diff --git a/SMACC2-not-released.humble.repos b/SMACC2-not-released.humble.repos
index 3e7b48304..982ff16f5 100644
--- a/SMACC2-not-released.humble.repos
+++ b/SMACC2-not-released.humble.repos
@@ -1,7 +1,7 @@
 repositories:
   moveit2:
     type: git
-    url: https://github.com/ros-planning/moveit2.git
+    url: https://github.com/pabloinigoblasco/moveit2.git
     version: feature/multiple_namespace_support_from_parameters
 
   ros2_control:
@@ -38,7 +38,18 @@ repositories:
     type: git
     url: https://github.com/ros-planning/moveit_resources.git
     version: ros2
+
   kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
-    version: master
+    version: 01a2cda40eab6b145c8eb5b7f01698427edd9b1b
+
+  resource_retreiver:
+    type: git
+    url: https://github.com/ros/resource_retriever.git
+    version: humble
+
+  geometric_shapes:
+    type: git
+    url: https://github.com/ros-planning/geometric_shapes.git
+    version: ros2
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 7422939eb..bec5e80db 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -17,6 +17,7 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
   gnupg2 \
   lsb-release \
   python3-colcon-ros \
+  apt-utils \
   && apt-get clean \
   && apt upgrade -y --with-new-pkgs
 
@@ -31,6 +32,8 @@ RUN ls src
 RUN vcs import  src --skip-existing --input src/SMACC2/SMACC2-not-released.$ROS_DISTRO.repos || true
 RUN ls src
 
+RUN sudo apt-get update && sudo apt install -y ros-humble-slam-toolbox
+RUN rosdep update
 RUN rosdep install --from-paths src --ignore-src -r -y --skip-keys warehouse-ros-mongo || true
 RUN apt-get update && apt-get install -q -y --no-install-recommends xterm