diff --git a/image_builder/build.Jenkinsfile b/image_builder/build.Jenkinsfile
index 28321357..2865e130 100644
--- a/image_builder/build.Jenkinsfile
+++ b/image_builder/build.Jenkinsfile
@@ -15,6 +15,7 @@ pipeline {
 
     // Experimental function
     booleanParam(name: 'SHRINK', defaultValue: false, description: 'SHRINK IMAGE')
+    booleanParam(name: 'DISCOVER_ROS_PACKAGES', defaultValue: false, description: 'DISCOVER ROS PACKAGES')
   }
   environment {
     DEBIAN_FRONTEND = 'noninteractive'
@@ -74,8 +75,8 @@ pipeline {
         MOVE_FILE = 'image_builder/kinetic-ros-coex.rosinstall'
       }
       steps {
-        sh "$WORKSPACE/image_builder/image_config.sh copy_to_chroot ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$MOVE_FILE"
-        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$EXECUTE_FILE ${params.GWBT_URL} DONT_DISCOVER"
+        sh "if ! ${params.DISCOVER_ROS_PACKAGES}; then $WORKSPACE/image_builder/image_config.sh copy_to_chroot ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$MOVE_FILE; fi"
+        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/$EXECUTE_FILE ${params.GWBT_URL} ${params.DISCOVER_ROS_PACKAGES}"
       }
     }
     // TODO: Add finalising step, transfer mirror removal from ros.sh
diff --git a/image_builder/scripts/ros_install.sh b/image_builder/scripts/ros_install.sh
index 4e2482d8..28407139 100755
--- a/image_builder/scripts/ros_install.sh
+++ b/image_builder/scripts/ros_install.sh
@@ -42,8 +42,8 @@ echo -e "\033[0;31m\033[1m$(date) | #4 rosdep init && rosdep update\033[0m\033[0
 # bootstrap rosdep
 rosdep init && rosdep update
 
-# If $2 not used, then discover packages
-if [[ -z $2 ]];
+# If $2 = false, then discover packages
+if [ "$2" = "false" ];
 then
   echo -e "\033[0;31m\033[1m$(date) | #5 Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"