diff --git a/Dockerfile b/Dockerfile
index 2229a35..20dd881 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,5 +1,5 @@
 ARG INSTALL_JSK_PCL=true
-FROM nvidia/cuda:11.2.2-devel-ubuntu20.04
+FROM nvidia/cuda:11.2.2-runtime-ubuntu20.04
 ENV DEBIAN_FRONTEND=noninteractive
 RUN rm /etc/apt/sources.list.d/cuda.list
 
@@ -29,13 +29,15 @@ RUN echo 'user:user' | chpasswd
 RUN apt-get update && apt-get install -q -y --no-install-recommends \
     dirmngr \
     gnupg2 \
+    curl \
     && rm -rf /var/lib/apt/lists/*
 
 # setup sources.list
-RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list
+RUN sudo apt-get update && apt-get install -y lsb-release
+RUN sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 
 # setup keys
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
 
 # setup environment
 ENV LANG C.UTF-8
diff --git a/requirements.txt b/requirements.txt
index 685573f..30c8c16 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -11,7 +11,7 @@ ftfy==6.0.3
 regex==2022.1.18
 fasttext==0.9.2
 scikit-learn==1.0.2
-numpy  # remove version specification for local install
+numpy==1.22.0
 lvis==0.5.3
 nltk==3.6.7
 git+https://github.com/openai/CLIP.git