diff --git a/.ci/build.sh b/.ci/build.sh
index f040ca9cf4..50bae9fe6a 100755
--- a/.ci/build.sh
+++ b/.ci/build.sh
@@ -62,13 +62,11 @@ echo "$0: catking reported following topological build order:"
 echo "$BUILD_ORDER"
 echo ""
 
-touch $ARTIFACTS_FOLDER/generated.yaml
+ROSDEP_FILE=$ARTIFACTS_FOLDER/generated.yaml
 
-SKIP_KEYS=""
+touch $ROSDEP_FILE
 
-for PACKAGE in $BUILD_ORDER; do
-  SKIP_KEYS="$SKIP_KEYS $PACKAGE"
-done
+sudo echo "yaml file://$ROSDEP_FILE" >> /etc/ros/rosdep/sources.list.d/temp.list
 
 for PACKAGE in $BUILD_ORDER; do
 
@@ -77,9 +75,7 @@ for PACKAGE in $BUILD_ORDER; do
   echo "$0: cding to '$PKG_PATH'"
   cd $PKG_PATH
 
-  source /opt/ros/noetic/setup.bash
-
-  rosdep install -y -v --rosdistro=noetic -i --skip-keys="$SKIP_KEYS" --from-paths ./
+  rosdep install -y -v --rosdistro=noetic --from-paths ./
 
   export DEB_BUILD_OPTIONS="parallel=`nproc`"
   bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro noetic
@@ -94,6 +90,10 @@ for PACKAGE in $BUILD_ORDER; do
   ubuntu: [$DEB_NAME]
 " >> $ARTIFACTS_FOLDER/generated.yaml
 
+  rosdep update
+
+  source /opt/ros/noetic/setup.bash
+
 done
 
 echo ""