diff --git a/docker/foxy/latest/Dockerfile b/docker/foxy/latest/Dockerfile
index b21f08b8..b81c84f8 100644
--- a/docker/foxy/latest/Dockerfile
+++ b/docker/foxy/latest/Dockerfile
@@ -1,5 +1,9 @@
 FROM introlab3it/rtabmap:focal-foxy
 
+RUN apt-get update && apt-get install -y \
+    ros-foxy-pcl-ros \
+    && rm -rf /var/lib/apt/lists/
+
 RUN source /ros_entrypoint.sh && \
     mkdir -p ros2_ws/src && \
     cd ros2_ws/src
diff --git a/docker/humble/latest/Dockerfile b/docker/humble/latest/Dockerfile
index 1f9ee158..5dab0352 100644
--- a/docker/humble/latest/Dockerfile
+++ b/docker/humble/latest/Dockerfile
@@ -1,5 +1,9 @@
 FROM introlab3it/rtabmap:22.04
 
+RUN apt-get update && apt-get install -y \
+    ros-foxy-pcl-ros \
+    && rm -rf /var/lib/apt/lists/
+
 RUN source /ros_entrypoint.sh && \
     mkdir -p ros2_ws/src && \
     cd ros2_ws/src