diff --git a/packaging/Dockerfile.build_env_pre b/packaging/Dockerfile.build_env_pre
index dd0e2e08835a..e99c7c91b465 100644
--- a/packaging/Dockerfile.build_env_pre
+++ b/packaging/Dockerfile.build_env_pre
@@ -25,6 +25,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 RUN mkdir -p /tools
 
+# Install Rust compiler
+RUN curl https://sh.rustup.rs -sSf | sh
+
 RUN curl -LOs https://static.dev.sifive.com/dev-tools/freedom-tools/v2020.12/riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14.tar.gz && \
     tar xf riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14.tar.gz -C /tools && \
     rm -f riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14.tar.gz
diff --git a/packaging/Dockerfile.sitl b/packaging/Dockerfile.sitl
index a60728b8a31c..2f2fa380b225 100644
--- a/packaging/Dockerfile.sitl
+++ b/packaging/Dockerfile.sitl
@@ -1,23 +1,12 @@
-FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v2.1.0
+FROM ghcr.io/tiiuae/fog-ros-baseimage-builder:v3.3.0
 
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    wget
+RUN curl http://packages.osrfoundation.org/gazebo.key | apt-key add -
+RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 
-RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
 RUN apt-get update && apt-get install -y --no-install-recommends \
    libignition-transport8-dev \
    && rm -rf /var/lib/apt/lists/*
 
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    wget
-
-RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    libignition-transport8-dev \
-    && rm -rf /var/lib/apt/lists/*
-
 # Install PX4 SITL
 WORKDIR /packages