diff --git a/.circleci/config.yml b/.circleci/config.yml
index 2ece8577..f4d8b2bf 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/carma-base:3.3.0
+      - image: usdotfhwastol/carma-base:3.4.0
         user: carma
         environment:
           TERM: xterm
diff --git a/Dockerfile b/Dockerfile
index 8a038922..c3fb328c 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -12,14 +12,14 @@
 #  License for the specific language governing permissions and limitations under
 #  the License.
 
-FROM usdotfhwastol/carma-base:3.3.0 as setup
+FROM usdotfhwastol/carma-base:3.4.0 as setup
 
 RUN mkdir ~/src
 COPY --chown=carma . /home/carma/src/CARMAAvtVimbaDriver
 RUN ~/src/CARMAAvtVimbaDriver/docker/checkout.sh
 RUN ~/src/CARMAAvtVimbaDriver/docker/install.sh
 
-FROM usdotfhwastol/carma-base:3.3.0
+FROM usdotfhwastol/carma-base:3.4.0
 
 ARG BUILD_DATE="NULL"
 ARG VERSION="NULL"
diff --git a/docker/checkout.sh b/docker/checkout.sh
index f5d80dd4..727905c5 100755
--- a/docker/checkout.sh
+++ b/docker/checkout.sh
@@ -24,4 +24,4 @@ if [[ -n ${1} ]]; then
       dir=${1}
 fi
 
-git clone https://github.com/usdot-fhwa-stol/CARMAMsgs.git ${dir}/src/CARMAMsgs --branch develop --depth 1
+git clone https://github.com/usdot-fhwa-stol/CARMAMsgs.git ${dir}/src/CARMAMsgs --branch CARMAMsgs_1.1.0 --depth 1