diff --git a/.circleci/config.yml b/.circleci/config.yml
index 7e6fed842ab..ef14bf0d667 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -75,6 +75,9 @@ references:
                 rosdep install -q -y \
                   --from-paths src \
                   --ignore-src \
+                  --skip-keys " \
+                    slam_toolbox \
+                    " \
                   --verbose | \
                 awk '$1 ~ /^resolution\:/' | \
                 awk -F'[][]' '{print $2}' | \
diff --git a/Dockerfile b/Dockerfile
index abcb8ffaeaa..0767205c601 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -50,6 +50,9 @@ COPY --from=cacher /tmp/$UNDERLAY_WS ./
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
+      --skip-keys " \
+        slam_toolbox \
+        " \
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
@@ -75,6 +78,9 @@ RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
         $UNDERLAY_WS/src \
+      --skip-keys " \
+        slam_toolbox \
+        "\
       --ignore-src \
     && rm -rf /var/lib/apt/lists/*
 
diff --git a/nav2_bringup/bringup/package.xml b/nav2_bringup/bringup/package.xml
index 2d764f7b723..e87f2e1eb57 100644
--- a/nav2_bringup/bringup/package.xml
+++ b/nav2_bringup/bringup/package.xml
@@ -18,6 +18,7 @@
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>navigation2</exec_depend>
   <exec_depend>nav2_common</exec_depend>
+  <exec_depend>slam_toolbox</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>