diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index c22c8d2..c473f89 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -8,7 +8,7 @@ ARG USER_GID=$USER_UID
 
 WORKDIR /workspace/$USERNAME
 
-RUN groupadd --gid $USER_GID $USERNAME \
+RUN groupadd --gid $USER_GID $USERNAME || true \
     && groupadd -g 107 input \
     && useradd -s /bin/bash --uid $USER_UID -g $USER_GID -G 107 -m $USERNAME \
     && apt-get update \
@@ -22,16 +22,17 @@ RUN apt update && apt upgrade -y
 # Install Git
 RUN apt install -y git
 
-# Copy to preload the ros packages
-COPY ./ /workspace/$USERNAME/
-
 # Change user
 USER $USERNAME
 
-# Rosdep update
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
+    echo "source /gazebo/gazebo_ws/install/setup.bash" >> ~/.bashrc
+
+# Install ROS dependencies
 RUN rosdep update
+# Copy to preload the ros packages
+COPY ./ /workspace/$USERNAME/
+
 RUN rosdep install --from-paths src --ignore-src --rosdistro humble -y
 
-# Source the ROS setup file
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
-RUN echo "source /gazebo/gazebo_ws/install/setup.bash" >> ~/.bashrc
diff --git a/.dockerignore b/.dockerignore
index 80dd262..cf145f1 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -1 +1,2 @@
+build/
 log/
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 05d5ac8..a3080a7 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -3,16 +3,19 @@ run-name: ${{ github.actor }} is working on ROS2 rove build
 on: [push]
 jobs:
   Build_rove:
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux, docker]
     permissions:
       packages: write
       contents: read
 
     steps:
     - name: Check out the repository
-      uses: actions/checkout@v2
+      uses: actions/checkout@v3
 
     - name: Build docker compose
       run: |
-        docker compose run --user root devcontainer bash -c "colcon build"
+        docker compose build --build-arg USER_UID=$(id -u) --build-arg USER_GID=$(id -g)
+    - name: Build rove
+      run: |
+        docker compose run devcontainer bash -c "colcon build"
 
diff --git a/docker-compose.yml b/docker-compose.yml
index 209497c..524be03 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -4,6 +4,9 @@ services:
     build:
       context: .
       dockerfile: ./.devcontainer/Dockerfile
+      args:
+        - USER_UID=${USER_UID:-1000}
+        - USER_GID=${USER_GID:-1000}
     volumes:
       - ./:/workspace/rove
       - /tmp/.X11-unix:/tmp/.X11-unix