diff --git a/README.md b/README.md
index 12787c3..40e5a46 100644
--- a/README.md
+++ b/README.md
@@ -76,3 +76,4 @@ TODO
 - [For versions >= `v2.5.0`] Added rust support for all ROS distributions. Also, fixed bug #79 that was introduced in `v2.3.0`.
 - [For versions >= `v2.5.1`] Now deleting all problematic locks instead of just the oldest and fixed #85 (exec locks daemon bug).
 - [For versions >= `v2.5.2`] Fixed a bug that was introduced in `v2.4.0` where `rosez` and `rosezm` could get mixed up when used simultaneously (issue #88).
+- [For versions >= `v2.5.3`] Added the ability to distinguish between `catkin_make` and `catkin build` workspaces in ROS1. Also, now using the `RelWithDebInfo` flag for all build commands.
diff --git a/internal/entrypoint.bash b/internal/entrypoint.bash
index bd1e647..64af7c3 100644
--- a/internal/entrypoint.bash
+++ b/internal/entrypoint.bash
@@ -49,10 +49,26 @@ if [ "$rosversion" != "unknown" ]; then
       intermediate_error_handler $?
     else
       if [ $skip_compilation -ne 1 ]; then
-        script --flush --quiet --return /tmp/rosez-build-output.txt --command "catkin_make" | tee /dev/fd/2
+        catkin_tool="catkin_make"
+        cmake_extras="--cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo"
+        built_by_file=/opt/ros/"$bl"/build/.built_by
+        if [[ -f "$built_by_file" ]]; then
+          built_by=$(cat $built_by_file)
+          if [[ "$built_by" == "catkin_make" || "$built_by" == "catkin build" ]]; then
+            catkin_tool="$built_by"
+          else
+            echo -e "${colour_orange}${bl}: No catkin tool (catkin_make/catkin build) could be detected. Defaulting to catkin_make...$colour_end"
+          fi
+        fi
+        script --flush --quiet --return /tmp/rosez-build-output.txt --command "$catkin_tool $cmake_extras" | tee /dev/fd/2
         intermediate_error_handler $?
       fi
-      . /opt/ros/$bl/devel/setup.bash
+      devel_setup_file="/opt/ros/$bl/devel/setup.bash"
+      if [[ -f "$devel_setup_file" ]]; then
+        . "$devel_setup_file"
+      else
+        echo -e "${colour_orange}${bl}: No setup.bash file was found under devel. Continuing without sourcing the workspace...$colour_end"
+      fi
       intermediate_error_handler $?
     fi
   done </opt/ros/$wstxt
diff --git a/internal/ros2_foxy_Dockerfile b/internal/ros2_foxy_Dockerfile
index b80ead0..a3b85f8 100644
--- a/internal/ros2_foxy_Dockerfile
+++ b/internal/ros2_foxy_Dockerfile
@@ -30,6 +30,8 @@ RUN apt-get update --allow-insecure-repositories && apt-get install -y curl && c
 git \
 gdb \
 vim \
+wget \
+curl \
 xterm \
 valgrind \
 pulseaudio \
diff --git a/internal/ros2_humble_Dockerfile b/internal/ros2_humble_Dockerfile
index daf3d4b..33cf07a 100644
--- a/internal/ros2_humble_Dockerfile
+++ b/internal/ros2_humble_Dockerfile
@@ -30,6 +30,7 @@ RUN mkdir -p /opt/ros/ros2_ws/src && apt-get update && apt-get full-upgrade -y &
 git \
 gdb \
 vim \
+wget \
 curl \
 xterm \
 valgrind \
diff --git a/internal/ros2_jazzy_Dockerfile b/internal/ros2_jazzy_Dockerfile
index b43339b..77eed9c 100644
--- a/internal/ros2_jazzy_Dockerfile
+++ b/internal/ros2_jazzy_Dockerfile
@@ -30,6 +30,7 @@ RUN mkdir -p /opt/ros/ros2_ws/src && apt-get update && apt-get full-upgrade -y &
 git \
 gdb \
 vim \
+wget \
 curl \
 xterm \
 libgl1 \
diff --git a/internal/ros_Dockerfile b/internal/ros_Dockerfile
index 8ae7a02..64e3e38 100644
--- a/internal/ros_Dockerfile
+++ b/internal/ros_Dockerfile
@@ -30,6 +30,7 @@ RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y
 git \
 gdb \
 vim \
+wget \
 curl \
 xterm \
 valgrind \
@@ -47,6 +48,7 @@ libgl1-mesa-glx \
 ros-noetic-amcl \
 ros-noetic-moveit \
 python3-catkin-pkg \
+python3-catkin-tools \
 ros-noetic-move-base \
 ros-noetic-navigation \
 ros-noetic-gazebo-ros \
diff --git a/internal/ros_melodic_Dockerfile b/internal/ros_melodic_Dockerfile
index eee55f4..3112d0b 100644
--- a/internal/ros_melodic_Dockerfile
+++ b/internal/ros_melodic_Dockerfile
@@ -28,6 +28,7 @@ RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y
 git \
 gdb \
 vim \
+wget \
 curl \
 xterm \
 valgrind \
@@ -45,6 +46,7 @@ ros-melodic-amcl \
 python-catkin-pkg \
 python-catkin-lint \
 ros-melodic-moveit \
+python-catkin-tools \
 ros-melodic-move-base \
 ros-melodic-navigation \
 ros-melodic-gazebo-ros \