diff --git a/Dockerfile.base.melodic b/Dockerfile.base.melodic
deleted file mode 100644
index 4b2274f..0000000
--- a/Dockerfile.base.melodic
+++ /dev/null
@@ -1,43 +0,0 @@
-# Copyright 2018 The Cartographer Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-FROM ros:melodic
-
-ARG CARTOGRAPHER_VERSION=master
-
-# Bionic's base image doesn't ship with sudo.
-RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
-
-# First, we invalidate the entire cache if googlecartographer/cartographer has
-# changed. This file's content changes whenever master changes. See:
-# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
-ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master \
-    cartographer_ros/cartographer_version.json
-
-# wstool needs the updated rosinstall file to clone the correct repos.
-COPY cartographer_ros.rosinstall cartographer_ros/
-COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
-RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
-    cartographer_ros/scripts/prepare_catkin_workspace.sh
-
-# rosdep needs the updated package.xml files to install the correct debs.
-COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
-COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
-COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
-COPY scripts/install_debs.sh cartographer_ros/scripts/
-RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
-
-# Install proto3.
-RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
-
diff --git a/Dockerfile.melodic b/Dockerfile.melodic
index 86523f7..3091e77 100644
--- a/Dockerfile.melodic
+++ b/Dockerfile.melodic
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM eu.gcr.io/cartographer-141408/cartographer_ros_melodic_base
+FROM ros:melodic
 
 ARG CARTOGRAPHER_VERSION=master
 
@@ -30,9 +30,9 @@ ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/
 
 # wstool needs the updated rosinstall file to clone the correct repos.
 COPY cartographer_ros.rosinstall cartographer_ros/
-COPY scripts/update_catkin_workspace.sh cartographer_ros/scripts/
+COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
 RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
-    cartographer_ros/scripts/update_catkin_workspace.sh
+    cartographer_ros/scripts/prepare_catkin_workspace.sh
 
 # rosdep needs the updated package.xml files to install the correct debs.
 COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
@@ -41,6 +41,9 @@ COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_r
 COPY scripts/install_debs.sh cartographer_ros/scripts/
 RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
 
+# Install proto3.
+RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
+
 # Build, install, and test all packages individually to allow caching. The
 # ordering of these steps must match the topological package ordering as
 # determined by Catkin.
diff --git a/scripts/update_catkin_workspace.sh b/scripts/update_catkin_workspace.sh
deleted file mode 100755
index 15807cd..0000000
--- a/scripts/update_catkin_workspace.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/bin/sh
-
-# Copyright 2018 The Cartographer Authors
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set -o errexit
-set -o verbose
-
-. /opt/ros/${ROS_DISTRO}/setup.sh
-
-cd catkin_ws/src
-
-# Call 'status' as a workaround for https://github.com/vcstools/wstool/issues/77
-wstool status
-wstool update