diff --git a/ubuntu_24/dqrobotics/Dockerfile b/ubuntu_24/dqrobotics/Dockerfile
index 7bd5774..fd765cb 100644
--- a/ubuntu_24/dqrobotics/Dockerfile
+++ b/ubuntu_24/dqrobotics/Dockerfile
@@ -2,17 +2,37 @@ FROM ubuntu:noble
 SHELL ["/bin/bash", "-c"]
 ENV BASH_ENV="/etc/bash_env"
 
+# Update apt-get
+RUN sudo apt-get update -q \
+    && sudo apt-get upgrade -y \
+    && sudo apt-get autoremove -y \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
 # Install dependencies for development
-RUN apt-get update && apt-get install -y net-tools iputils-ping \
-git nss-updatedb locate curl libpci3 vim nano terminator \
-cmake extra-cmake-modules g++  fakeroot software-properties-common && apt-get clean && \
+RUN apt-get update && \
+apt-get install -y net-tools \ 
+iputils-ping \
+git \
+nss-updatedb \
+locate \
+curl \
+libpci3 \
+vim \
+nano \
+terminator \
+cmake \
+extra-cmake-modules \
+g++ \
+fakeroot \
+software-properties-common \
+&& apt-get clean && \
 rm -rf /var/lib/apt/lists/*
 
 # Clone docker_recipes
 RUN mkdir -p ~/git/
 RUN cd ~/git/ && git clone https://github.com/Adorno-Lab/docker_recipes.git --recursive
 
-
 # Install DQ Robotics
 RUN chmod +x ~/git/docker_recipes/dependencies/install_dqrobotics.sh
 RUN bash -c '~/git/docker_recipes/dependencies/install_dqrobotics.sh'
diff --git a/ubuntu_24/dqrobotics_ros_jazzy/Dockerfile b/ubuntu_24/dqrobotics_ros_jazzy/Dockerfile
index 96f0cdc..6cfe1eb 100644
--- a/ubuntu_24/dqrobotics_ros_jazzy/Dockerfile
+++ b/ubuntu_24/dqrobotics_ros_jazzy/Dockerfile
@@ -1,13 +1,14 @@
 FROM juanjqo/ubuntu_24_dqrobotics
-ARG ROS_DOMAIN_ID=1
-ENV ROS_DOMAIN_ID=$ROS_DOMAIN_ID  
 SHELL ["/bin/bash", "-c"]
 ENV BASH_ENV="/etc/bash_env"
 
+# Update apt-get
+RUN sudo apt-get update -q \
+    && sudo apt-get upgrade -y \
+    && sudo apt-get autoremove -y \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
 
 # Install ROS2 Jazzy. 
 RUN chmod +x ~/git/docker_recipes/dependencies/install_ros_jazzy.sh
 RUN bash -c '~/git/docker_recipes/dependencies/install_ros_jazzy.sh'
-
-# ROS DOMAIN SETUP
-RUN echo "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID" >> ~/.bashrc 
diff --git a/ubuntu_24/dqrobotics_ros_jazzy_sas/Dockerfile b/ubuntu_24/dqrobotics_ros_jazzy_sas/Dockerfile
deleted file mode 100644
index 64df6b5..0000000
--- a/ubuntu_24/dqrobotics_ros_jazzy_sas/Dockerfile
+++ /dev/null
@@ -1,17 +0,0 @@
-FROM juanjqo/ubuntu_24_dqrobotics
-ARG ROS_DOMAIN_ID=1
-ENV ROS_DOMAIN_ID=$ROS_DOMAIN_ID  
-SHELL ["/bin/bash", "-c"]
-ENV BASH_ENV="/etc/bash_env"
-
-
-# Install ROS2 Jazzy. 
-RUN chmod +x ~/git/docker_recipes/dependencies/install_ros_jazzy.sh
-RUN bash -c '~/git/docker_recipes/dependencies/install_ros_jazzy.sh'
-
-# Install SAS
-RUN chmod +x ~/git/docker_recipes/dependencies/install_sas.sh
-RUN bash -c '~/git/docker_recipes/dependencies/install_sas.sh'
-
-# ROS DOMAIN SETUP
-RUN echo "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID" >> ~/.bashrc 
diff --git a/ubuntu_24/dqrobotics_ros_jazzy_sas/README.md b/ubuntu_24/dqrobotics_ros_jazzy_sas/README.md
deleted file mode 100644
index 6b94513..0000000
--- a/ubuntu_24/dqrobotics_ros_jazzy_sas/README.md
+++ /dev/null
@@ -1,5 +0,0 @@
-# Specs
-
-| OS | DQ Robotics | ROS2 & SAS |
-| --- | ----| ---- |
-| Ubuntu 24 | Development branch | Jazzy |