diff --git a/Dockerfile.estimator b/Dockerfile.estimator
index 60fd754..b7eb957 100644
--- a/Dockerfile.estimator
+++ b/Dockerfile.estimator
@@ -22,6 +22,10 @@ ARG MODEL_DIR=models
 
 ADD ibpc_interfaces /opt/ros/underlay/src/ibpc_interfaces
 
+# Install rmw_zenoh pinned at 0.2.3 from source.
+RUN cd /opt/ros/underlay/src/ \
+    && git clone https://github.com/ros2/rmw_zenoh && cd rmw_zenoh && git checkout 0.2.3 && cd ../../
+
 RUN . /opt/ros/jazzy/setup.sh \
     && apt-get update \
     && rosdep update \
@@ -38,7 +42,7 @@ ARG SERVICE_PACKAGE=ibpc_pose_estimator_py
 ARG SERVICE_EXECUTABLE_NAME=ibpc_pose_estimator
 
 RUN apt-get update \
-    &&  apt install -y ros-jazzy-rmw-zenoh-cpp \
+    &&  apt install -y \
     && rm -rf /var/lib/apt/lists/*
 
 ADD ${SERVICE_PACKAGE} /opt/ros/overlay/src/${SERVICE_PACKAGE}
@@ -59,7 +63,7 @@ ARG SERVICE_EXECUTABLE_NAME=ibpc_pose_estimator
 
 RUN apt-get update \
     && apt upgrade -y \
-    &&  apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-png python3-pip python3-scipy \
+    &&  apt install -y python3-imageio python3-png python3-pip python3-scipy \
     && rm -rf /var/lib/apt/lists/*
 
 COPY --from=overlay /opt/ros/underlay/install /opt/ros/underlay/install
diff --git a/Dockerfile.tester b/Dockerfile.tester
index 924b8cd..76e17d8 100644
--- a/Dockerfile.tester
+++ b/Dockerfile.tester
@@ -12,6 +12,10 @@ FROM base AS underlay
 
 ADD ibpc_interfaces /opt/ros/underlay/src/ibpc_interfaces
 
+# Install rmw_zenoh pinned at 0.2.3 from source.
+RUN cd /opt/ros/underlay/src/ \
+    && git clone https://github.com/ros2/rmw_zenoh && cd rmw_zenoh && git checkout 0.2.3 && cd ../../
+
 RUN . /opt/ros/jazzy/setup.sh \
     && apt-get update \
     && rosdep update \
@@ -22,10 +26,6 @@ RUN . /opt/ros/jazzy/setup.sh \
 
 FROM underlay AS overlay
 
-RUN apt-get update \
-    &&  apt install -y ros-jazzy-rmw-zenoh-cpp \
-    && rm -rf /var/lib/apt/lists/*
-
 ADD ibpc_tester /opt/ros/overlay/src/ibpc_tester
 
 RUN . /opt/ros/jazzy/setup.sh \
@@ -43,7 +43,7 @@ FROM base
 
 RUN apt-get update \
     && apt upgrade -y \
-    &&  apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-pandas python3-png python3-pip python3-scipy \
+    &&  apt install -y python3-imageio python3-pandas python3-png python3-pip python3-scipy \
     && rm -rf /var/lib/apt/lists/*
 
 # TODO remove deprecated pytz usage