diff --git a/Dockerfile.kinetic b/Dockerfile.kinetic
index 77fe919..7e2bb8d 100644
--- a/Dockerfile.kinetic
+++ b/Dockerfile.kinetic
@@ -51,17 +51,15 @@ RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
 COPY scripts/install.sh cartographer_ros/scripts/
 COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
 
+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/cartographer_ros_msgs/
 RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
     cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
         --catkin-make-args run_tests && \
     cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
 
-RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
-
-RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
-    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
-
 COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
 RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
     cartographer_ros/scripts/install.sh --pkg cartographer_ros \
diff --git a/Dockerfile.melodic b/Dockerfile.melodic
index 55baf91..35e8399 100644
--- a/Dockerfile.melodic
+++ b/Dockerfile.melodic
@@ -50,17 +50,15 @@ RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
 COPY scripts/install.sh cartographer_ros/scripts/
 COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
 
+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/cartographer_ros_msgs/
 RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
     cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
         --catkin-make-args run_tests && \
     cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
 
-RUN apt-get install -y libceres-dev
-
-RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
-    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
-
 COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
 RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
     cartographer_ros/scripts/install.sh --pkg cartographer_ros \
diff --git a/Dockerfile.noetic b/Dockerfile.noetic
index 87cd653..7168d10 100644
--- a/Dockerfile.noetic
+++ b/Dockerfile.noetic
@@ -54,17 +54,15 @@ RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
 COPY scripts/install.sh cartographer_ros/scripts/
 COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
 
+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/cartographer_ros_msgs/
 RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
     cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
         --catkin-make-args run_tests && \
     cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
 
-RUN apt-get install -y libceres-dev
-
-RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
-    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
-
 COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
 RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
     cartographer_ros/scripts/install.sh --pkg cartographer_ros \