diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 630b0c5e..33fa45f7 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -1,6 +1,8 @@
 name: Build
 
 on:
+  repository_dispatch:
+    types: [fog-ros-baseimage-update]
   push:
 
 jobs:
@@ -11,6 +13,19 @@ jobs:
 
       - uses: docker/setup-buildx-action@v1
 
+      - name: Set image tag format without suffix
+        run: |
+          echo "IMAGE_TAG_FORMAT=type=sha" >> $GITHUB_ENV
+        if: github.event_name == 'push'
+
+      - name: Set image tag format with suffix
+        # it is possible that run_number should be used instead run_attempt
+        # run_attempt is unique number on every run and run_attempt resets to 1 if re-build is not used
+        # content of image_sha_tag_suffix is defined in fog-ros-baseimage dispatcher workflow.
+        run: |
+          echo "IMAGE_TAG_FORMAT=type=sha,suffix=-${{ github.event.client_payload.image_sha_tag_suffix }}" >> $GITHUB_ENV
+        if: github.event_name == 'repository_dispatch'
+
       - name: Docker meta
         id: meta
         uses: docker/metadata-action@v3
@@ -19,8 +34,8 @@ jobs:
           tags: |
             type=ref,event=branch
             type=semver,pattern={{version}}
-            type=sha
             type=raw,value=latest
+            ${{ env.IMAGE_TAG_FORMAT }}
 
       - name: Login to GitHub Container Registry
         uses: docker/login-action@v1
diff --git a/Dockerfile b/Dockerfile
index ebc059ea..43648b23 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -4,8 +4,8 @@ COPY . /main_ws/src/
 
 # this:
 # 1) builds the application
-# 2) packages the application as .deb & writes it to build_output/
-RUN /packaging/build-and-package-as-deb.sh -o build_output/
+# 2) packages the application as .deb in /main_ws/
+RUN /packaging/build.sh
 
 #  ▲               runtime ──┐
 #  └── build                 ▼
@@ -16,7 +16,7 @@ ENTRYPOINT /entrypoint.sh
 
 COPY entrypoint.sh /entrypoint.sh
 
-COPY --from=builder /main_ws/src/build_output/ros-*-rplidar-ros2_*_amd64.deb /rplidar.deb
+COPY --from=builder /main_ws/ros-*-rplidar-ros2_*_amd64.deb /rplidar.deb
 
 # need update because ROS people have a habit of removing old packages pretty fast
 RUN apt update && apt install -y ros-${ROS_DISTRO}-tf2-ros \