diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index e4bfe992..9e3a7b54 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -7,6 +7,8 @@ on:
   pull_request:
     branches: [ master ]
     paths-ignore: '**.md'
+  repository_dispatch:
+    types: [trigger-event]
 
   # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
@@ -17,45 +19,42 @@ jobs:
     strategy:
       matrix:
         DISTRO: [
-          { "base_image": "jammy", "suffix": "gcc" },
-          { "base_image": "jammy_cuda12.2", "suffix": "gcc.cuda" }
+          { "ubuntu": "jammy", "suffix": "gcc" }
+          # { "ubuntu": "jammy_cuda12.2", "suffix": "gcc.cuda" }
         ]
 
     steps:
       - uses: actions/checkout@v2
         with:
-          repository: 'https://github.com/koide3/gtsam_points'
-          path: 'gtsam_points'
-          token: ${{ secrets.GH_PAT }}
-          submodules: recursive
-
-      - uses: actions/checkout@v2
-        with:
-          path: 'glim'
           token: ${{ secrets.GH_PAT }}
           submodules: recursive
 
       - name: Docker login
         continue-on-error: true
-        uses: docker/login-action@v1
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKER_USERNAME }}
           password: ${{ secrets.DOCKER_TOKEN }}
 
-      - name: Docker build (gtsam_points)
+      - name: Docker build
         uses: docker/build-push-action@v6
         with:
-          file: ${{github.workspace}}/docker/ubuntu/Dockerfile.${ matrix.DISTRO.suffix }
+          tags: koide3/glim:${{ matrix.DISTRO.ubuntu }}
+          file: ${{github.workspace}}/docker/ubuntu/Dockerfile.${{ matrix.DISTRO.suffix }}
           build-args: |
-            BASE_IMAGE=koide3/gtsam_docker:${{ matrix.DISTRO.ubuntu }}
-          context: gtsam_points
-          tags: gtsam_points
+            BASE_IMAGE=koide3/gtsam_points:${{ matrix.DISTRO.ubuntu }}
+          context: .
 
-      - name: Docker build (glim)
-        uses: docker/build-push-action@v6
+  dispatch:
+    needs: build
+    strategy:
+      matrix:
+        repo: ['koide3/glim_ros1', 'koide3/glim_ros2']
+    runs-on: ubuntu-latest
+    steps:
+      - name: Repository Dispatch
+        uses: peter-evans/repository-dispatch@v3
         with:
-          file: ${{github.workspace}}/docker/ubuntu/Dockerfile.${ matrix.DISTRO.suffix }
-          build-args: |
-            BASE_IMAGE=gtsam_points
-          context: glim
-          tags: glim
+          token: ${{ secrets.GH_PAT }}
+          repository: ${{ matrix.repo }}
+          event-type: trigger-event
\ No newline at end of file
diff --git a/docker/ubuntu/Dockerfile.gcc b/docker/ubuntu/Dockerfile.gcc
index e88443a3..c43ceffb 100644
--- a/docker/ubuntu/Dockerfile.gcc
+++ b/docker/ubuntu/Dockerfile.gcc
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=gtsam_points
+ARG BASE_IMAGE=koide3/gtsam_points:jammy
 FROM $BASE_IMAGE
 
 RUN apt-get update \
@@ -14,8 +14,9 @@ RUN cmake .. \
   -DBUILD_WITH_CUDA=OFF \
   -DBUILD_WITH_VIEWER=OFF \
   -DBUILD_WITH_MARCH_NATIVE=OFF \
-  -DCMAKE_BUILD_TYPE=Release
-RUN make -j$(nproc)
+  -DCMAKE_BUILD_TYPE=Release && \
+  make -j$(nproc) && \
+  rm -rf /root/glim/build
 
 # with viewer
 WORKDIR /root/glim/build
diff --git a/docker/ubuntu/Dockerfile.gcc.cuda b/docker/ubuntu/Dockerfile.gcc.cuda
index fd11eac1..73c716e2 100644
--- a/docker/ubuntu/Dockerfile.gcc.cuda
+++ b/docker/ubuntu/Dockerfile.gcc.cuda
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=gtsam_points
+ARG BASE_IMAGE=koide3/gtsam_points:jammy_cuda12.2
 FROM $BASE_IMAGE
 
 RUN apt-get update \
diff --git a/docker/ubuntu/Dockerfile.llvm b/docker/ubuntu/Dockerfile.llvm
index 283269a7..7c198c4e 100644
--- a/docker/ubuntu/Dockerfile.llvm
+++ b/docker/ubuntu/Dockerfile.llvm
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE=koide3/gtsam_docker:jammy_cuda12.2
+ARG BASE_IMAGE=koide3/gtsam_points:jammy
 FROM $BASE_IMAGE
 
 RUN apt-get update \
@@ -28,16 +28,4 @@ RUN CC=clang CXX=clang++ cmake .. \
   -DCMAKE_BUILD_TYPE=Release
 RUN make -j$(nproc)
 
-# resolve omp_is_initial_device-related errors
-RUN sed -i '496{s/^/\/\//}' /usr/lib/llvm-14/lib/clang/14.0.0/include/omp.h
-
-# with CUDA
-WORKDIR /root/glim/build
-RUN CC=clang CXX=clang++ cmake .. \
-  -DBUILD_WITH_CUDA=ON \
-  -DBUILD_WITH_VIEWER=ON \
-  -DBUILD_WITH_MARCH_NATIVE=OFF \
-  -DCMAKE_BUILD_TYPE=Release
-RUN make -j$(nproc)
-
 CMD ["bash"]