diff --git a/00-isaac_ros_base/Dockerfile b/00-isaac_ros_base/Dockerfile
index d9ad0fc..237cb7e 100644
--- a/00-isaac_ros_base/Dockerfile
+++ b/00-isaac_ros_base/Dockerfile
@@ -90,9 +90,11 @@ RUN apt-get update && \
     rm -rf /var/lib/apt/lists/*
 RUN . /opt/ros/$ROS_DISTRO/install/setup.sh && \
     cd ${ROS_ROOT} && \
-    rosdep install -y --ignore-src --from-paths src --rosdistro foxy && \
+    rosdep install -y --ignore-src --from-paths src --rosdistro foxy \
+    --skip-keys "libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" && \
     colcon build --merge-install --packages-up-to pcl_conversions sensor_msgs_py diagnostic_updater xacro \
-    camera_calibration_parsers image_transport image_common camera_info_manager && \
+    camera_calibration_parsers image_transport image_common camera_info_manager \
+    image_publisher depth_image_proc image_proc image_view image_rotate stereo_image_proc compressed_image_transport compressed_depth_image_transport && \
     rm -Rf src logs build
 
 # Install gcc8 for cross-compiled binaries from Ubuntu 20.04
@@ -121,4 +123,4 @@ RUN sed --in-place --expression \
 
 # https://docs.docker.com/engine/reference/builder/#stopsignal
 # https://hynek.me/articles/docker-signals/
-STOPSIGNAL SIGINT
\ No newline at end of file
+STOPSIGNAL SIGINT
diff --git a/00-isaac_ros_base/isaac_ros_base.rosinstall b/00-isaac_ros_base/isaac_ros_base.rosinstall
index de8c71a..4b30a65 100644
--- a/00-isaac_ros_base/isaac_ros_base.rosinstall
+++ b/00-isaac_ros_base/isaac_ros_base.rosinstall
@@ -20,4 +20,36 @@
 - git:
     local-name: image_common
     version: 3.0.0
-    uri: https://github.com/ros-perception/image_common.git
\ No newline at end of file
+    uri: https://github.com/ros-perception/image_common.git
+- git:
+    local-name: image_pipeline/image_publisher
+    uri: https://github.com/ros2-gbp/image_pipeline-release.git
+    version: release/foxy/image_publisher/2.2.1-1
+- git:
+    local-name: image_pipeline/depth_image_proc
+    uri: https://github.com/ros2-gbp/image_pipeline-release.git
+    version: release/foxy/depth_image_proc/2.2.1-1
+- git:
+    local-name: image_pipeline/image_proc
+    uri: https://github.com/ros2-gbp/image_pipeline-release.git
+    version: release/foxy/image_proc/2.2.1-1
+- git:
+    local-name: image_pipeline/image_view
+    uri: https://github.com/ros2-gbp/image_pipeline-release.git
+    version: release/foxy/image_view/2.2.1-1
+- git:
+    local-name: image_pipeline/image_rotate
+    uri: https://github.com/ros2-gbp/image_pipeline-release.git
+    version: release/foxy/image_rotate/2.2.1-1
+- git:
+    local-name: image_pipeline/stereo_image_proc
+    uri: https://github.com/ros2-gbp/image_pipeline-release.git
+    version: release/foxy/stereo_image_proc/2.2.1-1
+- git:
+    local-name: image_transport_plugins/compressed_image_transport
+    uri: https://github.com/ros2-gbp/image_transport_plugins-release.git
+    version: release/foxy/compressed_image_transport/2.3.1-1
+- git:
+    local-name: image_transport_plugins/compressed_depth_image_transport
+    uri: https://github.com/ros2-gbp/image_transport_plugins-release.git
+    version: release/foxy/compressed_depth_image_transport/2.3.1-1