diff --git a/gazebo/10/ubuntu/bionic/gzclient10/Dockerfile b/gazebo/10/ubuntu/bionic/gzclient10/Dockerfile
index 1db8b6146..0a9da8ba1 100644
--- a/gazebo/10/ubuntu/bionic/gzclient10/Dockerfile
+++ b/gazebo/10/ubuntu/bionic/gzclient10/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:gzserver10-bionic
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     binutils \
     mesa-utils \
     module-init-tools \
@@ -11,6 +11,6 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo10=10.2.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/10/ubuntu/bionic/gzserver10/Dockerfile b/gazebo/10/ubuntu/bionic/gzserver10/Dockerfile
index d62e8d1c6..82d86f488 100644
--- a/gazebo/10/ubuntu/bionic/gzserver10/Dockerfile
+++ b/gazebo/10/ubuntu/bionic/gzserver10/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 \
     lsb-release \
@@ -22,7 +24,7 @@ RUN . /etc/os-release \
     && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo10=10.2.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/10/ubuntu/bionic/gzweb10/Dockerfile b/gazebo/10/ubuntu/bionic/gzweb10/Dockerfile
index 31960249f..934fdfe1a 100644
--- a/gazebo/10/ubuntu/bionic/gzweb10/Dockerfile
+++ b/gazebo/10/ubuntu/bionic/gzweb10/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:libgazebo10-bionic
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     build-essential \
     cmake \
     imagemagick \
@@ -21,7 +21,7 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo10-dev=10.2.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/10/ubuntu/bionic/libgazebo10/Dockerfile b/gazebo/10/ubuntu/bionic/libgazebo10/Dockerfile
index 44bd58d93..50733b54e 100644
--- a/gazebo/10/ubuntu/bionic/libgazebo10/Dockerfile
+++ b/gazebo/10/ubuntu/bionic/libgazebo10/Dockerfile
@@ -2,6 +2,6 @@
 # generated from docker_images/create_gzclient_image.Dockerfile.em
 FROM gazebo:gzserver10-bionic
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo10-dev=10.2.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/11/ubuntu/bionic/gzclient11/Dockerfile b/gazebo/11/ubuntu/bionic/gzclient11/Dockerfile
index 6ea7415da..4aa82b2a3 100644
--- a/gazebo/11/ubuntu/bionic/gzclient11/Dockerfile
+++ b/gazebo/11/ubuntu/bionic/gzclient11/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:gzserver11-bionic
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     binutils \
     mesa-utils \
     module-init-tools \
@@ -11,6 +11,6 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo11=11.0.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/11/ubuntu/bionic/gzserver11/Dockerfile b/gazebo/11/ubuntu/bionic/gzserver11/Dockerfile
index 054780c5a..97afa260e 100644
--- a/gazebo/11/ubuntu/bionic/gzserver11/Dockerfile
+++ b/gazebo/11/ubuntu/bionic/gzserver11/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 \
     lsb-release \
@@ -22,7 +24,7 @@ RUN . /etc/os-release \
     && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo11=11.0.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/11/ubuntu/bionic/gzweb11/Dockerfile b/gazebo/11/ubuntu/bionic/gzweb11/Dockerfile
index cc4b00a54..a923a4fbb 100644
--- a/gazebo/11/ubuntu/bionic/gzweb11/Dockerfile
+++ b/gazebo/11/ubuntu/bionic/gzweb11/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:libgazebo11-bionic
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     build-essential \
     cmake \
     imagemagick \
@@ -21,7 +21,7 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo11-dev=11.0.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/11/ubuntu/bionic/libgazebo11/Dockerfile b/gazebo/11/ubuntu/bionic/libgazebo11/Dockerfile
index 2ddb16b64..9353967b8 100644
--- a/gazebo/11/ubuntu/bionic/libgazebo11/Dockerfile
+++ b/gazebo/11/ubuntu/bionic/libgazebo11/Dockerfile
@@ -2,6 +2,6 @@
 # generated from docker_images/create_gzclient_image.Dockerfile.em
 FROM gazebo:gzserver11-bionic
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo11-dev=11.0.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/7/ubuntu/xenial/gzclient7/Dockerfile b/gazebo/7/ubuntu/xenial/gzclient7/Dockerfile
index 31a92a5fb..afef98463 100644
--- a/gazebo/7/ubuntu/xenial/gzclient7/Dockerfile
+++ b/gazebo/7/ubuntu/xenial/gzclient7/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:gzserver7-xenial
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     binutils \
     mesa-utils \
     module-init-tools \
@@ -11,6 +11,6 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo7=7.16.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/7/ubuntu/xenial/gzserver7/Dockerfile b/gazebo/7/ubuntu/xenial/gzserver7/Dockerfile
index a66cde757..c0554ceaf 100644
--- a/gazebo/7/ubuntu/xenial/gzserver7/Dockerfile
+++ b/gazebo/7/ubuntu/xenial/gzserver7/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 \
     lsb-release \
@@ -17,7 +17,7 @@ RUN . /etc/os-release \
     && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo7=7.16.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/7/ubuntu/xenial/gzweb7/Dockerfile b/gazebo/7/ubuntu/xenial/gzweb7/Dockerfile
index 95cbec06b..59efa71a9 100644
--- a/gazebo/7/ubuntu/xenial/gzweb7/Dockerfile
+++ b/gazebo/7/ubuntu/xenial/gzweb7/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:libgazebo7-xenial
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     build-essential \
     cmake \
     imagemagick \
@@ -21,7 +21,7 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo7-dev=7.16.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/7/ubuntu/xenial/libgazebo7/Dockerfile b/gazebo/7/ubuntu/xenial/libgazebo7/Dockerfile
index 165255684..cd7bbc86e 100644
--- a/gazebo/7/ubuntu/xenial/libgazebo7/Dockerfile
+++ b/gazebo/7/ubuntu/xenial/libgazebo7/Dockerfile
@@ -2,6 +2,6 @@
 # generated from docker_images/create_gzclient_image.Dockerfile.em
 FROM gazebo:gzserver7-xenial
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo7-dev=7.16.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/9/debian/stretch/gzclient9/Dockerfile b/gazebo/9/debian/stretch/gzclient9/Dockerfile
index 2060fc043..874243bc2 100644
--- a/gazebo/9/debian/stretch/gzclient9/Dockerfile
+++ b/gazebo/9/debian/stretch/gzclient9/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:gzserver9-stretch
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     binutils \
     mesa-utils \
     module-init-tools \
@@ -11,6 +11,6 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo9=9.12.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/9/debian/stretch/gzserver9/Dockerfile b/gazebo/9/debian/stretch/gzserver9/Dockerfile
index 0bd4f7e82..25b530358 100644
--- a/gazebo/9/debian/stretch/gzserver9/Dockerfile
+++ b/gazebo/9/debian/stretch/gzserver9/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 \
     lsb-release \
@@ -17,7 +17,7 @@ RUN . /etc/os-release \
     && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo9=9.12.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/9/debian/stretch/gzweb9/Dockerfile b/gazebo/9/debian/stretch/gzweb9/Dockerfile
index 0df21fb46..a4c0c5d0f 100644
--- a/gazebo/9/debian/stretch/gzweb9/Dockerfile
+++ b/gazebo/9/debian/stretch/gzweb9/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:libgazebo9-stretch
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     build-essential \
     cmake \
     imagemagick \
@@ -21,7 +21,7 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo9-dev=9.12.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/9/debian/stretch/libgazebo9/Dockerfile b/gazebo/9/debian/stretch/libgazebo9/Dockerfile
index 69e511b34..569f5f48c 100644
--- a/gazebo/9/debian/stretch/libgazebo9/Dockerfile
+++ b/gazebo/9/debian/stretch/libgazebo9/Dockerfile
@@ -2,6 +2,6 @@
 # generated from docker_images/create_gzclient_image.Dockerfile.em
 FROM gazebo:gzserver9-stretch
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo9-dev=9.12.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/9/ubuntu/bionic/gzclient9/Dockerfile b/gazebo/9/ubuntu/bionic/gzclient9/Dockerfile
index 89eac3dda..f9a7e0171 100644
--- a/gazebo/9/ubuntu/bionic/gzclient9/Dockerfile
+++ b/gazebo/9/ubuntu/bionic/gzclient9/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:gzserver9-bionic
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     binutils \
     mesa-utils \
     module-init-tools \
@@ -11,6 +11,6 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo9=9.13.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/9/ubuntu/bionic/gzserver9/Dockerfile b/gazebo/9/ubuntu/bionic/gzserver9/Dockerfile
index 66b9be931..756464fa0 100644
--- a/gazebo/9/ubuntu/bionic/gzserver9/Dockerfile
+++ b/gazebo/9/ubuntu/bionic/gzserver9/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 \
     lsb-release \
@@ -22,7 +24,7 @@ RUN . /etc/os-release \
     && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo9=9.13.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/9/ubuntu/bionic/gzweb9/Dockerfile b/gazebo/9/ubuntu/bionic/gzweb9/Dockerfile
index 05741180b..a3066a89a 100644
--- a/gazebo/9/ubuntu/bionic/gzweb9/Dockerfile
+++ b/gazebo/9/ubuntu/bionic/gzweb9/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:libgazebo9-bionic
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     build-essential \
     cmake \
     imagemagick \
@@ -21,7 +21,7 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo9-dev=9.13.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/9/ubuntu/bionic/libgazebo9/Dockerfile b/gazebo/9/ubuntu/bionic/libgazebo9/Dockerfile
index c0a0d0cfb..ed46f6385 100644
--- a/gazebo/9/ubuntu/bionic/libgazebo9/Dockerfile
+++ b/gazebo/9/ubuntu/bionic/libgazebo9/Dockerfile
@@ -2,6 +2,6 @@
 # generated from docker_images/create_gzclient_image.Dockerfile.em
 FROM gazebo:gzserver9-bionic
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo9-dev=9.13.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/9/ubuntu/xenial/gzclient9/Dockerfile b/gazebo/9/ubuntu/xenial/gzclient9/Dockerfile
index 2bb6ca77e..a33639ced 100644
--- a/gazebo/9/ubuntu/xenial/gzclient9/Dockerfile
+++ b/gazebo/9/ubuntu/xenial/gzclient9/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:gzserver9-xenial
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     binutils \
     mesa-utils \
     module-init-tools \
@@ -11,6 +11,6 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo9=9.13.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/9/ubuntu/xenial/gzserver9/Dockerfile b/gazebo/9/ubuntu/xenial/gzserver9/Dockerfile
index 883e54fa4..d594ee551 100644
--- a/gazebo/9/ubuntu/xenial/gzserver9/Dockerfile
+++ b/gazebo/9/ubuntu/xenial/gzserver9/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 \
     lsb-release \
@@ -17,7 +17,7 @@ RUN . /etc/os-release \
     && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable `lsb_release -sc` main" > /etc/apt/sources.list.d/gazebo-latest.list
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     gazebo9=9.13.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/9/ubuntu/xenial/gzweb9/Dockerfile b/gazebo/9/ubuntu/xenial/gzweb9/Dockerfile
index 7d38956d2..21086a5ce 100644
--- a/gazebo/9/ubuntu/xenial/gzweb9/Dockerfile
+++ b/gazebo/9/ubuntu/xenial/gzweb9/Dockerfile
@@ -3,7 +3,7 @@
 FROM gazebo:libgazebo9-xenial
 
 # install packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     build-essential \
     cmake \
     imagemagick \
@@ -21,7 +21,7 @@ RUN apt-get update && apt-get install -q -y \
     && rm -rf /var/lib/apt/lists/*
 
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo9-dev=9.13.0-1* \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/gazebo/9/ubuntu/xenial/libgazebo9/Dockerfile b/gazebo/9/ubuntu/xenial/libgazebo9/Dockerfile
index 2f07890c1..fa7984c7b 100644
--- a/gazebo/9/ubuntu/xenial/libgazebo9/Dockerfile
+++ b/gazebo/9/ubuntu/xenial/libgazebo9/Dockerfile
@@ -2,6 +2,6 @@
 # generated from docker_images/create_gzclient_image.Dockerfile.em
 FROM gazebo:gzserver9-xenial
 # install gazebo packages
-RUN apt-get update && apt-get install -q -y \
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
     libgazebo9-dev=9.13.0-1* \
     && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/gazebo b/gazebo/gazebo
index e69d7a45f..c2b580fc4 100644
--- 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
 
 
@@ -26,12 +26,12 @@ 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
 
 ########################################
@@ -39,12 +39,12 @@ Directory: gazebo/9/ubuntu/xenial/libgazebo9
 
 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
 
 ########################################
@@ -52,12 +52,12 @@ Directory: gazebo/9/ubuntu/bionic/libgazebo9
 
 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
index 52229a1ec..236f3e0e8 100644
--- 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
index fe3f8c2db..adf44f7ca 100644
--- 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
index 5614cb6b6..c0e1b72b6 100644
--- 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
index fe3f8c2db..adf44f7ca 100644
--- 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
index 7fea3b0b6..340bbbd60 100644
--- 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
index e64281986..4e6ba4d42 100644
--- 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
index 3842855c8..1012d5d05 100644
--- 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
index 23f044c01..435d4b4e7 100644
--- 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
index fe3f8c2db..adf44f7ca 100644
--- 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
index bfa4af512..e5541f519 100644
--- 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
index ba9acf7e1..4bee05380 100644
--- 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
index 9d24f4ed2..c6d932481 100644
--- 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
index b3a643340..a412b39d1 100644
--- 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
index 89fa8cfbb..7d4b4dce1 100644
--- 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
index 52229a1ec..236f3e0e8 100644
--- 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
index bcb949346..9508d49b3 100644
--- 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
index aa5d44d9c..c25faef58 100644
--- 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
index 662c31cc2..483671291 100644
--- 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
index 0c98e14b0..d030f14a6 100644
--- 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
index 364f66943..f72817758 100644
--- 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
index fa0f6fd8b..0e13550d2 100644
--- 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
index 52229a1ec..236f3e0e8 100644
--- 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
index feceb83c7..8e495d089 100644
--- 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
index 6847d1882..417ced85c 100644
--- 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
index c094f020c..dfb4bc939 100644
--- 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
index 7592f39db..013353168 100644
--- 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
index d331f5f25..00a8f295b 100644
--- 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
index cd539bb1f..e0fb2b7db 100644
--- 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
index 52229a1ec..236f3e0e8 100644
--- 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
index cdd5fe1c4..5fc0a666f 100644
--- 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
index afa9e8231..273b7dbea 100644
--- 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
index 430f545ec..e8a911e77 100644
--- 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
index 2181e02bf..a7e316a18 100644
--- 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
index 2ccc81442..0832190f4 100644
--- 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
 
 
@@ -36,22 +36,22 @@ 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
 
 ########################################
@@ -59,22 +59,22 @@ Directory: ros/melodic/ubuntu/bionic/perception
 
 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
index 81f6e549a..a7c0bdbb4 100644
--- 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
index 3f3fdcaa7..117e68c62 100644
--- 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
index b3ff8af45..e90f4ac47 100644
--- 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 \