diff --git a/ce/Dockerfile b/ce/Dockerfile
index 600a1d4..fd61049 100644
--- a/ce/Dockerfile
+++ b/ce/Dockerfile
@@ -1,6 +1,6 @@
 # This Dockerfile is used to build an rviz image based on Ubuntu
 ARG DOCKER_REGISTRY="pubregistry.aws.cloud.mov.ai"
-FROM ${DOCKER_REGISTRY}/ce/movai-base-focal:v1.4.11
+FROM ${DOCKER_REGISTRY}/ce/movai-base-focal:v2.4.0
 
 LABEL description="MOV.AI Graphical Tools"
 LABEL maintainer="devops@mov.ai"
diff --git a/files/bin/rviz.sh b/files/bin/rviz.sh
index 4cf5fee..b2e61cb 100755
--- a/files/bin/rviz.sh
+++ b/files/bin/rviz.sh
@@ -2,6 +2,4 @@
 # File: rviz.sh
 set -e
 
-source "/opt/ros/${ROS_DISTRO}/setup.bash"
-
-ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}" "/opt/ros/${ROS_DISTRO}/bin/rviz"
+ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}" "/usr/bin/rviz"
diff --git a/files/common/install/ros-tools.sh b/files/common/install/ros-tools.sh
index 27fdd32..fe6549d 100644
--- a/files/common/install/ros-tools.sh
+++ b/files/common/install/ros-tools.sh
@@ -2,7 +2,12 @@
 ### every exit != 0 fails the script
 set -e
 
-echo "Install IceWM UI components"
+echo "Setup ROS-Tools repo"
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+
+echo "Install ROS-Tools components"
 apt-get update
-apt-get install -y terminator
+apt-get install --no-install-recommends -y rviz \
+    "ros-$ROS_DISTRO-rqt" "ros-$ROS_DISTRO-rqt-common-plugins"
 apt-get clean -y
diff --git a/files/deploy.sh b/files/deploy.sh
deleted file mode 100755
index 62ddde3..0000000
--- a/files/deploy.sh
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/bin/bash
-#
-# Copyright 2021 MOV.AI (devops@mov.ai)
-#
-#    Licensed under the Apache License, Version 2.0 (the "License");
-#    you may not use this file except in compliance with the License.
-#    You may obtain a copy of the License at
-#
-#        http://www.apache.org/licenses/LICENSE-2.0
-#
-#    Unless required by applicable law or agreed to in writing, software
-#    distributed under the License is distributed on an "AS IS" BASIS,
-#    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-#    See the License for the specific language governing permissions and
-#    limitations under the License.
-#
-# File: deploy.sh
-set -e
-
-if [ -f ${APP_PATH}/requirements.txt ]; then
-    printf "Installing python dependencies...\n"
-    pushd ${APP_PATH} > /dev/null
-    python3 -m pip install pip --user --upgrade
-    python3 -m pip install --user --no-cache-dir -r requirements.txt
-    popd > /dev/null
-fi
diff --git a/files/docker-entrypoint.sh b/files/docker-entrypoint.sh
index ba2240e..df6c693 100755
--- a/files/docker-entrypoint.sh
+++ b/files/docker-entrypoint.sh
@@ -22,42 +22,5 @@ ln -sf /proc/1/fd/1 ${APP_LOGS}/stdout
 
 [ -f ${MOVAI_HOME}/.welcome ] && cat ${MOVAI_HOME}/.welcome
 
-# Code from https://stackoverflow.com/questions/4023830/how-to-compare-two-strings-in-dot-separated-version-format-in-bash
-
-function compare_version() {
-
-    if [ "${1}" == "${2}" ]; then
-        return 0
-    fi
-
-    local IFS=.
-    local i ver1=(${1}) ver2=(${2})
-    # fill empty fields in ver1 with zeros
-    for ((i = ${#ver1[@]}; i < ${#ver2[@]}; i++)); do
-        ver1[i]=0
-    done
-
-    for ((i = 0; i < ${#ver1[@]}; i++)); do
-        if [[ -z ${ver2[i]} ]]; then
-            # fill empty fields in ver2 with zeros
-            ver2[i]=0
-        fi
-        if ((10#${ver1[i]} > 10#${ver2[i]})); then
-            return 1
-        fi
-        if ((10#${ver1[i]} < 10#${ver2[i]})); then
-            return 2
-        fi
-    done
-
-    return 0
-}
-
-# If we have updates on our update folder we do the update
-if [ $(ls ${APP_UPDATES}/movai-*_latest_*.deb 2>/dev/null) ]; then
-    # Run the update procedure and exit if everything goes well
-    update.sh && exit
-fi
-
 # Run command
 exec /usr/local/bin/movai-entrypoint.sh ${@}
diff --git a/files/home/.bashrc b/files/home/.bashrc
index 104d31a..5727cbf 100644
--- a/files/home/.bashrc
+++ b/files/home/.bashrc
@@ -113,6 +113,8 @@ if [ "$TERM" != "linux" ] && [ -f "/usr/local/bin/powerline-go" ]; then
     PROMPT_COMMAND="_update_ps1; $PROMPT_COMMAND"
 fi
 
-source "/opt/ros/$ROS_DISTRO/setup.bash"
+if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then
+    source "/opt/ros/$ROS_DISTRO/setup.bash"
+fi
 
 export ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}"
\ No newline at end of file
diff --git a/files/install-packages.sh b/files/install-packages.sh
deleted file mode 100755
index 74e7036..0000000
--- a/files/install-packages.sh
+++ /dev/null
@@ -1,56 +0,0 @@
-#!/bin/bash
-#
-# Copyright 2021 MOV.AI (devops@mov.ai)
-#
-#    Licensed under the Apache License, Version 2.0 (the "License");
-#    you may not use this file except in compliance with the License.
-#    You may obtain a copy of the License at
-#
-#        http://www.apache.org/licenses/LICENSE-2.0
-#
-#    Unless required by applicable law or agreed to in writing, software
-#    distributed under the License is distributed on an "AS IS" BASIS,
-#    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-#    See the License for the specific language governing permissions and
-#    limitations under the License.
-#
-# File: install-packages.sh
-set -eo pipefail
-
-# Install apt dependencies
-
-PACKAGE_FILE=/tmp/packages.apt
-
-# If there is a package definition file, install packages then clean up
-if [ -f ${PACKAGE_FILE} ]; then
-    printf "Installing APT packages from list: %s ...\n" "$(basename ${PACKAGE_FILE})"
-    packages_list=$(sed -e 's/#.*$//' -e '/^$/d' ${PACKAGE_FILE}| sed ':a;N;$!ba;s/\n/ /g')
-
-    printf "APT Packages list: %s\n" "${packages_list}"
-    apt-get update
-    DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install ${packages_list}
-    apt-get clean -y
-    rm --preserve-root ${PACKAGE_FILE}
-    rm -rf /var/cache/apt/*
-    rm -rf /var/lib/apt/lists/*
-fi
-
-# Install custom dependencies and commands
-
-PIP_REQUIREMENTS=/tmp/requirements.txt
-
-# If there is a python requirements script, install packages then clean up
-[ -f ${PIP_REQUIREMENTS} ] && {
-    python3 -m pip install --upgrade pip;
-    python3 -m pip install --upgrade -r ${PIP_REQUIREMENTS};
-    rm --preserve-root ${PIP_REQUIREMENTS};
-}
-
-PACKAGES_SCRIPT=/tmp/packages.bash
-
-# If there is a package script, install packages then clean up
-[ -f ${PACKAGES_SCRIPT} ] && { chmod 700 ${PACKAGES_SCRIPT}; ${PACKAGES_SCRIPT}; rm --preserve-root ${PACKAGES_SCRIPT}; }
-
-
-printf "Cleaning up ...\n"
-rm -rf /tmp/*
diff --git a/files/ubuntu/install/icewm_ui.sh b/files/ubuntu/install/icewm_ui.sh
index 527ffcc..4cd406e 100644
--- a/files/ubuntu/install/icewm_ui.sh
+++ b/files/ubuntu/install/icewm_ui.sh
@@ -3,7 +3,7 @@
 set -e
 
 echo "Install IceWM UI components"
-apt-get update 
-apt-get install -y supervisor icewm xterm xfonts-base xauth xinit
+apt-get update
+apt-get install --no-install-recommends -y supervisor icewm xterm xfonts-base xauth xinit
 apt-get purge -y pm-utils xscreensaver*
 apt-get clean -y
\ No newline at end of file
diff --git a/files/ubuntu/install/install_custom_fonts.sh b/files/ubuntu/install/install_custom_fonts.sh
index 14fdb62..4c1b9be 100644
--- a/files/ubuntu/install/install_custom_fonts.sh
+++ b/files/ubuntu/install/install_custom_fonts.sh
@@ -3,4 +3,4 @@
 set -e
 
 echo "Installing ttf-wqy-zenhei"
-apt-get install -y ttf-wqy-zenhei
+apt-get install --no-install-recommends -y ttf-wqy-zenhei
diff --git a/files/ubuntu/install/tools.sh b/files/ubuntu/install/tools.sh
index 6881096..1fcd0fe 100644
--- a/files/ubuntu/install/tools.sh
+++ b/files/ubuntu/install/tools.sh
@@ -3,10 +3,12 @@
 set -e
 
 echo "Install some common tools for further installation"
-apt-get update 
-apt-get install -y vim wget net-tools locales bzip2 \
+apt-get update
+apt-get install --no-install-recommends -y terminator vim wget net-tools locales bzip2 \
     python-numpy #used for websockify/novnc
 apt-get clean -y
 
-echo "generate locales für en_US.UTF-8"
-locale-gen en_US.UTF-8
\ No newline at end of file
+echo "generate locales for $LANG"
+locale-gen "$LANG"
+dpkg-reconfigure locales
+
diff --git a/files/update.sh b/files/update.sh
deleted file mode 100755
index 9d52b3f..0000000
--- a/files/update.sh
+++ /dev/null
@@ -1,94 +0,0 @@
-#!/bin/bash
-#
-# Copyright 2021 MOV.AI (devops@mov.ai)
-#
-#    Licensed under the Apache License, Version 2.0 (the "License");
-#    you may not use this file except in compliance with the License.
-#    You may obtain a copy of the License at
-#
-#        http://www.apache.org/licenses/LICENSE-2.0
-#
-#    Unless required by applicable law or agreed to in writing, software
-#    distributed under the License is distributed on an "AS IS" BASIS,
-#    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-#    See the License for the specific language governing permissions and
-#    limitations under the License.
-#
-# File: update.sh
-set -e
-
-UPDATE_FILE=$(ls ${APP_UPDATES}/movai-*_latest_*.deb)
-
-# If there is no version file we create one
-[ ! -f ${MOVAI_HOME}/version ] && touch ${MOVAI_HOME}/version
-
-# Get package version
-VERSION_UPDATE=$(dpkg-deb -f ${UPDATE_FILE} Version)
-VERSION_CURRENT=$(<${MOVAI_HOME}/version)
-RETVAL=1
-
-compare_version "${VERSION_CURRENT}" "${VERSION_UPDATE}"
-
-# if the packaged version is greater then the one we have we
-# do the installation
-if [ ${?} -eq 2 ]; then
-
-    printf "Starting updating to version: %s\n" "${VERSION_UPDATE}"
-
-    # Create working directory
-    WORKDIR=$(mktemp -d)
-    pushd ${WORKDIR} >/dev/null
-
-    # Unpack the firmware deb packages
-    printf "Unpackaging firmware...\n"
-    dpkg-deb -x ${UPDATE_FILE} ./
-
-    # Check if we need pre installation actions
-    if [ -f .${APP_PATH}/pre-installation.bash ]; then
-        printf "Running pre installation actions!\n"
-        pushd .${APP_PATH} >/dev/null
-        bash pre-installation.bash
-        rm pre-installation.bash
-        popd >/dev/null
-    fi
-
-    # clean old application
-    printf "Cleaning old firmware..\n"
-    rm -rf ${APP_PATH}/*
-
-    # move new update
-    printf "Installing new firmware...\n"
-    mv .${APP_PATH}/* ${APP_PATH}
-
-    # update pip requeriments
-    if [ -f ${APP_PATH}/requirements.txt ]; then
-        printf "Installing python dependencies...\n"
-        pushd ${APP_PATH} >/dev/null
-        python3 -m pip install pip --user --upgrade
-        python3 -m pip install --user --no-cache-dir -r requirements.txt
-        popd >/dev/null
-    fi
-
-    # Check if we need post installation actions
-    if [ -f ${APP_PATH}/post-installation.bash ]; then
-        printf "Running post installation actions!\n"
-        pushd ${APP_PATH} >/dev/null
-        bash post-installation.bash
-        rm post-installation.bash
-        popd >/dev/null
-    fi
-
-    popd >/dev/null
-
-    # store current version
-    echo ${VERSION_UPDATE} > ${MOVAI_HOME}/version
-
-    printf "Cleaning up resources...\n"
-    rm -rf ${WORKDIR}
-
-    # If update go well we return a 0 code
-    RETVAL=0
-fi
-
-rm ${UPDATE_FILE}
-exit ${RETVAL}
\ No newline at end of file
diff --git a/melodic/Dockerfile b/melodic/Dockerfile
index 0ada8ac..14c55ac 100644
--- a/melodic/Dockerfile
+++ b/melodic/Dockerfile
@@ -1,6 +1,6 @@
 # This Dockerfile is used to build an headless vnc image based on Ubuntu
-
-FROM osrf/ros:melodic-desktop-full
+ARG DOCKER_REGISTRY="registry.cloud.mov.ai"
+FROM ${DOCKER_REGISTRY}/devops/movai-base-bionic:v2.4.0
 
 LABEL description="MOV.AI Graphical Tools"
 LABEL maintainer="devops@mov.ai"
@@ -31,7 +31,8 @@ ENV DISPLAY=:1 \
     VNC_VIEW_ONLY=false \
     ROS_VERSION=${ROS_VERSION} \
     ROS_MASTER=${ROS_MASTER} \
-    ROS_MASTER_PORT=${ROS_MASTER_PORT}
+    ROS_MASTER_PORT=${ROS_MASTER_PORT} \
+    ROS_DISTRO=melodic
 
 ### Environment config
 ENV HOME=${USER_HOME} \
@@ -44,9 +45,6 @@ ENV HOME=${USER_HOME} \
 ### ROS Config
 ENV ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}"
 
-RUN adduser --uid ${USER_ID} --home ${HOME} --disabled-password --gecos '' ${USER_NAME} && \
-    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key "${ROS_GPG_KEY}"
-
 WORKDIR ${HOME}
 
 ### Add all install scripts for further steps
diff --git a/noetic/Dockerfile b/noetic/Dockerfile
index 9235ab5..8230685 100644
--- a/noetic/Dockerfile
+++ b/noetic/Dockerfile
@@ -1,6 +1,6 @@
 # This Dockerfile is used to build an headless vnc image based on Ubuntu
-
-FROM osrf/ros:noetic-desktop-full
+ARG DOCKER_REGISTRY="registry.cloud.mov.ai"
+FROM ${DOCKER_REGISTRY}/devops/movai-base-focal:v2.4.0
 
 LABEL description="MOV.AI Graphical Tools"
 LABEL maintainer="devops@mov.ai"
@@ -31,7 +31,8 @@ ENV DISPLAY=:1 \
     VNC_VIEW_ONLY=false \
     ROS_VERSION=${ROS_VERSION} \
     ROS_MASTER=${ROS_MASTER} \
-    ROS_MASTER_PORT=${ROS_MASTER_PORT}
+    ROS_MASTER_PORT=${ROS_MASTER_PORT} \
+    ROS_DISTRO=noetic
 
 ### Environment config
 ENV HOME=${USER_HOME} \
@@ -44,9 +45,6 @@ ENV HOME=${USER_HOME} \
 ### ROS Config
 ENV ROS_MASTER_URI="http://${ROS_MASTER}:${ROS_MASTER_PORT}"
 
-RUN adduser --uid ${USER_ID} --home ${HOME} --disabled-password --gecos '' ${USER_NAME} && \
-    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key "${ROS_GPG_KEY}"
-
 WORKDIR ${HOME}
 
 ### Add all install scripts for further steps