diff --git a/.travis.yml b/.travis.yml
index 5424635..b01cc43 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -8,9 +8,10 @@ env:
   - REPOS="core/indigo caffe/cpu/indigo"
   - REPOS="ros-core-nvidia/kinetic ros-base-nvidia/kinetic ros-robot-nvidia/kinetic core-nvidia/kinetic caffe/gpu/kinetic"
   - REPOS="ros-core-nvidia/lunar ros-base-nvidia/lunar ros-robot-nvidia/lunar"
-  - REPOS="tesseract" DEFAULT_TAG=kinetic BUILD_ARGS="ROSDISTRO=kinetic"
-  - REPOS="tesseract" DEFAULT_TAG=melodic BUILD_ARGS="ROSDISTRO=melodic"
-  - REPOS="tesseract" DEFAULT_TAG=noetic BUILD_ARGS="ROSDISTRO=noetic"
+  - REPOS="tesseract" DEFAULT_TAG=kinetic BUILD_ARGS="--build-arg ROSDISTRO=kinetic --build-arg ROS_BASE_TAG=kinetic-perception"
+  - REPOS="tesseract" DEFAULT_TAG=melodic BUILD_ARGS="--build-arg  ROSDISTRO=melodic --build-arg ROS_BASE_TAG=melodic-perception"
+  - REPOS="tesseract" DEFAULT_TAG=noetic BUILD_ARGS="--build-arg ROSDISTRO=noetic --build-arg ROS_BASE_TAG=noetic-perception"
+  - REPOS="tesseract" DEFAULT_TAG=foxy BUILD_ARGS="--build-arg ROSDISTRO=foxy --build-arg ROS_BASE_TAG=foxy"
 #  - REPOS="noether" DEFAULT_TAG=kinetic BUILD_ARGS="ROSDISTRO=kinetic"
 #  - REPOS="noether" DEFAULT_TAG=melodic BUILD_ARGS="ROSDISTRO=melodic"
 #  - REPOS="noether" DEFAULT_TAG=noetic BUILD_ARGS="ROSDISTRO=noetic"
diff --git a/build.sh b/build.sh
index fa6fc09..4a5d259 100755
--- a/build.sh
+++ b/build.sh
@@ -22,7 +22,7 @@ for a in "$@"; do
     then
       time docker build -q -t "$t" "$d" || ret=$?
     else
-      time docker build -q -t "$t" "$d" --build-arg $BUILD_ARGS || ret=$?
+      time docker build -q -t "$t" "$d" $BUILD_ARGS || ret=$?
     fi
 
     [ "$ret" = "" ]
diff --git a/tesseract/Dockerfile b/tesseract/Dockerfile
index 2f83a1d..3435068 100644
--- a/tesseract/Dockerfile
+++ b/tesseract/Dockerfile
@@ -1,6 +1,7 @@
 ARG ROSDISTRO=melodic
+ARG ROS_BASE_TAG=melodic-perception
 
-FROM ros:$ROSDISTRO-perception
+FROM ros:$ROS_BASE_TAG
 MAINTAINER Levi Armstrong
 
 ARG ROSDISTRO
@@ -17,14 +18,24 @@ RUN apt-get update \
     libtinyxml-dev \
     libtinyxml2-dev \
     liboctomap-dev \
-    ros-$ROSDISTRO-octomap \
-    ros-$ROSDISTRO-rviz \
     git-all \
     tar \
     wget \
     && apt-get clean \
     && rm -rf /var/lib/apt/lists/*
 
+RUN if [ "$ROSDISTRO" = "foxy" ] ; then \
+  apt-get update && \
+  apt-get install -y --no-install-recommends \
+    ros-$ROSDISTRO-perception-pcl \
+    ros-$ROSDISTRO-rviz2; else \
+  apt-get update && \
+  apt-get install -y --no-install-recommends \
+    ros-$ROSDISTRO-octomap \
+    ros-$ROSDISTRO-rviz && \
+  apt-get clean && \
+  rm -rf /var/lib/apt/lists/* ; fi
+
 WORKDIR /bullet3_build
 RUN git clone --branch master https://github.com/bulletphysics/bullet3.git
 RUN cmake \
@@ -39,7 +50,7 @@ RUN cmake \
     make -j8 && \
     make install && \
     cd .. && \
-    rm -rf /bullet3_build 
+    rm -rf /bullet3_build
 
 WORKDIR /libccd_build
 RUN git clone --branch master https://github.com/danfis/libccd.git
@@ -52,7 +63,7 @@ RUN cmake \
     make -j8 && \
     make install && \
     cd .. && \
-    rm -rf /libccd_build 
+    rm -rf /libccd_build
 
 ENV PKG_CONFIG_PATH /opt/ros/$ROSDISTRO/lib/pkgconfig
 ENV LD_LIBRARY_PATH /opt/ros/$ROSDISTRO/lib
@@ -66,7 +77,7 @@ RUN cmake \
     make -j8 && \
     make install && \
     cd .. && \
-    rm -rf /fcl_build 
+    rm -rf /fcl_build
 
 WORKDIR /swig_build
 RUN wget http://prdownloads.sourceforge.net/swig/swig-4.0.1.tar.gz
@@ -91,7 +102,7 @@ RUN cmake \
     make -j8 && \
     make install && \
     cd .. && \
-    rm -rf /gtest_build 
+    rm -rf /gtest_build
 
 WORKDIR /gbenchmark_build
 RUN if [ "$ROSDISTRO" = "kinetic" ] ; then git clone --branch v1.5.0 https://github.com/google/benchmark.git ; fi