diff --git a/jenkins/Dockerfile.kinetic b/jenkins/Dockerfile.kinetic
index b37add5..48efb2d 100644
--- a/jenkins/Dockerfile.kinetic
+++ b/jenkins/Dockerfile.kinetic
@@ -26,9 +26,9 @@ 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/prepare_catkin_workspace.sh cartographer_ros/scripts/
+COPY scripts/prepare_jenkins_catkin_workspace.sh cartographer_ros/scripts/
 RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
-    cartographer_ros/scripts/prepare_catkin_workspace.sh
+    cartographer_ros/scripts/prepare_jenkins_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/
@@ -69,6 +69,9 @@ RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
         --catkin-make-args run_tests && \
     cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
 
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_toru
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_fetch
+
 COPY scripts/ros_entrypoint.sh /
 # A BTRFS bug may prevent us from cleaning up these directories.
 # https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
diff --git a/scripts/prepare_jenkins_catkin_workspace.sh b/scripts/prepare_jenkins_catkin_workspace.sh
new file mode 100755
index 0000000..1db3b06
--- /dev/null
+++ b/scripts/prepare_jenkins_catkin_workspace.sh
@@ -0,0 +1,33 @@
+#!/bin/sh
+
+# Copyright 2016 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
+
+# Create a new workspace in 'catkin_ws'.
+mkdir -p catkin_ws/src
+cd catkin_ws/src
+wstool init
+
+# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
+wstool merge ../../cartographer_ros/cartographer_ros.rosinstall
+wstool merge -y https://raw.githubusercontent.com/googlecartographer/cartographer_fetch/master/cartographer_fetch.rosinstall
+wstool merge -y https://raw.githubusercontent.com/magazino/cartographer_magazino/master/cartographer_magazino.rosinstall
+wstool set cartographer -v ${CARTOGRAPHER_VERSION} -y
+wstool remove cartographer_ros
+wstool update