diff --git a/docker/build-and-run/Dockerfile b/docker/build-and-run/Dockerfile
index df26bf9..a2e31be 100644
--- a/docker/build-and-run/Dockerfile
+++ b/docker/build-and-run/Dockerfile
@@ -1,27 +1,22 @@
 FROM docker.io/arm64v8/ros:humble-ros-base
 
 WORKDIR /tmp
-RUN git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
-RUN mkdir build && cd build
-RUN cmake .. && make -j8
-RUN sudo make install
-
-RUN git clone https://github.com/catchorg/Catch2 && cd Catch2
-RUN mkdir build && cd build
-RUN cmake .. && make -j8
-RUN sudo make install
-
-RUN git clone https://github.com/fmtlib/fmt && cd fmt
-RUN mkdir build && cd build
-RUN cmake -DFMT_TEST=OFF ..
-RUN make -j8
-RUN sudo make install
-
-RUN git clone https://github.com/mpusz/mp-units && cd mp-units
-RUN mkdir build && cd build
-RUN cmake -DMP_UNITS_AS_SYSTEM_HEADERS=ON -DMP_UNITS_BUILD_LA=OFF ..
-RUN make -j8
-RUN sudo make install
+
+RUN git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite && \
+    mkdir build && cd build && \
+    cmake .. && make -j8 && \
+    sudo make install
+
+RUN git clone https://github.com/catchorg/Catch2 && cd Catch2 && \
+    mkdir build && cd build && \
+    cmake .. && make -j8 && \
+    sudo make install
+
+RUN git clone https://github.com/fmtlib/fmt && cd fmt && \
+    mkdir build && cd build && \
+    cmake -DFMT_TEST=OFF .. && \
+    make -j8 && \
+    sudo make install
 
 RUN mkdir -p /tmp/colcon_ws/src
 WORKDIR /tmp/colcon_ws/src
@@ -29,7 +24,7 @@ RUN git clone --recursive https://github.com/107-systems/viper
 
 WORKDIR /tmp/colcon_ws
 RUN . /opt/ros/humble/setup.sh && \
-    colcon_ws build --symlink-install
+    colcon build
 
 COPY start.sh /
 RUN chmod ugo+x /start.sh
diff --git a/docker/build-and-run/start.sh b/docker/build-and-run/start.sh
index 3e21bc4..d2629c9 100755
--- a/docker/build-and-run/start.sh
+++ b/docker/build-and-run/start.sh
@@ -1,5 +1,5 @@
 #!/bin/sh
-cd tmp/colcon_ws
+cd /tmp/colcon_ws
 . /opt/ros/humble/setup.sh
 . install/setup.sh
 ros2 launch viper viper-quad.py
diff --git a/docker/devel/Dockerfile b/docker/devel/Dockerfile
index dab13ad..0947230 100644
--- a/docker/devel/Dockerfile
+++ b/docker/devel/Dockerfile
@@ -1,27 +1,22 @@
 FROM docker.io/arm64v8/ros:humble-ros-base
 
 WORKDIR /tmp
-RUN git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite
-RUN mkdir build && cd build
-RUN cmake .. && make -j8
-RUN sudo make install
 
-RUN git clone https://github.com/catchorg/Catch2 && cd Catch2
-RUN mkdir build && cd build
-RUN cmake .. && make -j8
-RUN sudo make install
+RUN git clone https://github.com/gsl-lite/gsl-lite && cd gsl-lite && \
+    mkdir build && cd build && \
+    cmake .. && make -j8 && \
+    sudo make install
 
-RUN git clone https://github.com/fmtlib/fmt && cd fmt
-RUN mkdir build && cd build
-RUN cmake -DFMT_TEST=OFF ..
-RUN make -j8
-RUN sudo make install
+RUN git clone https://github.com/catchorg/Catch2 && cd Catch2 && \
+    mkdir build && cd build && \
+    cmake .. && make -j8 && \
+    sudo make install
 
-RUN git clone https://github.com/mpusz/mp-units && cd mp-units
-RUN mkdir build && cd build
-RUN cmake -DMP_UNITS_AS_SYSTEM_HEADERS=ON -DMP_UNITS_BUILD_LA=OFF ..
-RUN make -j8
-RUN sudo make install
+RUN git clone https://github.com/fmtlib/fmt && cd fmt && \
+    mkdir build && cd build && \
+    cmake -DFMT_TEST=OFF .. && \
+    make -j8 && \
+    sudo make install
 
 RUN mkdir -p /tmp/colcon_ws/src
 WORKDIR /tmp/colcon_ws/src
@@ -29,4 +24,4 @@ RUN git clone --recursive https://github.com/107-systems/viper
 
 WORKDIR /tmp/colcon_ws
 RUN . /opt/ros/humble/setup.sh && \
-    colcon_ws build --symlink-install
+    colcon build