diff --git a/docker/focal/deps/Dockerfile b/docker/focal/deps/Dockerfile
index 7af787c38c..f6a388b762 100644
--- a/docker/focal/deps/Dockerfile
+++ b/docker/focal/deps/Dockerfile
@@ -13,11 +13,11 @@ WORKDIR /root/
 # Install build dependencies
 RUN if [ "$TARGETPLATFORM" = "linux/arm/v7" ]; then \
     apt-get update && \
-    apt-get install -y git software-properties-common libtbb-dev zlib1g-dev liboctomap-dev ros-noetic-visualization-msgs ros-noetic-velodyne-pointcloud ros-noetic-turtlebot3-navigation ros-noetic-turtlebot3-bringup ros-noetic-tf-conversions ros-noetic-tf2-ros ros-noetic-tf ros-noetic-stereo-msgs ros-noetic-std-srvs ros-noetic-std-msgs ros-noetic-sensor-msgs ros-noetic-rviz ros-noetic-rospy ros-noetic-roscpp ros-noetic-robot-localization ros-noetic-realsense2-camera qtbase5-dev libproj-dev ros-noetic-pluginlib ros-noetic-pcl-ros ros-noetic-pcl-conversions ros-noetic-octomap-msgs ros-noetic-nodelet ros-noetic-nav-msgs ros-noetic-move-base-msgs ros-noetic-message-runtime ros-noetic-message-generation ros-noetic-message-filters libsqlite3-dev libqt5widgets5 libqt5core5a libpcl-dev ros-noetic-libg2o ros-noetic-laser-geometry ros-noetic-imu-filter-madgwick ros-noetic-image-transport ros-noetic-image-geometry ros-noetic-husky-navigation ros-noetic-hector-mapping ros-noetic-gtsam ros-noetic-grid-map-ros ros-noetic-grid-map-core ros-noetic-geometry-msgs ros-noetic-genmsg ros-noetic-find-object-2d ros-noetic-eigen-conversions ros-noetic-dynamic-reconfigure ros-noetic-diagnostic-updater ros-noetic-cv-bridge ros-noetic-costmap-2d ros-noetic-catkin ros-noetic-apriltag-ros ros-noetic-actionlib-msgs ros-noetic-actionlib wget && \
+    apt-get install -y git software-properties-common libtbb-dev zlib1g-dev liboctomap-dev ros-noetic-visualization-msgs ros-noetic-velodyne-pointcloud ros-noetic-turtlebot3-navigation ros-noetic-turtlebot3-bringup ros-noetic-tf-conversions ros-noetic-tf2-ros ros-noetic-tf ros-noetic-stereo-msgs ros-noetic-std-srvs ros-noetic-std-msgs ros-noetic-sensor-msgs ros-noetic-rviz ros-noetic-rospy ros-noetic-roscpp ros-noetic-robot-localization ros-noetic-realsense2-camera qtbase5-dev libproj-dev ros-noetic-pluginlib ros-noetic-pcl-ros ros-noetic-pcl-conversions ros-noetic-octomap-msgs ros-noetic-nodelet ros-noetic-nav-msgs ros-noetic-move-base-msgs ros-noetic-message-runtime ros-noetic-message-generation ros-noetic-message-filters libsqlite3-dev libqt5widgets5 libqt5core5a libpcl-dev ros-noetic-libg2o ros-noetic-laser-geometry ros-noetic-imu-filter-madgwick ros-noetic-image-transport ros-noetic-image-geometry ros-noetic-husky-navigation ros-noetic-hector-mapping ros-noetic-gtsam ros-noetic-grid-map-ros ros-noetic-grid-map-core ros-noetic-geometry-msgs ros-noetic-genmsg ros-noetic-find-object-2d ros-noetic-eigen-conversions ros-noetic-dynamic-reconfigure ros-noetic-diagnostic-updater ros-noetic-cv-bridge ros-noetic-costmap-2d ros-noetic-catkin ros-noetic-apriltag-ros ros-noetic-actionlib-msgs ros-noetic-actionlib wget libfreenect-dev && \
     apt-get clean && rm -rf /var/lib/apt/lists/ ;fi
 RUN if [ "$TARGETPLATFORM" != "linux/arm/v7" ]; then \
     apt-get update && \
-    apt-get install -y git software-properties-common libtbb-dev ros-noetic-rtabmap-ros && \
+    apt-get install -y git software-properties-common libtbb-dev libfreenect-dev ros-noetic-rtabmap-ros && \
     apt-get remove -y ros-noetic-rtabmap* && \
     apt-get clean && rm -rf /var/lib/apt/lists/ ;fi
 
diff --git a/docker/jammy/deps/Dockerfile b/docker/jammy/deps/Dockerfile
index bab00646d4..f7617f82d1 100644
--- a/docker/jammy/deps/Dockerfile
+++ b/docker/jammy/deps/Dockerfile
@@ -26,14 +26,14 @@ RUN apt-get update && \
 
 RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then apt-get update && \
     apt upgrade -y && \
-    apt-get install -y ros-humble-rtabmap-ros && \
+    apt-get install -y libfreenect-dev ros-humble-rtabmap-ros && \
     apt-get remove -y ros-humble-rtabmap* && \
     apt-get clean && rm -rf /var/lib/apt/lists/; fi
 
 # current issue that ros-humble-rtabmap-ros is not available on arm64
 RUN if [ "$TARGETPLATFORM" = "linux/arm64" ]; then apt-get update && \
     apt upgrade -y && \
-    apt-get install -y ros-humble-rtabmap-launch && \
+    apt-get install -y libfreenect-dev ros-humble-rtabmap-launch && \
     apt-get remove -y ros-humble-rtabmap* && \
     apt-get clean && rm -rf /var/lib/apt/lists/; fi
 
diff --git a/docker/noble/deps/Dockerfile b/docker/noble/deps/Dockerfile
index 12903ddc4f..b9bce3813a 100644
--- a/docker/noble/deps/Dockerfile
+++ b/docker/noble/deps/Dockerfile
@@ -28,6 +28,7 @@ RUN apt-get update && \
       libproj-dev \
       libpcl-dev \
       liboctomap-dev \
+      libfreenect-dev \
       ros-jazzy-ros-base \
       ros-dev-tools \
       ros-jazzy-cv-bridge \