial/perception/Dockerfile b/ros/kinetic/ubuntu/xenial/perception/Dockerfile
@@ -3,7 +3,7 @@
 FROM ros:kinetic-ros-base-xenial
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-perception=1.3.2-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/kinetic/ubuntu/xenial/robot/Dockerfile b/ros/kinetic/ubuntu/xenial/robot/Dockerfile
@@ -3,7 +3,7 @@
 FROM ros:kinetic-ros-base-xenial
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-robot=1.3.2-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/kinetic/ubuntu/xenial/ros-base/Dockerfile b/ros/kinetic/ubuntu/xenial/ros-base/Dockerfile
@@ -2,8 +2,20 @@
 # generated from docker_images/create_ros_image.Dockerfile.em
 FROM ros:kinetic-ros-core-xenial
 
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    python-rosdep \
+    python-rosinstall \
+    python-vcstools \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-ros-base=1.3.2-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/kinetic/ubuntu/xenial/ros-core/Dockerfile b/ros/kinetic/ubuntu/xenial/ros-core/Dockerfile
@@ -3,7 +3,7 @@
 FROM ubuntu:xenial
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     dirmngr \
     gnupg2 \
     && rm -rf /var/lib/apt/lists/*
@@ -14,24 +14,14 @@ RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6
 # setup sources.list
 RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros1-latest.list
 
-# install bootstrap tools
-RUN apt-get update && apt-get install --no-install-recommends -y \
-    python-rosdep \
-    python-rosinstall \
-    python-vcstools \
-    && rm -rf /var/lib/apt/lists/*
-
 # setup environment
 ENV LANG C.UTF-8
 ENV LC_ALL C.UTF-8
 
 ENV ROS_DISTRO kinetic
-# bootstrap rosdep
-RUN rosdep init && \
-  rosdep update --rosdistro $ROS_DISTRO
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-ros-core=1.3.2-0* \
     && rm -rf /var/lib/apt/lists/*
 

diff --git a/ros/melodic/debian/stretch/desktop-full/Dockerfile b/ros/melodic/debian/stretch/desktop-full/Dockerfile
@@ -3,7 +3,7 @@
 FROM osrf/ros:melodic-desktop-stretch
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-desktop-full=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/debian/stretch/desktop/Dockerfile b/ros/melodic/debian/stretch/desktop/Dockerfile
@@ -3,7 +3,7 @@
 FROM ros:melodic-robot-stretch
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-desktop=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/debian/stretch/images.yaml.em b/ros/melodic/debian/stretch/images.yaml.em
@@ -19,6 +19,7 @@ images:
             - docker_templates
         ros_packages:
             - ros-base
+        bootstrap_ros_tools:
     robot:
         base_image: @(user_name):@(rosdistro_name)-ros-base-@(os_code_name)
         maintainer_name: @(maintainer_name)

diff --git a/ros/melodic/debian/stretch/perception/Dockerfile b/ros/melodic/debian/stretch/perception/Dockerfile
@@ -3,7 +3,7 @@
 FROM ros:melodic-ros-base-stretch
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-perception=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/debian/stretch/robot/Dockerfile b/ros/melodic/debian/stretch/robot/Dockerfile
@@ -3,7 +3,7 @@
 FROM ros:melodic-ros-base-stretch
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-robot=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/debian/stretch/ros-base/Dockerfile b/ros/melodic/debian/stretch/ros-base/Dockerfile
@@ -2,8 +2,20 @@
 # generated from docker_images/create_ros_image.Dockerfile.em
 FROM ros:melodic-ros-core-stretch
 
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    python-rosdep \
+    python-rosinstall \
+    python-vcstools \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-ros-base=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/debian/stretch/ros-core/Dockerfile b/ros/melodic/debian/stretch/ros-core/Dockerfile
@@ -3,7 +3,7 @@
 FROM debian:stretch
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     dirmngr \
     gnupg2 \
     && rm -rf /var/lib/apt/lists/*
@@ -14,24 +14,14 @@ RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6
 # setup sources.list
 RUN echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros1-latest.list
 
-# install bootstrap tools
-RUN apt-get update && apt-get install --no-install-recommends -y \
-    python-rosdep \
-    python-rosinstall \
-    python-vcstools \
-    && rm -rf /var/lib/apt/lists/*
-
 # setup environment
 ENV LANG C.UTF-8
 ENV LC_ALL C.UTF-8
 
 ENV ROS_DISTRO melodic
-# bootstrap rosdep
-RUN rosdep init && \
-  rosdep update --rosdistro $ROS_DISTRO
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-ros-core=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 

diff --git a/ros/melodic/ubuntu/bionic/desktop-full/Dockerfile b/ros/melodic/ubuntu/bionic/desktop-full/Dockerfile
@@ -3,7 +3,7 @@
 FROM osrf/ros:melodic-desktop-bionic
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-desktop-full=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/ubuntu/bionic/desktop/Dockerfile b/ros/melodic/ubuntu/bionic/desktop/Dockerfile
@@ -3,7 +3,7 @@
 FROM ros:melodic-robot-bionic
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-desktop=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/ubuntu/bionic/images.yaml.em b/ros/melodic/ubuntu/bionic/images.yaml.em
@@ -19,6 +19,7 @@ images:
             - docker_templates
         ros_packages:
             - ros-base
+        bootstrap_ros_tools:
     robot:
         base_image: @(user_name):@(rosdistro_name)-ros-base-@(os_code_name)
         maintainer_name: @(maintainer_name)

diff --git a/ros/melodic/ubuntu/bionic/perception/Dockerfile b/ros/melodic/ubuntu/bionic/perception/Dockerfile
@@ -3,7 +3,7 @@
 FROM ros:melodic-ros-base-bionic
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-perception=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/ubuntu/bionic/robot/Dockerfile b/ros/melodic/ubuntu/bionic/robot/Dockerfile
@@ -3,7 +3,7 @@
 FROM ros:melodic-ros-base-bionic
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-robot=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/ubuntu/bionic/ros-base/Dockerfile b/ros/melodic/ubuntu/bionic/ros-base/Dockerfile
@@ -2,8 +2,20 @@
 # generated from docker_images/create_ros_image.Dockerfile.em
 FROM ros:melodic-ros-core-bionic
 
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    python-rosdep \
+    python-rosinstall \
+    python-vcstools \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-ros-base=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/ros/melodic/ubuntu/bionic/ros-core/Dockerfile b/ros/melodic/ubuntu/bionic/ros-core/Dockerfile
@@ -5,10 +5,12 @@ FROM ubuntu:bionic
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \
     ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
-    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     dirmngr \
     gnupg2 \
     && rm -rf /var/lib/apt/lists/*
@@ -19,24 +21,14 @@ RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6
 # setup sources.list
 RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros1-latest.list
 
-# install bootstrap tools
-RUN apt-get update && apt-get install --no-install-recommends -y \
-    python-rosdep \
-    python-rosinstall \
-    python-vcstools \
-    && rm -rf /var/lib/apt/lists/*
-
 # setup environment
 ENV LANG C.UTF-8
 ENV LC_ALL C.UTF-8
 
 ENV ROS_DISTRO melodic
-# bootstrap rosdep
-RUN rosdep init && \
-  rosdep update --rosdistro $ROS_DISTRO
 
 # install ros packages
-RUN apt-get update && apt-get install -y \
+RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-melodic-ros-core=1.4.1-0* \
     && rm -rf /var/lib/apt/lists/*
 

diff --git a/ros/ros b/ros/ros
@@ -9,22 +9,22 @@ GitRepo: https://github.com/osrf/docker_images.git
 
 Tags: kinetic-ros-core, kinetic-ros-core-xenial
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: b075c7dbe56055d862f331f19e1e74ba653e181a
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/kinetic/ubuntu/xenial/ros-core
 
 Tags: kinetic-ros-base, kinetic-ros-base-xenial, kinetic
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: f2b13092747c0f60cf7608369b57ea89bc01e22d
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/kinetic/ubuntu/xenial/ros-base
 
 Tags: kinetic-robot, kinetic-robot-xenial
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: f2b13092747c0f60cf7608369b57ea89bc01e22d
+GitCommit: 7ff09c2a75e902bc2bb25a1f1ae748ec4e9c7a4b
 Directory: ros/kinetic/ubuntu/xenial/robot
 
 Tags: kinetic-perception, kinetic-perception-xenial
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: f2b13092747c0f60cf7608369b57ea89bc01e22d
+GitCommit: 7ff09c2a75e902bc2bb25a1f1ae748ec4e9c7a4b
 Directory: ros/kinetic/ubuntu/xenial/perception
 
 
@@ -36,45 +36,45 @@ Directory: ros/kinetic/ubuntu/xenial/perception
 
 Tags: melodic-ros-core, melodic-ros-core-bionic
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: b075c7dbe56055d862f331f19e1e74ba653e181a
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/melodic/ubuntu/bionic/ros-core
 
 Tags: melodic-ros-base, melodic-ros-base-bionic, melodic, latest
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: c1585532a5e6ddc4c3ded239a1caff366c34117f
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/melodic/ubuntu/bionic/ros-base
 
 Tags: melodic-robot, melodic-robot-bionic
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: c1585532a5e6ddc4c3ded239a1caff366c34117f
+GitCommit: 7ff09c2a75e902bc2bb25a1f1ae748ec4e9c7a4b
 Directory: ros/melodic/ubuntu/bionic/robot
 
 Tags: melodic-perception, melodic-perception-bionic
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: c1585532a5e6ddc4c3ded239a1caff366c34117f
+GitCommit: 7ff09c2a75e902bc2bb25a1f1ae748ec4e9c7a4b
 Directory: ros/melodic/ubuntu/bionic/perception
 
 ########################################
 # Distro: debian:stretch
 
 Tags: melodic-ros-core-stretch
 Architectures: amd64, arm64v8
-GitCommit: b075c7dbe56055d862f331f19e1e74ba653e181a
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/melodic/debian/stretch/ros-core
 
 Tags: melodic-ros-base-stretch
 Architectures: amd64, arm64v8
-GitCommit: c1585532a5e6ddc4c3ded239a1caff366c34117f
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/melodic/debian/stretch/ros-base
 
 Tags: melodic-robot-stretch
 Architectures: amd64, arm64v8
-GitCommit: c1585532a5e6ddc4c3ded239a1caff366c34117f
+GitCommit: 7ff09c2a75e902bc2bb25a1f1ae748ec4e9c7a4b
 Directory: ros/melodic/debian/stretch/robot
 
 Tags: melodic-perception-stretch
 Architectures: amd64, arm64v8
-GitCommit: c1585532a5e6ddc4c3ded239a1caff366c34117f
+GitCommit: 7ff09c2a75e902bc2bb25a1f1ae748ec4e9c7a4b
 Directory: ros/melodic/debian/stretch/perception
 
 
@@ -86,12 +86,12 @@ Directory: ros/melodic/debian/stretch/perception
 
 Tags: dashing-ros-core, dashing-ros-core-bionic
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: 92054cbbf05c4d00028cb089ce8c6dcb60f42d01
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/dashing/ubuntu/bionic/ros-core
 
 Tags: dashing-ros-base, dashing-ros-base-bionic, dashing
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: d188a5a15dba3d3fa266e4578c1ed2e1b4421c72
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/dashing/ubuntu/bionic/ros-base
 
 
@@ -103,11 +103,11 @@ Directory: ros/dashing/ubuntu/bionic/ros-base
 
 Tags: eloquent-ros-core, eloquent-ros-core-bionic
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: 92054cbbf05c4d00028cb089ce8c6dcb60f42d01
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/eloquent/ubuntu/bionic/ros-core
 
 Tags: eloquent-ros-base, eloquent-ros-base-bionic, eloquent
 Architectures: amd64, arm32v7, arm64v8
-GitCommit: 9b63c2f2a11ef18c93f7c8f35770625fc48181d8
+GitCommit: 0b33e61b5bbed5b93b9fba2d5bae5db604ff9b58
 Directory: ros/eloquent/ubuntu/bionic/ros-base
 
diff --git a/ros2/nightly/nightly/Dockerfile b/ros2/nightly/nightly/Dockerfile
@@ -5,10 +5,12 @@ FROM ubuntu:focal
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \
     ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
-    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     bash-completion \
     cmake \
     dirmngr \
@@ -27,6 +29,7 @@ RUN echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -sc` main
 
 # install bootstrap tools
 RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
     git \
     python3-colcon-common-extensions \
     python3-colcon-mixin \

diff --git a/ros2/source/devel/Dockerfile b/ros2/source/devel/Dockerfile
@@ -6,10 +6,12 @@ FROM $FROM_IMAGE
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \
     ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
-    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     bash-completion \
     dirmngr \
     gnupg2 \
@@ -29,6 +31,7 @@ ENV LC_ALL C.UTF-8
 
 # install bootstrap tools
 RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
     git \
     python3-colcon-common-extensions \
     python3-colcon-mixin \

diff --git a/ros2/source/source/Dockerfile b/ros2/source/source/Dockerfile
@@ -5,7 +5,7 @@ ARG FROM_IMAGE=osrf/ros2:devel
 FROM $FROM_IMAGE
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libasio-dev \
     libtinyxml2-dev \
     wget \