diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
index 2bf4300..9b13e12 100644
--- a/.github/workflows/ros-docker-image.yaml
+++ b/.github/workflows/ros-docker-image.yaml
@@ -44,7 +44,7 @@ jobs:
       - name: Maximize build space
         uses: easimon/maximize-build-space@master
         with:
-          root-reserve-mb: 30000
+          root-reserve-mb: 35000
           remove-dotnet: 'true'
           remove-android: 'true'
           remove-haskell: 'true'
diff --git a/Dockerfile.jetson b/Dockerfile.jetson
index f748814..c010086 100644
--- a/Dockerfile.jetson
+++ b/Dockerfile.jetson
@@ -6,19 +6,6 @@ ARG ZED_SDK_MAJOR=4
 ARG ZED_SDK_MINOR=0
 ARG ROS_DISTRO=foxy
 
-### DOWNLOAD HUSARNET ###
-FROM ubuntu:20.04 AS husarnet-dds-getter
-
-ARG TARGETARCH
-ARG HUSARNET_DDS_RELEASE="v1.3.5"
-
-ENV HUSARNET_DDS_DEBUG=FALSE
-
-RUN apt update && apt install -y \
-        curl
-
-RUN curl -L https://github.com/husarnet/husarnet-dds/releases/download/${HUSARNET_DDS_RELEASE}/husarnet-dds-linux-${TARGETARCH} -o /usr/bin/husarnet-dds
-
 ### BUILD IMAGE ###
 FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-devel-l4t-r${L4T_MAJOR}.${L4T_MINOR} AS build
 
@@ -45,6 +32,7 @@ RUN echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources
 # ZED setup
 RUN apt-get update || true && \
     apt-get install --no-install-recommends -y \
+        ros-dev-tools \
         ros-${ROS_DISTRO}-ros-base \
         ros-${ROS_DISTRO}-ament-cmake-clang-format \
         ros-${ROS_DISTRO}-image-transport \
@@ -52,15 +40,10 @@ RUN apt-get update || true && \
         ros-${ROS_DISTRO}-diagnostic-updater \
         ros-${ROS_DISTRO}-xacro \
         build-essential \
-        git \
-        python3-colcon-common-extensions \
         python3-colcon-mixin \
-        python3-rosdep \
-        python3-vcstool \
         python3-flake8-docstrings \
         python3-pip \
-        python3-pytest-cov \
-        ros-dev-tools && \
+        python3-pytest-cov && \
     pip3 install \
         argcomplete \
         numpy \
@@ -93,12 +76,13 @@ COPY ./healthcheck.cpp /ros2_ws/src/healthcheck_pkg/src/
 # Build
 WORKDIR /ros2_ws
 RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
-    colcon build --parallel-workers $(nproc) --symlink-install \
-    --event-handlers console_direct+ --base-paths src \
-    --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
-    ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
-    ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' \
-    ' --no-warn-unused-cli'
+    colcon build --parallel-workers $(nproc) \
+        --event-handlers console_direct+ --base-paths src \
+        --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
+        ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
+        ' -DCMAKE_CXX_FLAGS="-Wl,--allow-shlib-undefined"' \
+        ' --no-warn-unused-cli' && \
+    rm -rf build log
 
 ### RUNTIME IMAGE ### # Reduction from 6.1GB to 3.9GB
 FROM stereolabs/zed:${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}-runtime-l4t-r${L4T_MAJOR}.${L4T_MINOR} AS runtime
@@ -109,8 +93,6 @@ ARG ZED_SDK_MAJOR
 ARG ZED_SDK_MINOR
 ARG ROS_DISTRO
 
-COPY --from=build /ros2_ws /ros2_ws
-
 SHELL ["/bin/bash", "-c"]
 
 ENV NVIDIA_DRIVER_CAPABILITIES \
@@ -128,6 +110,7 @@ RUN echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources
 # ZED setup
 RUN apt-get update || true && \
     apt-get install --no-install-recommends -y \
+        ros-dev-tools \
         ros-${ROS_DISTRO}-ros-base \
         ros-${ROS_DISTRO}-ament-cmake-clang-format \
         ros-${ROS_DISTRO}-image-transport \
@@ -136,15 +119,11 @@ RUN apt-get update || true && \
         ros-${ROS_DISTRO}-xacro \
         ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
         build-essential \
-        git \
-        python3-colcon-common-extensions \
+        curl \
         python3-colcon-mixin \
-        python3-rosdep \
-        python3-vcstool \
         python3-flake8-docstrings \
         python3-pip \
-        python3-pytest-cov \
-        ros-dev-tools && \
+        python3-pytest-cov && \
     pip3 install \
         argcomplete \
         numpy \
@@ -153,6 +132,7 @@ RUN apt-get update || true && \
     rm -rf /var/lib/apt/lists/*
 
 # Check dependencies
+COPY --from=build /ros2_ws /ros2_ws
 WORKDIR /ros2_ws
 RUN apt-get update && \
     source /opt/ros/$ROS_DISTRO/setup.bash && \
@@ -173,8 +153,11 @@ COPY ./healthcheck.sh /
 HEALTHCHECK --interval=2s --timeout=1s --start-period=20s --retries=1 \
     CMD ["/healthcheck.sh"]
 
-# Add Husarnet
-COPY --from=husarnet-dds-getter /usr/bin/husarnet-dds /usr/bin/husarnet-dds
+# Download Husarnet
+ARG TARGETARCH
+ARG HUSARNET_DDS_RELEASE="v1.3.5"
+ENV HUSARNET_DDS_DEBUG=FALSE
+RUN curl -L https://github.com/husarnet/husarnet-dds/releases/download/${HUSARNET_DDS_RELEASE}/husarnet-dds-linux-${TARGETARCH} -o /usr/bin/husarnet-dds
 RUN chmod +x /usr/bin/husarnet-dds
 
 # Setup environment variables