diff --git a/.github/workflows/humble-docker-build.yaml b/.github/workflows/humble-docker-build.yaml
new file mode 100644
index 000000000..be2f12c47
--- /dev/null
+++ b/.github/workflows/humble-docker-build.yaml
@@ -0,0 +1,22 @@
+name: Build Humble Dockerfile
+# description: builds the dockerfile contained within the repo
+
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect broken dependencies
+    - cron: '40 1 * * *'
+
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build the Docker image
+      run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_humble
diff --git a/Dockerfile/Dockerfile b/Dockerfile/Dockerfile
index 59ae934c4..74e982e71 100644
--- a/Dockerfile/Dockerfile
+++ b/Dockerfile/Dockerfile
@@ -5,13 +5,23 @@ FROM ros:${ROS_DISTRO}-ros-base
 ENV DEBIAN_FRONTEND noninteractive
 
 RUN apt-get update \
-    && apt-get upgrade -y
+    && apt-get upgrade -y \
+    && \
+    : "remove cache" && \
+    apt-get autoremove -y -qq && \
+    rm -rf /var/lib/apt/lists/*
 
 COPY . /home/ros2_ws/src/ros2_control_demos
 
 RUN cd /home/ros2_ws/src \
-    && rosdep update \
-    && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} --skip-keys rviz2
+    && rosdep update --rosdistro ${ROS_DISTRO}  \
+    && apt-get update \
+    && rosdep install --from-paths ./ -i -y --rosdistro ${ROS_DISTRO} \
+    --skip-keys ros-${ROS_DISTRO}-joint-state-publisher-gui --skip-keys ros-${ROS_DISTRO}-rviz2\
+    && \
+    : "remove cache" && \
+    apt-get autoremove -y -qq && \
+    rm -rf /var/lib/apt/lists/*
 
 RUN cd /home/ros2_ws/ \
   && . /opt/ros/${ROS_DISTRO}/setup.sh \