diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
index 53d3439..e4b86ee 100644
--- a/.github/workflows/ros-docker-image.yaml
+++ b/.github/workflows/ros-docker-image.yaml
@@ -45,19 +45,11 @@ jobs:
           - dockerfile: Dockerfile.hardware
             repo_name: ''
             platforms: linux/amd64, linux/arm64
-            ros_distro: humble
+            ros_distro: jazzy
           - dockerfile: Dockerfile.gazebo
             repo_name: rosbot-gazebo
             platforms: linux/amd64
-            ros_distro: humble
-          - dockerfile: Dockerfile.hardware
-            repo_name: ''
-            platforms: linux/amd64, linux/arm64
-            ros_distro: iron
-                    # - dockerfile: Dockerfile.gazebo
-                    #   repo_name: rosbot-gazebo
-                    #   platforms: linux/amd64
-                    #   ros_distro: iron
+            ros_distro: jazzy
 
     steps:
 
diff --git a/Dockerfile.gazebo b/Dockerfile.gazebo
index ee8aa41..ae44eab 100644
--- a/Dockerfile.gazebo
+++ b/Dockerfile.gazebo
@@ -55,9 +55,6 @@ RUN apt-get update --fix-missing && apt-get install -y \
     git clone --depth 1 -b jazzy-devel https://github.com/husarion/rosbot_ros.git src && \
     vcs import src < src/rosbot/rosbot_hardware.repos && \
     vcs import src < src/rosbot/rosbot_simulation.repos && \
-    cp -r src/ros2_controllers/diff_drive_controller src/ && \
-    cp -r src/ros2_controllers/imu_sensor_broadcaster src/ && \
-    rm -rf src/ros2_controllers && \
     # Install dependencies
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
     rosdep init && \
diff --git a/Dockerfile.hardware b/Dockerfile.hardware
index a963f7d..73d22d3 100644
--- a/Dockerfile.hardware
+++ b/Dockerfile.hardware
@@ -49,9 +49,6 @@ RUN apt-get update && apt-get install -y \
 
 RUN git clone --depth 1 -b jazzy-devel https://github.com/husarion/rosbot_ros.git src && \
     vcs import src < src/rosbot/rosbot_hardware.repos && \
-    cp -r src/ros2_controllers/diff_drive_controller src/ && \
-    cp -r src/ros2_controllers/imu_sensor_broadcaster src/ && \
-    rm -rf src/ros2_controllers && \
     # it is necessary to remove simulation - otherwise rosdep tries to install dependencies
     rm -r src/rosbot_gazebo && \
     # without this line (using vulcanexus base image) rosdep init throws error: "ERROR: default sources list file already exists:"