diff --git a/Dockerfile b/Dockerfile
index 5855286..dd09156 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-FROM ros:humble
+FROM ros:iron
 
 RUN mkdir -p /ros2/src
 
@@ -6,12 +6,15 @@ RUN apt-get update \
     && apt-get install -y \
     python3-bloom \
     python3-rosdep \
+    python3-pip \
     fakeroot \
     debhelper \
     dh-python \
-    && rosdep init; exit 0 \
-    && rosdep update \
-    && rosdep install --from paths /ros2/src -y --ignore-src \
+    && echo "deb [ signed-by=/etc/apt/keyrings/hippocampus-robotics.asc ] https://repositories.hippocampus-robotics.net/ubuntu jammy main" > /etc/apt/sources.list.d/hippocampus.list \
+    && curl https://repositories.hippocampus-robotics.net/repositories.hippocampus-robotics.net.gpg.key -o /etc/apt/keyrings/hippocampus-robotics.asc \
+    && rm /etc/ros/rosdep/sources.list.d/20-default.list \
+    && rosdep init \
+    && echo 'yaml https://raw.githubusercontent.com/HippoCampusRobotics/hippo_common/main/rosdep.yaml' > /etc/ros/rosdep/sources.list.d/50-hippocampus-packages.list \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
diff --git a/entrypoint.sh b/entrypoint.sh
index 525a22c..55604a3 100644
--- a/entrypoint.sh
+++ b/entrypoint.sh
@@ -1,16 +1,22 @@
 #!/usr/bin/bash
 
+set -e
+
 PKGS="$@"
 
 cp -R /src/* /ros2/src/
 
+apt update \
+
+rosdep install --from-paths /ros2/src -y --ignore-src \
+
 for pkg in $PKGS; do
     echo "Processing $pkg"
     current_dir=$(pwd)
     cd "$pkg"
-    bloom-generate rosdebian
     export DEB_BUILD_OPTIONS="parallel=`nproc`"
-    fakeroot debian/rules "binary --parallel"
+    bloom-generate rosdebian
+    fakeroot debian/rules binary
     cd "${current_dir}"
 done
 
diff --git a/run b/run
index 8cc9d9e..600231a 100755
--- a/run
+++ b/run
@@ -1,3 +1,3 @@
 #!/usr/bin/bash
-docker run -v ./debs:/debs -v ./src:/src ros2-deb-builder:latest px4_msgs
+docker run --rm -v ./debs:/debs -v ./src:/src ros2-deb-builder:latest "$@"