diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
index ccd47569..f4f5a7b2 100755
--- a/.github/workflows/build-and-test.sh
+++ b/.github/workflows/build-and-test.sh
@@ -10,21 +10,7 @@ export ROS_PYTHON_VERSION=3
 apt update -qq
 apt install -qq -y lsb-release wget curl build-essential
 
-# Citadel gets Ignition with rosdep
-if [ "$IGNITION_VERSION" != "citadel" ]; then
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list
-  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-
-  if [ "$IGNITION_VERSION" == "dome" ]; then
-    IGN_DEPS="libignition-msgs6-dev libignition-transport9-dev libignition-gazebo4-dev"
-  fi
-
-  if [ "$IGNITION_VERSION" == "edifice" ]; then
-    IGN_DEPS="libignition-msgs7-dev libignition-transport10-dev libignition-gazebo5-dev"
-  fi
-fi
+# Citadel and Edifice get Ignition with rosdep for Focal
 
 # Dependencies.
 echo "deb http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list
diff --git a/.github/workflows/foxy-ci.yml b/.github/workflows/foxy-ci.yml
index df1ce87c..80e443ae 100644
--- a/.github/workflows/foxy-ci.yml
+++ b/.github/workflows/foxy-ci.yml
@@ -12,9 +12,6 @@ jobs:
           - docker-image: "ubuntu:20.04"
             ignition-version: "citadel"
             ros-distro: "foxy"
-          - docker-image: "ubuntu:20.04"
-            ignition-version: "dome"
-            ros-distro: "foxy"
           - docker-image: "ubuntu:20.04"
             ignition-version: "edifice"
             ros-distro: "foxy"
diff --git a/README.md b/README.md
index 3fd80118..f57be1a7 100644
--- a/README.md
+++ b/README.md
@@ -3,13 +3,11 @@
 ROS version | Ignition version | Branch | Binaries hosted at
 -- | -- | -- | --
 Melodic | Citadel | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source
-Melodic | Dome | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | https://packages.osrfoundation.org
+Melodic | Fortress | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source
 Noetic | Citadel | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | https://packages.ros.org
-Noetic | Dome | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
 Noetic | Edifice | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
 Noetic | Fortress (not released) | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
 Foxy | Citadel | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | https://packages.ros.org
-Foxy | Dome | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source
 Foxy | Edifice | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source
 Galactic | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
 Rolling | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
@@ -74,7 +72,7 @@ Be sure you've installed
 
 #### Ignition
 
-Install either [Citadel, Dome or Edifice](https://ignitionrobotics.org/docs).
+Install either [Citadel or Edifice](https://ignitionrobotics.org/docs).
 
 Set the `IGNITION_VERSION` environment variable to the Ignition version you'd
 like to compile against. For example:
diff --git a/ros_ign_bridge/CMakeLists.txt b/ros_ign_bridge/CMakeLists.txt
index 1bddaaa9..1d4b1a87 100644
--- a/ros_ign_bridge/CMakeLists.txt
+++ b/ros_ign_bridge/CMakeLists.txt
@@ -29,15 +29,6 @@ if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
   set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Edifice")
-# Dome
-elseif("$ENV{IGNITION_VERSION}" STREQUAL "dome")
-  find_package(ignition-transport9 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
-
-  find_package(ignition-msgs6 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Ignition Dome")
 # Default to Citadel
 else()
   find_package(ignition-transport8 REQUIRED)
diff --git a/ros_ign_bridge/package.xml b/ros_ign_bridge/package.xml
index 4ba36fdd..2381a51e 100644
--- a/ros_ign_bridge/package.xml
+++ b/ros_ign_bridge/package.xml
@@ -25,9 +25,6 @@
   <!-- Edifice -->
   <depend condition="$IGNITION_VERSION == edifice">ignition-msgs7</depend>
   <depend condition="$IGNITION_VERSION == edifice">ignition-transport10</depend>
-  <!-- Dome -->
-  <depend condition="$IGNITION_VERSION == dome">ignition-msgs6</depend>
-  <depend condition="$IGNITION_VERSION == dome">ignition-transport9</depend>
   <!-- Citadel (default) -->
   <depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
   <depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>
diff --git a/ros_ign_gazebo/CMakeLists.txt b/ros_ign_gazebo/CMakeLists.txt
index 3120be03..cdb48475 100644
--- a/ros_ign_gazebo/CMakeLists.txt
+++ b/ros_ign_gazebo/CMakeLists.txt
@@ -26,15 +26,6 @@ if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
   set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Edifice")
-# Dome
-elseif("$ENV{IGNITION_VERSION}" STREQUAL "dome")
-  find_package(ignition-transport9 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
-
-  find_package(ignition-msgs6 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Ignition Dome")
 # Default to Citadel
 else()
   find_package(ignition-transport8 REQUIRED)
diff --git a/ros_ign_gazebo/package.xml b/ros_ign_gazebo/package.xml
index ae04b7cd..9c4b5a5c 100644
--- a/ros_ign_gazebo/package.xml
+++ b/ros_ign_gazebo/package.xml
@@ -19,8 +19,6 @@
 
   <!-- Edifice -->
   <depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</depend>
-  <!-- Dome -->
-  <depend condition="$IGNITION_VERSION == dome">ignition-gazebo4</depend>
   <!-- Citadel (default) -->
   <depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</depend>
   <depend condition="$IGNITION_VERSION == ''">ignition-gazebo3</depend>
diff --git a/ros_ign_gazebo_demos/package.xml b/ros_ign_gazebo_demos/package.xml
index 08cfe536..298cd18f 100644
--- a/ros_ign_gazebo_demos/package.xml
+++ b/ros_ign_gazebo_demos/package.xml
@@ -9,8 +9,6 @@
 
   <!-- Edifice -->
   <exec_depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</exec_depend>
-  <!-- Dome -->
-  <exec_depend condition="$IGNITION_VERSION == dome">ignition-gazebo4</exec_depend>
   <!-- Citadel (default) -->
   <exec_depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</exec_depend>
   <exec_depend condition="$IGNITION_VERSION == ''">ignition-gazebo3</exec_depend>
diff --git a/ros_ign_image/CMakeLists.txt b/ros_ign_image/CMakeLists.txt
index c28815f8..ab9361be 100644
--- a/ros_ign_image/CMakeLists.txt
+++ b/ros_ign_image/CMakeLists.txt
@@ -25,15 +25,6 @@ if("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
   set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Edifice")
-# Dome
-elseif("$ENV{IGNITION_VERSION}" STREQUAL "dome")
-  find_package(ignition-transport9 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
-
-  find_package(ignition-msgs6 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Ignition Dome")
 # Default to Citadel
 else()
   find_package(ignition-transport8 REQUIRED)
diff --git a/ros_ign_image/package.xml b/ros_ign_image/package.xml
index 3f554fc5..3da151d5 100644
--- a/ros_ign_image/package.xml
+++ b/ros_ign_image/package.xml
@@ -16,9 +16,6 @@
   <!-- Edifice -->
   <depend condition="$IGNITION_VERSION == edifice">ignition-msgs7</depend>
   <depend condition="$IGNITION_VERSION == edifice">ignition-transport10</depend>
-  <!-- Dome -->
-  <depend condition="$IGNITION_VERSION == dome">ignition-msgs6</depend>
-  <depend condition="$IGNITION_VERSION == dome">ignition-transport9</depend>
   <!-- Citadel (default) -->
   <depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
   <depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>