diff --git a/dockerfiles/devenv.Dockerfile b/dockerfiles/devenv.Dockerfile
index 99405b16c6e110dfefa92e178ffb9d8904f2fa5f..3f4da36a2a97d1f586871299514f8b3ced234c36 100644
--- a/dockerfiles/devenv.Dockerfile
+++ b/dockerfiles/devenv.Dockerfile
@@ -46,14 +46,18 @@ RUN apt-get update && apt-get -y install --no-install-recommends \
     valgrind \
     xterm \
     wget \
-    zsh \
-    #
-    ros-${ROS_DISTRO}-catkin \
-    ros-${ROS_DISTRO}-plotjuggler \
-    ros-${ROS_DISTRO}-plotjuggler-ros \
-    ros-${ROS_DISTRO}-rosmon \
-    ros-${ROS_DISTRO}-rqt-controller-manager \
-    ros-${ROS_DISTRO}-rqt-joint-trajectory-controller
+    zsh
+
+RUN if [ "${ROS_DISTRO}" != "humble"  ]; \
+    then \
+        apt-get -y install \
+        ros-${ROS_DISTRO}-catkin \
+        ros-${ROS_DISTRO}-plotjuggler \
+        ros-${ROS_DISTRO}-plotjuggler-ros \
+        ros-${ROS_DISTRO}-rosmon \
+        ros-${ROS_DISTRO}-rqt-controller-manager \
+        ros-${ROS_DISTRO}-rqt-joint-trajectory-controller; \
+    fi
 
 RUN if [ "${ROS_DISTRO}" = "noetic"  ]; \
     then \
@@ -109,78 +113,80 @@ RUN apt-get install -y \
 RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
     && apt-get install -y nodejs && npm -g install yarn
 
-# ROS WS dependencies
-RUN apt-get update && apt-get install -y \
-    cython \
-    libceres-dev \
-    libcomedi-dev \
-    libglfw3-dev \
-    libmodbus-dev \
-    python-numpy \
-    python3-mock \
-    socat \
-    # ROS Distro packages
-    ros-${ROS_DISTRO}-ackermann-msgs \
-    ros-${ROS_DISTRO}-amcl \
-    ros-${ROS_DISTRO}-cartesian-trajectory-controller \
-    ros-${ROS_DISTRO}-chomp-motion-planner \
-    ros-${ROS_DISTRO}-collada-urdf \
-    ros-${ROS_DISTRO}-effort-controllers \
-    ros-${ROS_DISTRO}-force-torque-sensor-controller \
-    ros-${ROS_DISTRO}-gmapping \
-    ros-${ROS_DISTRO}-hector-gazebo-plugins \
-    ros-${ROS_DISTRO}-hector-mapping \
-    ros-${ROS_DISTRO}-imu-complementary-filter \
-    ros-${ROS_DISTRO}-imu-tools \
-    ros-${ROS_DISTRO}-industrial-core \
-    ros-${ROS_DISTRO}-industrial-robot-simulator \
-    ros-${ROS_DISTRO}-industrial-robot-status-controller \
-    ros-${ROS_DISTRO}-industrial-robot-status-interface \
-    ros-${ROS_DISTRO}-interactive-marker-twist-server \
-    ros-${ROS_DISTRO}-joint-trajectory-controller \
-    ros-${ROS_DISTRO}-joy \
-    ros-${ROS_DISTRO}-lms1xx \
-    ros-${ROS_DISTRO}-map-server \
-    ros-${ROS_DISTRO}-mavros-msgs \
-    ros-${ROS_DISTRO}-move-base \
-    ros-${ROS_DISTRO}-moveit-commander \
-    ros-${ROS_DISTRO}-moveit-fake-controller-manager \
-    ros-${ROS_DISTRO}-moveit-planners-chomp \
-    ros-${ROS_DISTRO}-moveit-planners-ompl \
-    ros-${ROS_DISTRO}-moveit-resources \
-    ros-${ROS_DISTRO}-moveit-ros-benchmarks \
-    ros-${ROS_DISTRO}-moveit-ros-move-group \
-    ros-${ROS_DISTRO}-moveit-ros-planning-interface \
-    ros-${ROS_DISTRO}-moveit-ros-visualization \
-    ros-${ROS_DISTRO}-moveit-ros-warehouse \
-    ros-${ROS_DISTRO}-moveit-setup-assistant\
-    ros-${ROS_DISTRO}-moveit-simple-controller-manager \
-    ros-${ROS_DISTRO}-moveit-visual-tools \
-    ros-${ROS_DISTRO}-navigation \
-    ros-${ROS_DISTRO}-pass-through-controllers \
-    ros-${ROS_DISTRO}-pilz-industrial-motion \
-    ros-${ROS_DISTRO}-rc-visard \
-    ros-${ROS_DISTRO}-realsense2-camera \
-    ros-${ROS_DISTRO}-realsense2-description \
-    ros-${ROS_DISTRO}-robot-localization \
-    ros-${ROS_DISTRO}-ros-control \
-    ros-${ROS_DISTRO}-ros-control-boilerplate \
-    ros-${ROS_DISTRO}-ros-controllers \
-    ros-${ROS_DISTRO}-rosbridge-server \
-    ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
-    ros-${ROS_DISTRO}-serial \
-    ros-${ROS_DISTRO}-spacenav-node \
-    ros-${ROS_DISTRO}-speed-scaling-interface \
-    ros-${ROS_DISTRO}-speed-scaling-state-controller \
-    ros-${ROS_DISTRO}-teb-local-planner \
-    ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
-    ros-${ROS_DISTRO}-twist-controller \
-    ros-${ROS_DISTRO}-twist-mux \
-    ros-${ROS_DISTRO}-ur-client-library \
-    ros-${ROS_DISTRO}-ur-msgs \
-    ros-${ROS_DISTRO}-usb-cam \
-    ros-${ROS_DISTRO}-velocity-controllers \
-    ros-${ROS_DISTRO}-warehouse-ros-mongo
+# ROS 1 WS dependencies
+RUN if [ "${ROS_DISTRO}" != "humble"  ]; \
+    then \
+        apt-get -y install \
+        cython \
+        libceres-dev \
+        libcomedi-dev \
+        libglfw3-dev \
+        libmodbus-dev \
+        python-numpy \
+        python3-mock \
+        socat \
+        ros-${ROS_DISTRO}-ackermann-msgs \
+        ros-${ROS_DISTRO}-amcl \
+        ros-${ROS_DISTRO}-cartesian-trajectory-controller \
+        ros-${ROS_DISTRO}-chomp-motion-planner \
+        ros-${ROS_DISTRO}-collada-urdf \
+        ros-${ROS_DISTRO}-effort-controllers \
+        ros-${ROS_DISTRO}-force-torque-sensor-controller \
+        ros-${ROS_DISTRO}-gmapping \
+        ros-${ROS_DISTRO}-hector-gazebo-plugins \
+        ros-${ROS_DISTRO}-hector-mapping \
+        ros-${ROS_DISTRO}-imu-complementary-filter \
+        ros-${ROS_DISTRO}-imu-tools \
+        ros-${ROS_DISTRO}-industrial-core \
+        ros-${ROS_DISTRO}-industrial-robot-simulator \
+        ros-${ROS_DISTRO}-industrial-robot-status-controller \
+        ros-${ROS_DISTRO}-industrial-robot-status-interface \
+        ros-${ROS_DISTRO}-interactive-marker-twist-server \
+        ros-${ROS_DISTRO}-joint-trajectory-controller \
+        ros-${ROS_DISTRO}-joy \
+        ros-${ROS_DISTRO}-lms1xx \
+        ros-${ROS_DISTRO}-map-server \
+        ros-${ROS_DISTRO}-mavros-msgs \
+        ros-${ROS_DISTRO}-move-base \
+        ros-${ROS_DISTRO}-moveit-commander \
+        ros-${ROS_DISTRO}-moveit-fake-controller-manager \
+        ros-${ROS_DISTRO}-moveit-planners-chomp \
+        ros-${ROS_DISTRO}-moveit-planners-ompl \
+        ros-${ROS_DISTRO}-moveit-resources \
+        ros-${ROS_DISTRO}-moveit-ros-benchmarks \
+        ros-${ROS_DISTRO}-moveit-ros-move-group \
+        ros-${ROS_DISTRO}-moveit-ros-planning-interface \
+        ros-${ROS_DISTRO}-moveit-ros-visualization \
+        ros-${ROS_DISTRO}-moveit-ros-warehouse \
+        ros-${ROS_DISTRO}-moveit-setup-assistant\
+        ros-${ROS_DISTRO}-moveit-simple-controller-manager \
+        ros-${ROS_DISTRO}-moveit-visual-tools \
+        ros-${ROS_DISTRO}-navigation \
+        ros-${ROS_DISTRO}-pass-through-controllers \
+        ros-${ROS_DISTRO}-pilz-industrial-motion \
+        ros-${ROS_DISTRO}-rc-visard \
+        ros-${ROS_DISTRO}-realsense2-camera \
+        ros-${ROS_DISTRO}-realsense2-description \
+        ros-${ROS_DISTRO}-robot-localization \
+        ros-${ROS_DISTRO}-ros-control \
+        ros-${ROS_DISTRO}-ros-control-boilerplate \
+        ros-${ROS_DISTRO}-ros-controllers \
+        ros-${ROS_DISTRO}-rosbridge-server \
+        ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
+        ros-${ROS_DISTRO}-serial \
+        ros-${ROS_DISTRO}-spacenav-node \
+        ros-${ROS_DISTRO}-speed-scaling-interface \
+        ros-${ROS_DISTRO}-speed-scaling-state-controller \
+        ros-${ROS_DISTRO}-teb-local-planner \
+        ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
+        ros-${ROS_DISTRO}-twist-controller \
+        ros-${ROS_DISTRO}-twist-mux \
+        ros-${ROS_DISTRO}-ur-client-library \
+        ros-${ROS_DISTRO}-ur-msgs \
+        ros-${ROS_DISTRO}-usb-cam \
+        ros-${ROS_DISTRO}-velocity-controllers \
+        ros-${ROS_DISTRO}-warehouse-ros-mongo; \
+    fi
 
 RUN if [ "${ROS_DISTRO}" = "noetic"  ]; \
     then \