diff --git a/.github/workflows/catkin_build.yml b/.github/workflows/catkin_build.yml
index 2fddc83..a52c164 100644
--- a/.github/workflows/catkin_build.yml
+++ b/.github/workflows/catkin_build.yml
@@ -12,27 +12,16 @@ jobs:
     container:
       image: ros:noetic
     steps:
-      - run: apt-get update && apt-get install -y git
-      - run: apt-get install -y python3-pip ros-noetic-catkin python3-catkin-tools
+      - name: Handle issue with actions/checkout when Git version is less than 2.18
+        run: apt-get update && apt-get install -y git
 
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
         with:
           path: catkin_ws/src/dronecan_communicator
           submodules: recursive
 
       - name: Install requirements
-        run: |
-          cd catkin_ws/src/dronecan_communicator
-          ./scripts/install_requirements.sh
-          ./scripts/install_libuavcan.sh
-
-      # - name: Generate custom dsdl
-      #   run: |
-      #     cd catkin_ws/src/dronecan_communicator
-      #     ./scripts/compile_dsdl.sh
+        run: ./catkin_ws/src/dronecan_communicator/scripts/install.sh
 
       - name: catkin build
-        run: |
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          cd catkin_ws
-          catkin build
+        run: source /opt/ros/$ROS_DISTRO/setup.bash && cd catkin_ws && catkin build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 21424b6..6787ef0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,14 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(uavcan_communicator)
 
+execute_process(
+  COMMAND bash ${CMAKE_SOURCE_DIR}/scripts/install_libuavcan.sh
+  RESULT_VARIABLE install_libuavcan_result
+)
+if(NOT install_libuavcan_result EQUAL 0)
+  message(FATAL_ERROR "install_libuavcan.sh failed. Aborting.")
+endif()
+
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
@@ -30,9 +38,9 @@ target_include_directories(${PROJECT_NAME}_uavcan_communicator
 set_target_properties(${PROJECT_NAME}_uavcan_communicator PROPERTIES OUTPUT_NAME uavcan_communicator PREFIX "")
 add_dependencies(${PROJECT_NAME}_uavcan_communicator ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${PROJECT_NAME}_uavcan_communicator
-    ${catkin_LIBRARIES}
-    ${UAVCAN_LIB}
-    rt
+  ${catkin_LIBRARIES}
+  ${UAVCAN_LIB}
+  rt
 )
 
 install(TARGETS ${PROJECT_NAME}_uavcan_communicator
diff --git a/README.md b/README.md
index 970fef2..df00ea5 100644
--- a/README.md
+++ b/README.md
@@ -51,9 +51,7 @@ cd catkin_ws/src
 git clone --recursive git@github.com:RaccoonlabDev/uavcan_communicator.git
 cd uavcan_communicator
 git submodule update --init --recursive
-./scripts/install_requirements.sh
-./scripts/install_libuavcan.sh
-./scripts/compile_dsdl.sh
+./scripts/install.sh
 ```
 
 ## 3. Running
diff --git a/scripts/Dockerfile b/scripts/Dockerfile
index 732ab7a..74726cb 100644
--- a/scripts/Dockerfile
+++ b/scripts/Dockerfile
@@ -1,38 +1,20 @@
+# This software is distributed under the terms of the GPL v3 License.
+# Copyright (c) 2022-2023 Dmitry Ponomarev.
+# Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
 ARG ROS_DISTRO=noetic
-
 FROM ros:$ROS_DISTRO
 LABEL description="DroneCAN communicator"
 LABEL maintainer="ponomarevda96@gmail.com"
 SHELL ["/bin/bash", "-c"]
 WORKDIR /catkin_ws/src/dronecan_communicator
 
-# 1. Install basic requirements
-RUN apt-get update && apt-get upgrade -y && apt-get install -y git ros-$ROS_DISTRO-catkin python3-pip python3-catkin-tools
-RUN if [[ "$ROS_DISTRO" = "melodic" ]] ; then apt-get install -y python-pip python-catkin-tools ; fi
-
-# 2. Install package requirements
-COPY scripts/install_libuavcan.sh scripts/install_libuavcan.sh
-COPY scripts/install_requirements.sh scripts/install_requirements.sh
-COPY scripts/requirements.txt scripts/requirements.txt
-COPY libs/ libs/
-RUN scripts/install_requirements.sh
-RUN scripts/install_libuavcan.sh
-
-# 3. Copy main package files
-COPY CMakeLists.txt     CMakeLists.txt
-COPY package.xml        package.xml
-COPY src/ src/
-
-# 4. For custom DroneCAN msgs
-# COPY custom_msgs/ custom_msgs/
-# RUN ./scripts/compile_dsdl.sh
-
-# 5. Build
-RUN source /opt/ros/$ROS_DISTRO/setup.bash && cd /catkin_ws && catkin build
+# 1. Install requirements
+COPY scripts/install.sh scripts/install.sh
+RUN ./scripts/install.sh
 
-# 6. Copy auxilliary package files
-COPY config/ config/
-COPY launch/ launch/
+# 2. Build ROS
+COPY . /catkin_ws/src/dronecan_communicator
+RUN /catkin_ws/src/dronecan_communicator/scripts/catkin_build.sh
 
 CMD source /opt/ros/$ROS_DISTRO/setup.bash && \
     source /catkin_ws/devel/setup.bash && \
diff --git a/scripts/catkin_build.sh b/scripts/catkin_build.sh
new file mode 100755
index 0000000..810966a
--- /dev/null
+++ b/scripts/catkin_build.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+# This software is distributed under the terms of the GPL v3 License.
+# Copyright (c) 2022-2023 Dmitry Ponomarev.
+# Author: Dmitry Ponomarev <ponomarevda96@gmail.com>
+
+source /opt/ros/$ROS_DISTRO/setup.bash
+cd /catkin_ws
+git config --global http.sslverify false
+catkin build
diff --git a/scripts/install.sh b/scripts/install.sh
new file mode 100755
index 0000000..969a2a2
--- /dev/null
+++ b/scripts/install.sh
@@ -0,0 +1,13 @@
+#!/bin/bash
+CRNT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+REPO_DIR="$(dirname "$CRNT_DIR")"
+
+set -e
+
+apt-get update
+apt-get install -y git \
+                   can-utils \
+                   ros-$ROS_DISTRO-catkin \
+                   ros-$ROS_DISTRO-mavros-msgs \
+                   python3-pip \
+                   python3-catkin-tools
diff --git a/scripts/install_libuavcan.sh b/scripts/install_libuavcan.sh
index 61d8c4d..56e3c70 100755
--- a/scripts/install_libuavcan.sh
+++ b/scripts/install_libuavcan.sh
@@ -1,11 +1,14 @@
 #!/bin/bash
-# Instruction from https://github.com/UAVCAN/libuavcan/tree/legacy-v0#using-in-a-gnulinux-application
+CRNT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+REPO_DIR="$(dirname "$CRNT_DIR")"
+
+set -e
 
-cd "$(dirname "$0")"
-cd ../libs/libuavcan
+# Install libuavcan
+# Instruction from https://github.com/UAVCAN/libuavcan/tree/legacy-v0#using-in-a-gnulinux-application
+cd ${REPO_DIR}/libs/libuavcan
 mkdir -p build
 cd build
-rm -r *  # handle case if build directory is not empty bacause it may lead to fail
 cmake ..
 make
 sudo make install
diff --git a/scripts/install_requirements.sh b/scripts/install_requirements.sh
deleted file mode 100755
index caeaee7..0000000
--- a/scripts/install_requirements.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
-
-sudo apt-get install -y can-utils ros-$ROS_DISTRO-mavros-msgs
-pip install -r $SCRIPT_DIR/requirements.txt
diff --git a/scripts/requirements.txt b/scripts/requirements.txt
deleted file mode 100644
index 1aec434..0000000
--- a/scripts/requirements.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-pyuavcan_v0
-monotonic # for python 2.7
-pyquaternion