diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index fd8e4ff18..71c02b806 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -2,28 +2,42 @@ name: CI
 
 on: [push, pull_request]
 
+defaults:
+  run:
+    shell: bash
+
 jobs:
   ci:
     name: ${{ matrix.ros_distro }}
     if: ${{ github.actor != 'RWT-bot' }}
     runs-on: ubuntu-latest
+    container: ros:${{ matrix.ros_distro }}-ros-core
     strategy:
       fail-fast: false
       matrix:
         ros_distro: [melodic, noetic]
         node_version: [14]
+    env:
+      ROS_DISTRO: ${{ matrix.ros_distro }}
     steps:
       - uses: actions/checkout@v3
         env:
           TOKEN: "${{ github.event_name == 'push' && endsWith(github.ref, 'develop') && matrix.ros_distro == 'noetic' && secrets.RWT_BOT_PAT || github.token }}"
         with:
           token: ${{ env.TOKEN }}
-      - name: Docker pull
-        run: docker pull ros:${{ matrix.ros_distro }}-ros-core
-      - name: Docker build
-        run: docker build --build-arg ROS_DISTRO="${{ matrix.ros_distro }}" --build-arg NODE_VERSION="${{ matrix.node_version }}" -t roslibjsdocker .
+      - uses: actions/setup-node@v3
+        with:
+          node-version: ${{ matrix.node_version }}
+      - name: Own /github/home
+        run: |
+          chown -hR $(whoami):$(whoami) /github/home
+      - name: Install apt dependencies
+        run: |
+          apt-get update
+          apt-get install -y firefox ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials
       - name: Tests
-        run: docker run -v $(pwd):/root/roslibjs --rm roslibjsdocker bash -i -c 'bash /root/roslibjs/test/build.bash'
+        run: |
+          bash -c "source /opt/ros/$ROS_DISTRO/setup.bash && bash test/build.bash"
       - uses: stefanzweifel/git-auto-commit-action@v4
         if: ${{ github.event_name == 'push' && endsWith(github.ref, 'develop') && matrix.ros_distro == 'noetic' }}
         with:
diff --git a/Dockerfile b/Dockerfile
deleted file mode 100644
index 72760187a..000000000
--- a/Dockerfile
+++ /dev/null
@@ -1,18 +0,0 @@
-ARG ROS_DISTRO=melodic
-FROM ros:$ROS_DISTRO-ros-core
-
-ARG CI=true
-ENV CI=$CI
-
-# Dependencies for rosbridge
-RUN apt update && apt-get install -y firefox git wget ros-$ROS_DISTRO-rosbridge-server ros-$ROS_DISTRO-tf2-web-republisher ros-$ROS_DISTRO-common-tutorials ros-$ROS_DISTRO-rospy-tutorials ros-$ROS_DISTRO-actionlib-tutorials
-
-# Install nvm, Node.js and node-gyp
-ARG NODE_VERSION=14
-RUN wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.38.0/install.sh | bash \
-    && . $HOME/.nvm/nvm.sh \
-    && nvm install $NODE_VERSION && nvm alias default $NODE_VERSION \
-    && npm install -g node-gyp
-
-RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> $HOME/.bashrc
-ENV PATH=/bin/versions/node/$NODE_VERSION/bin:$PATH