diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 38b4a51..af9f018 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,20 +1,13 @@
 variables:
   DOCKER_DRIVER: overlay2
   PACKAGES_LIST: ros2trace tracetools tracetools_launch tracetools_read tracetools_test tracetools_trace
-  base_image_id: registry.gitlab.com/micro-ros/ros_tracing/ros2_tracing/ci-base
-
-services:
-  - docker:dind
-
-stages:
- - deps
- - build
+  base_image_id: registry.gitlab.com/micro-ros/ros_tracing/ci_base
 
 build_enabled:
   image: $base_image_id
-  stage: build
   script:
     - vcs import < instrumentation.repos
+    - rosdep install --from-paths . -i . --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
@@ -30,16 +23,3 @@ build_enabled:
       junit:
         - build/*/test_results/*/*.xunit.xml
         - build/*/pytest.xml
-  except:
-    - /.*docker.*/
-        
-ci_base_image:
-  stage: deps
-  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.*/
-    - scheduled
\ No newline at end of file