diff --git a/.docker/ci-testing/Dockerfile b/.docker/ci-testing/Dockerfile
index 88ee8eb1ee..45c18e07d6 100644
--- a/.docker/ci-testing/Dockerfile
+++ b/.docker/ci-testing/Dockerfile
@@ -1,12 +1,20 @@
-# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci-testing
+# ghcr.io/ros-planning/moveit2:${OUR_ROS_DISTRO}-ci-testing
 # CI image using the ROS testing repository
 
-ARG ROS_DISTRO=rolling
 FROM osrf/ros2:testing
 LABEL maintainer Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 ENV TERM xterm
 
+# Overwrite the ROS_DISTRO set in osrf/ros2:testing to the distro tied to this Dockerfile (OUR_ROS_DISTRO).
+# In case ROS_DISTRO is now different from what was set in osrf/ros2:testing, run `rosdep update` again
+# to get any missing dependencies.
+# https://docs.docker.com/engine/reference/builder/#using-arg-variables explains why ARG and ENV can't have
+# the same name (ROS_DISTRO is an ENV in the osrf/ros2:testing image).
+ARG OUR_ROS_DISTRO=rolling
+ENV ROS_DISTRO=${OUR_ROS_DISTRO}
+RUN rosdep update --rosdistro $ROS_DISTRO
+
 # Install ROS 2 base packages and build tools
 # We are installing ros-<distro>-ros-base here to mimic the behavior of the ros:<distro>-ros-base images.
 # This step is split into a separate layer so that we can rely on cached dependencies instead of having
diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile
index f6864cb642..2b9082885e 100644
--- a/.docker/source/Dockerfile
+++ b/.docker/source/Dockerfile
@@ -4,7 +4,7 @@
 # Downloads the moveit source code and install remaining debian dependencies
 
 ARG ROS_DISTRO=rolling
-FROM ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci-testing
+FROM moveit/moveit2:${ROS_DISTRO}-ci-testing
 LABEL maintainer Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 # Export ROS_UNDERLAY for downstream docker containers
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index d6ef85a0d6..8e2959657a 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -31,8 +31,10 @@ jobs:
       CXXFLAGS: >-
         -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
-      DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }}
-      UPSTREAM_WORKSPACE: moveit2.repos $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
+      DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
+      UPSTREAM_WORKSPACE: >
+        moveit2.repos
+        $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
       # Pull any updates to the upstream workspace (after restoring it from cache)
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
       # Uninstall binaries that are duplicated in the .repos file
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index ff37875017..55e382cac3 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -131,7 +131,7 @@ jobs:
         uses: docker/build-push-action@v4
         with:
           file: .docker/${{ github.job }}/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: OUR_ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: ${{ env.PUSH }}
           no-cache: true
           tags: |