diff --git a/builder/image-build-ros.sh b/builder/image-build-ros.sh
new file mode 100755
index 00000000..c8b258e5
--- /dev/null
+++ b/builder/image-build-ros.sh
@@ -0,0 +1,49 @@
+#! /usr/bin/env bash
+
+#
+# Script for building ROS packages from scratch
+#
+# Copyright (C) 2022 Copter Express Technologies
+#
+# Author: Oleg Kalachev <okalachev@gmail.com>
+#
+# Distributed under MIT License (available at https://opensource.org/licenses/MIT).
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+
+set -ex # exit on error, echo commands
+
+# http://wiki.ros.org/Installation/Source
+
+ROS_DISTRO=noetic
+. /etc/os-release # set $VERSION_CODENAME to Debian release code name
+
+echo "=== Building ROS from scratch"
+
+apt-get update
+apt-get install -y python3-distutils python3-rosdep python3-rosinstall-generator build-essential # python3-vcstool
+
+# install vcstool using pip
+curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py && python3 get-pip.py && rm get-pip.py
+pip3 install -U vcstool
+
+rm /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init
+rosdep --os=debian:$VERSION_CODENAME update
+
+echo "Create Catkin workspace to build ROS package"
+mkdir ~/ros_catkin_ws
+cd ~/ros_catkin_ws
+
+echo "Download ROS sources"
+rosinstall_generator ros_base --rosdistro $ROS_DISTRO --deps --tar > noetic.rosinstall
+mkdir ./src
+vcs import --input noetic.rosinstall ./src
+
+echo "Resolve dependencies"
+rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro $ROS_DISTRO -y
+
+echo "Build ROS"
+./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
+
+source ~/ros_catkin_ws/install_isolated/setup.bash
diff --git a/builder/image-build.sh b/builder/image-build.sh
index 60fa5fe4..a6bf9522 100755
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -104,7 +104,7 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterf
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
 # software install
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
+# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
 # network setup
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
 # avahi setup
@@ -113,13 +113,14 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/avahi-s
 # If RPi then use a one thread to build a ROS package on RPi, else use all
 [[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
 # Clover
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
+# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/noetic-rosdep-clover.yaml' '/etc/ros/rosdep/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_python_paths' '/etc/sudoers.d/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
 # Add rename script
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
+#${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
+${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-build-ros.sh'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
 
 ${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}