diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index ac603702f6..89176b40b7 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -8,8 +8,10 @@ ARG BASE_BRANCH=
 
 ######################### Base Tutorial Image  #################################################
 
-FROM moveit/moveit2:${ROS_DISTRO}-source as base_image
 
+FROM ros:${ROS_DISTRO}-ros-base as base_image
+ENV ROS_UNDERLAY /root/ws_moveit/
+WORKDIR $ROS_UNDERLAY
 
 # Copy MoveIt sources from docker context
 COPY . src/moveit2_tutorials
@@ -17,18 +19,19 @@ COPY . src/moveit2_tutorials
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN --mount=type=cache,target=/root/.ccache/ \
+    # Enable ccache
+    PATH=/usr/lib/ccache:$PATH && \
     # Fetch required upstream sources for building
     vcs import src < /root/ws_moveit/src/moveit2_tutorials/moveit2_tutorials.repos && \
     . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
-    . "install/setup.sh" &&\
     sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
     colcon build \
             --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
             --ament-cmake-args -DCMAKE_BUILD_TYPE=Debug \
-            --event-handlers desktop_notification- status- && \
-    ccache -s && \
-    # Update /ros_entrypoint.sh to source our new workspace
-    sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.bash#g" /ros_entrypoint.sh
+            --event-handlers desktop_notification- status-
+
+# Update /ros_entrypoint.sh to source our new workspace
+RUN sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/install/setup.bash#g" /ros_entrypoint.sh
 
 ######################### Hello World Tutorial Image  #########################################
 
@@ -54,8 +57,7 @@ RUN --mount=type=cache,target=/root/.ccache/ \
     colcon build \
             --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
             --ament-cmake-args -DCMAKE_BUILD_TYPE=Debug \
-            --event-handlers desktop_notification- status- && \
-    ccache -s
+            --event-handlers desktop_notification- status-
 
 ######################### Planning Around Objects Image  #######################################
 
@@ -72,8 +74,7 @@ RUN --mount=type=cache,target=/root/.ccache/ \
     colcon build \
             --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
             --ament-cmake-args -DCMAKE_BUILD_TYPE=Debug \
-            --event-handlers desktop_notification- status- && \
-    ccache -s
+            --event-handlers desktop_notification- status-
 
 ######################### Pick and Place (MTC) Image  #########################################
 
@@ -103,5 +104,4 @@ RUN --mount=type=cache,target=/root/.ccache/ \
     colcon build \
             --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
             --ament-cmake-args -DCMAKE_BUILD_TYPE=Debug \
-            --event-handlers desktop_notification- status- && \
-    ccache -s
+            --event-handlers desktop_notification- status-
diff --git a/.github/workflows/docker-base.yml b/.github/workflows/docker-base.yml
index 838e1e8702..bb3b721700 100644
--- a/.github/workflows/docker-base.yml
+++ b/.github/workflows/docker-base.yml
@@ -35,7 +35,6 @@ jobs:
         if: steps.changed-files.outputs.any_changed == 'true'
         uses: docker/setup-buildx-action@v2
       - name: Login to Github Container Registry
-        if: steps.changed-files.outputs.any_changed == 'true'
         uses: docker/login-action@v2
         with:
           registry: ghcr.io
diff --git a/.github/workflows/docker-images.yml b/.github/workflows/docker-images.yml
index 2b52ecc6db..d19c48f954 100644
--- a/.github/workflows/docker-images.yml
+++ b/.github/workflows/docker-images.yml
@@ -27,7 +27,6 @@ jobs:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v2
       - name: Login to Github Container Registry
-        if: env.PUSH == 'true'
         uses: docker/login-action@v2
         with:
           registry: ghcr.io