diff --git a/docker/humble/latest/Dockerfile b/docker/humble/latest/Dockerfile
index 9018be59..e4d6d3b2 100644
--- a/docker/humble/latest/Dockerfile
+++ b/docker/humble/latest/Dockerfile
@@ -1,4 +1,4 @@
-FROM introlab3it/rtabmap:22.04
+FROM introlab3it/rtabmap:jammy-deps
 
 RUN source /ros_entrypoint.sh && \
     mkdir -p ros2_ws/src && \
@@ -13,8 +13,8 @@ RUN source /ros_entrypoint.sh && \
     rosdep update && \
     apt-get update && \
     apt-get upgrade -y && \
+    git clone https://github.com/introlab/rtabmap.git src/rtabmap && \
     rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool && \
-    apt remove ros-$ROS_DISTRO-rtabmap -y && \
     apt-get clean && rm -rf /var/lib/apt/lists/ && \
     colcon build --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \