diff --git a/builder/image-ros.sh b/builder/image-ros.sh
index d464067c..2f4c9bf7 100755
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -127,6 +127,10 @@ apt-get install -y --no-install-recommends \
 echo_stamp "Install GeographicLib datasets (needed for mavros)" \
 && wget -qO- https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh | bash
 
+# FIXME: Buster comes with tornado==5.1.1 but we need tornado==4.2.1 for rosbridge_suite
+# (note that Python 3 will still have a more recent version)
+pip install tornado==4.2.1
+
 echo_stamp "Running tests"
 cd /home/pi/catkin_ws
 catkin_make run_tests && catkin_test_results