diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index b2fb1f6..974be8c 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -11,8 +11,8 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: melodic, ROS_REPO: testing}
-          - {ROS_DISTRO: noetic, ROS_REPO: testing}
+          - {ROS_DISTRO: melodic, ROS_REPO: testing, DOCKER_IMAGE: "ros:melodic-perception-bionic"}
+          - {ROS_DISTRO: noetic, ROS_REPO: testing, DOCKER_IMAGE: "ros:noetic-perception-focal"}
     env:
       CCACHE_DIR: ${{ github.workspace }}/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
       AFTER_SETUP_TARGET_WORKSPACE: 'cd $BASEDIR/target_ws/src/ros-utils; for d in *; do if [[ "$d" != "cras_docs_common" ]] && [[ "$d" != "cras_cpp_common" ]] && [[ "$d" != "cras_py_common" ]] && [[ "$d" != "cras_topic_tools" ]] && [[ "$d" != "cras_bag_tools" ]] && [[ "$d" != "image_transport_codecs" ]]; then rm -rf "$d"; fi; done'