diff --git a/.docker/lyrical.amd64.dockerfile b/.docker/lyrical.amd64.dockerfile
index 61a2ae87..88934808 100644
--- a/.docker/lyrical.amd64.dockerfile
+++ b/.docker/lyrical.amd64.dockerfile
@@ -40,7 +40,8 @@ COPY . dave
 RUN vcs import --shallow --skip-existing \
       --input dave/extras/repos/dave.lyrical.repos
 
-RUN rosdep update --rosdistro "$ROS_DISTRO" && \
+RUN apt-get update && \
+    rosdep update --rosdistro "$ROS_DISTRO" && \
     rosdep install --rosdistro "$ROS_DISTRO" -iy --from-paths . && \
     rm -rf /var/lib/apt/lists/*
 
diff --git a/.docker/lyrical.arm64v8.dockerfile b/.docker/lyrical.arm64v8.dockerfile
index a833ee72..b4eada52 100644
--- a/.docker/lyrical.arm64v8.dockerfile
+++ b/.docker/lyrical.arm64v8.dockerfile
@@ -124,8 +124,11 @@ RUN vcs import --shallow --skip-existing \
       --input dave/extras/repos/dave.lyrical.repos && \
     chown -R $USER:$USER $DAVE_UNDERLAY
 
-RUN rosdep init 2>/dev/null || true && rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install --rosdistro $ROS_DISTRO -iy --from-paths .
+RUN apt-get update && \
+    (rosdep init 2>/dev/null || true) && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --rosdistro $ROS_DISTRO -iy --from-paths . && \
+    rm -rf /var/lib/apt/lists/*
 
 USER $USER
 WORKDIR $DAVE_UNDERLAY
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index d0bb4803..640fdefd 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -43,8 +43,10 @@ jobs:
       - name: Install Python dependencies
         run: pip install black flake8 cmakelang
 
-      - name: Install ClangFormat
-        run: sudo apt-get install -y clang-format
+      - name: Install system lint dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y clang-format libxml2-utils
 
       - name: Run Linters for python and C++
         uses: wearerequired/lint-action@v2
@@ -55,9 +57,6 @@ jobs:
           flake8_args: --max-line-length=100
           clang_format: true
 
-      - name: Install XML Linting tools
-        run: sudo apt-get install -y libxml2-utils
-
       - name: Run XML Linter for URDF, SDF, Xacro, XML files
         run: |
           find . \( -iname '*.urdf' -o -iname '*.sdf' -o -iname '*.xacro' \