diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 6a3f9d0..914fe2f 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -10,6 +10,7 @@ before_script:
   - 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"
+  - apt-get purge -y ros-dashing-fastrtps
   - lttng-sessiond --daemonize
 
 # build:
diff --git a/ci_source_deps.repos b/ci_source_deps.repos
index e087a48..c6e4150 100644
--- a/ci_source_deps.repos
+++ b/ci_source_deps.repos
@@ -1,4 +1,12 @@
 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
@@ -10,3 +18,7 @@ repositories:
   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/doc/design_ros_2.md b/doc/design_ros_2.md
index d2bfa37..b9268fc 100644
--- a/doc/design_ros_2.md
+++ b/doc/design_ros_2.md
@@ -6,7 +6,7 @@ Design document for ROS 2 tracing, instrumentation, and analysis effort.
 
 Tracing allows to record run-time data from a system, both for system data (e.g., when a process
 is being scheduled, or when I/O occurs) and for user-defined data. This package helps with
-user-defined trace data within the ROS2 framework, e.g. to trace when messages arrive,
+user-defined trace data within the ROS 2 framework, e.g. to trace when messages arrive,
 when timers fire, when callbacks are being run, etc.
 
 ## Goals and requirements