diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index e047245..6aedc32 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,19 +1,13 @@
-image: registry.gitlab.com/ros_tracing/ros2_tracing/ci-base:latest
-
 variables:
   DOCKER_DRIVER: overlay2
   PACKAGES_LIST: ros2trace tracetools tracetools_launch tracetools_read tracetools_test tracetools_trace
-  base_image_id: registry.gitlab.com/ros_tracing/ros2_tracing/ci-base
-
-services:
-  - docker:dind
-
-before_script:
-  - vcs import < instrumentation.repos
+  base_image_id: registry.gitlab.com/micro-ros/ros_tracing/ci_base
 
 build_enabled:
   image: $base_image_id
   script:
+    - vcs import < instrumentation.repos
+    - rosdep install --from-paths . -i . -i /root/ws --rosdistro dashing -y
     - lttng-sessiond --daemonize
     - . /root/ws/install/local_setup.sh
     - colcon build --symlink-install --cmake-args " -DWITH_LTTNG=ON" --packages-up-to $PACKAGES_LIST
@@ -29,14 +23,3 @@ build_enabled:
       junit:
         - build/*/test_results/*/*.xunit.xml
         - build/*/pytest.xml
-  except:
-    - /.*docker.*/
-        
-ci_base_image:
-  image: docker:stable
-  script:
-    - docker build --tag $base_image_id -f docker-ci-base/Dockerfile .
-    - docker login -u gitlab-ci-token -p $CI_BUILD_TOKEN registry.gitlab.com
-    - docker push $base_image_id
-  only:
-    - /.*docker.*/
\ No newline at end of file
diff --git a/ci_source_deps.repos b/ci_source_deps.repos
deleted file mode 100644
index c6e4150..0000000
--- a/ci_source_deps.repos
+++ /dev/null
@@ -1,24 +0,0 @@
-repositories:
-  eProsima/Fast-RTPS:
-    type: git
-    url: https://github.com/eProsima/Fast-RTPS.git
-    version: master
-  ros2/rcpputils:
-    type: git
-    url: https://github.com/ros2/rcpputils.git
-    version: master
-  ros2/rmw:
-    type: git
-    url: https://github.com/ros2/rmw.git
-    version: master
-  ros2/rmw_fastrtps:
-    type: git
-    url: https://github.com/ros2/rmw_fastrtps.git
-    version: master
-  ros2/rmw_implementation:
-    type: git
-    url: https://github.com/ros2/rmw_implementation.git
-  ros2/rosidl_typesupport_fastrtps:
-    type: git
-    url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
-    version: master
diff --git a/docker-ci-base/Dockerfile b/docker-ci-base/Dockerfile
deleted file mode 100644
index 23f233f..0000000
--- a/docker-ci-base/Dockerfile
+++ /dev/null
@@ -1,30 +0,0 @@
-FROM ros:dashing-ros-base-bionic
-
-RUN apt-get update
-
-RUN apt-get install --no-install-recommends -y \
-    software-properties-common
-RUN apt-add-repository -y ppa:lttng/ppa
-RUN apt-get update
-
-RUN apt-get install --no-install-recommends -y \
-    libasio-dev \
-    libtinyxml2-dev \
-    lttng-tools \
-    lttng-modules-dkms \
-    liblttng-ust-dev \
-    python3-lttng \
-    python3-babeltrace
-
-ENV RTI_NC_LICENSE_ACCEPTED=yes
-RUN apt-get install --no-install-recommends -y \
-    rti-connext-dds-5.3.1
-
-RUN mkdir /root/ws
-COPY . /root/ws
-WORKDIR /root/ws
-RUN vcs import < ci_source_deps.repos
-RUN apt-get update && rosdep update && rosdep install --from-paths . --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"
-RUN apt-get purge -y ros-dashing-fastrtps
-
-RUN . /opt/ros/dashing/setup.sh && colcon build --symlink-install
diff --git a/tracetools/package.xml b/tracetools/package.xml
index e9bec26..9653d03 100644
--- a/tracetools/package.xml
+++ b/tracetools/package.xml
@@ -13,8 +13,6 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
-  <depend>liblttng-ust-dev</depend>
-
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>