diff --git a/Dockerfile.rhel9 b/Dockerfile.rhel9
index 26948d5..b4ab37a 100644
--- a/Dockerfile.rhel9
+++ b/Dockerfile.rhel9
@@ -11,6 +11,7 @@ RUN dnf install \
   make \
   langpacks-en \
   git \
+  wget \
   -y --refresh
 RUN dnf config-manager --set-enabled crb 
 
@@ -21,6 +22,44 @@ python3-colcon-common-extensions
 RUN rosdep init
 RUN pip3 install vcstool colcon-mixin colcon-coveragepy-result colcon-lcov-result
 
+# install cmake 3.23.5
+RUN \
+  cd && \
+  wget https://github.com/Kitware/CMake/releases/download/v3.23.5/cmake-3.23.5-linux-x86_64.tar.gz && \
+  cd /usr && \
+  tar --strip-components=1 -xzf ~/cmake-3.23.5-linux-x86_64.tar.gz  && \
+  rm ~/cmake-3.23.5-linux-x86_64.tar.gz
+
+# install additional dependencies
+# TODO where does the mix of python3.9 and python3.11 come from?
+RUN \
+  cd && \
+  wget https://bootstrap.pypa.io/get-pip.py && \
+  python3.11 get-pip.py && rm get-pip.py && \
+  python3.11 -m pip install catkin-pkg
+
+# setup colcon mixin and metadata
+RUN colcon mixin add default \
+  https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+  colcon mixin update && \
+  colcon metadata add default \
+  https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+  colcon metadata update
+
+ENV ROS2_WS /opt/ros2_ws
+RUN mkdir -p $ROS2_WS/src
+WORKDIR $ROS2_WS
+ADD ros-controls.repos .
+RUN vcs import src < ros-controls.repos && \
+  source /opt/ros/$ROS_DISTRO/setup.sh && \
+  rosdep update --rosdistro $ROS_DISTRO && \
+  rosdep install -iyr --from-path src || true && \
+  colcon build \
+    --mixin release build-testing-off \
+    --cmake-args --no-warn-unused-cli \
+    --packages-up-to generate_parameter_library && \
+    rm -rf log src build
+
 # set up sourcing of ros
 COPY ./ros_entrypoint.sh /
 ENTRYPOINT [ "/ros_entrypoint.sh" ]
diff --git a/ros-controls.repos b/ros-controls.repos
new file mode 100644
index 0000000..e47f561
--- /dev/null
+++ b/ros-controls.repos
@@ -0,0 +1,9 @@
+repositories:
+  rsl:
+    type: git
+    url: https://github.com/PickNikRobotics/RSL.git
+    version:  main
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version:  main
\ No newline at end of file