diff --git a/.github/workflows/ros.yml b/.github/workflows/ros.yml
index ae73de7..9b9cca5 100644
--- a/.github/workflows/ros.yml
+++ b/.github/workflows/ros.yml
@@ -22,13 +22,14 @@ jobs:
         uses: jenseng/dynamic-uses@v1
         with:
           uses: ika-rwth-aachen/docker-ros@${{ github.event.inputs.docker-ros-git-ref }}
-          with: '{ "base-image": "rwthika/ros:latest", "command": "roscore", "platform": "amd64", "target": "dev,run", "build-context": "ros1", "image-tag": "ros1", "enable-industrial-ci": "true"}'
+          with: '{ "base-image": "ubuntu:20.04", "ros-distro": "noetic", "command": "roscore", "platform": "amd64", "target": "dev,run", "build-context": "ros1", "image-tag": "ros1", "enable-industrial-ci": "true"}'
 
       - name: docker-ros
         if: ${{ github.event_name == 'push' }}
         uses: ika-rwth-aachen/docker-ros@main
         with:
-          base-image: rwthika/ros:latest
+          base-image: ubuntu:20.04
+          ros-distro: noetic
           command: roscore
           platform: amd64,arm64
           target: dev,run
@@ -50,13 +51,14 @@ jobs:
         uses: jenseng/dynamic-uses@v1
         with:
           uses: ika-rwth-aachen/docker-ros@${{ github.event.inputs.docker-ros-git-ref }}
-          with: '{ "base-image": "rwthika/ros:latest", "command": "roscore", "platform": "${{ matrix.platform }}", "target": "${{ matrix.target }}", "build-context": "ros1", "image-tag": "ros1", "enable-industrial-ci": "true", "enable-singlearch-push": "true"}'
+          with: '{ "base-image": "ubuntu:20.04", "ros-distro": "noetic", "command": "roscore", "platform": "${{ matrix.platform }}", "target": "${{ matrix.target }}", "build-context": "ros1", "image-tag": "ros1", "enable-industrial-ci": "true", "enable-singlearch-push": "true"}'
 
       - name: docker-ros
         if: ${{ github.event_name == 'push' }}
         uses: ika-rwth-aachen/docker-ros@main
         with:
-          base-image: rwthika/ros:latest
+          base-image: ubuntu:20.04
+          ros-distro: noetic
           command: roscore
           platform: ${{ matrix.platform }}
           target: ${{ matrix.target }}
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index bacd006..a39079d 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -2,7 +2,8 @@ include:
   - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/$DOCKER_ROS_GIT_REF/.gitlab-ci/docker-ros.yml
 
 variables:
-  BASE_IMAGE: rwthika/ros:latest
+  BASE_IMAGE: ubuntu:20.04
+  ROS_DISTRO: noetic
   COMMAND: rostopic list
   PLATFORM: amd64,arm64
   TARGET: dev,run
diff --git a/ros1/additional.apt-dependencies b/ros1/additional.apt-dependencies
deleted file mode 100644
index da85e7e..0000000
--- a/ros1/additional.apt-dependencies
+++ /dev/null
@@ -1 +0,0 @@
-net-tools
\ No newline at end of file
diff --git a/ros1/custom.sh b/ros1/custom.sh
deleted file mode 100644
index f2b461f..0000000
--- a/ros1/custom.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-touch my-custom-file.txt
-echo $ROS_DISTRO >> my-custom-file.txt
-echo $DOCKER_USER >> my-custom-file.txt
\ No newline at end of file
diff --git a/ros1/docker/additional-debs.txt b/ros1/docker/additional-debs.txt
new file mode 100644
index 0000000..498acce
--- /dev/null
+++ b/ros1/docker/additional-debs.txt
@@ -0,0 +1 @@
+toilet
\ No newline at end of file
diff --git a/ros1/files/helloWorld.txt b/ros1/docker/additional-files/hello-world.txt
similarity index 100%
rename from ros1/files/helloWorld.txt
rename to ros1/docker/additional-files/hello-world.txt
diff --git a/ros1/docker/additional-pip-requirements.txt b/ros1/docker/additional-pip-requirements.txt
new file mode 100644
index 0000000..409d5ae
--- /dev/null
+++ b/ros1/docker/additional-pip-requirements.txt
@@ -0,0 +1 @@
+docker-run-cli
\ No newline at end of file
diff --git a/ros1/docker/custom.sh b/ros1/docker/custom.sh
new file mode 100644
index 0000000..1fa1721
--- /dev/null
+++ b/ros1/docker/custom.sh
@@ -0,0 +1,10 @@
+set -e
+
+# check additional-debs.txt
+toilet docker-ros
+
+# check additional-pip-requirements.txt
+python -c "import docker_run"
+
+# check additional-files/
+cat /docker-ros/additional-files/hello-world.txt
diff --git a/ros2/additional.apt-dependencies b/ros2/additional.apt-dependencies
deleted file mode 100644
index 434335a..0000000
--- a/ros2/additional.apt-dependencies
+++ /dev/null
@@ -1 +0,0 @@
-net-tools
diff --git a/ros2/custom.sh b/ros2/custom.sh
deleted file mode 100644
index f2b461f..0000000
--- a/ros2/custom.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-touch my-custom-file.txt
-echo $ROS_DISTRO >> my-custom-file.txt
-echo $DOCKER_USER >> my-custom-file.txt
\ No newline at end of file
diff --git a/ros2/docker/additional-debs.txt b/ros2/docker/additional-debs.txt
new file mode 100644
index 0000000..498acce
--- /dev/null
+++ b/ros2/docker/additional-debs.txt
@@ -0,0 +1 @@
+toilet
\ No newline at end of file
diff --git a/ros2/files/helloWorld.txt b/ros2/docker/additional-files/hello-world.txt
similarity index 100%
rename from ros2/files/helloWorld.txt
rename to ros2/docker/additional-files/hello-world.txt
diff --git a/ros2/docker/additional-pip-requirements.txt b/ros2/docker/additional-pip-requirements.txt
new file mode 100644
index 0000000..409d5ae
--- /dev/null
+++ b/ros2/docker/additional-pip-requirements.txt
@@ -0,0 +1 @@
+docker-run-cli
\ No newline at end of file
diff --git a/ros2/docker/custom.sh b/ros2/docker/custom.sh
new file mode 100644
index 0000000..1fa1721
--- /dev/null
+++ b/ros2/docker/custom.sh
@@ -0,0 +1,10 @@
+set -e
+
+# check additional-debs.txt
+toilet docker-ros
+
+# check additional-pip-requirements.txt
+python -c "import docker_run"
+
+# check additional-files/
+cat /docker-ros/additional-files/hello-world.txt