diff --git a/Dockerfile b/Dockerfile
index 1fa877a..9d75e03 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -13,15 +13,49 @@
 # limitations under the License.
 
 FROM ros:indigo
+
 # 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/
+# Remove the contents of the cartographer_ros repo and copy in the updated
+# files as necessary.
+RUN cartographer_ros/scripts/prepare_catkin_workspace.sh && \
+    rm -rf catkin_ws/src/cartographer_ros/*
+
 # rosdep needs the updated package.xml files to install the correct debs.
-COPY cartographer_ros/package.xml cartographer_ros/cartographer_ros/
-COPY cartographer_ros_msgs/package.xml cartographer_ros/cartographer_ros_msgs/
-COPY cartographer_rviz/package.xml cartographer_ros/cartographer_rviz/
-COPY ceres_solver/package.xml cartographer_ros/ceres_solver/
+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 ceres_solver/package.xml catkin_ws/src/cartographer_ros/ceres_solver/
 COPY scripts/install_debs.sh cartographer_ros/scripts/
 RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
-COPY . cartographer_ros
-RUN cartographer_ros/scripts/install_cartographer_ros.sh && rm -rf catkin_ws
+
+# Build, install, and test all packages individually to allow caching.
+COPY scripts/install.sh cartographer_ros/scripts/
+
+COPY ceres_solver catkin_ws/src/cartographer_ros/
+RUN cartographer_ros/scripts/install.sh --pkg ceres_solver
+
+# 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
+RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
+    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
+
+COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
+    --catkin-make-args run_tests
+
+COPY cartographer_ros catkin_ws/src/cartographer_ros/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros \
+    --catkin-make-args run_tests
+
+COPY cartographer_rviz catkin_ws/src/cartographer_ros/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
+    --catkin-make-args run_tests
+
 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
+RUN rm -rf cartographer_ros catkin_ws || true
diff --git a/scripts/install_cartographer_ros.sh b/scripts/install.sh
similarity index 80%
rename from scripts/install_cartographer_ros.sh
rename to scripts/install.sh
index 58be9f7..3c34abf 100755
--- a/scripts/install_cartographer_ros.sh
+++ b/scripts/install.sh
@@ -1,4 +1,4 @@
-#!/bin/sh
+#!/bin/bash
 
 # Copyright 2016 The Cartographer Authors
 #
@@ -21,10 +21,6 @@ set -o verbose
 
 cd catkin_ws
 
-# Use the local version of cartographer_ros to include local modifications.
-rm -rf src/cartographer_ros
-mv ../cartographer_ros src
-
 # Build, install, and test.
 #
 # It's necessary to use the '--install' flag for every call to
@@ -33,5 +29,4 @@ mv ../cartographer_ros src
 # avoid any issues caused by using 'CMAKE_INSTALL_PREFIX' during the
 # configuration phase of the build (e.g. cartographer/common/config.h.cmake).
 export BUILD_FLAGS="--use-ninja --install-space /opt/cartographer_ros --install"
-catkin_make_isolated ${BUILD_FLAGS} --catkin-make-args run_tests
-catkin_make_isolated ${BUILD_FLAGS} --pkg cartographer --make-args test
+catkin_make_isolated ${BUILD_FLAGS} $@
diff --git a/scripts/install_debs.sh b/scripts/install_debs.sh
index a6f3712..bf14013 100755
--- a/scripts/install_debs.sh
+++ b/scripts/install_debs.sh
@@ -17,21 +17,14 @@
 set -o errexit
 set -o verbose
 
+. /opt/ros/${ROS_DISTRO}/setup.sh
+
+cd catkin_ws
+
 # Install Ninja.
 sudo apt-get update
 sudo apt-get install -y ninja-build
 
-. /opt/ros/${ROS_DISTRO}/setup.sh
-
-# Create a new workspace in 'catkin_ws'.
-mkdir catkin_ws
-cd catkin_ws
-wstool init src
-
-# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
-wstool merge -t src ../cartographer_ros/cartographer_ros.rosinstall
-wstool update -t src
-
 # Install rosdep dependencies.
 rosdep update
 rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
diff --git a/scripts/prepare_catkin_workspace.sh b/scripts/prepare_catkin_workspace.sh
new file mode 100755
index 0000000..b89ed5a
--- /dev/null
+++ b/scripts/prepare_catkin_workspace.sh
@@ -0,0 +1,29 @@
+#!/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 catkin_ws
+cd catkin_ws
+wstool init src
+
+# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
+wstool merge -t src ../cartographer_ros/cartographer_ros.rosinstall
+wstool update -t src