diff --git a/linux_docker_resources/Dockerfile b/linux_docker_resources/Dockerfile
index 34d1921af..b0bf4e37b 100644
--- a/linux_docker_resources/Dockerfile
+++ b/linux_docker_resources/Dockerfile
@@ -145,7 +145,8 @@ RUN apt-get update && apt-get install --no-install-recommends -y libassimp-dev l
 RUN apt-get update && apt-get install --no-install-recommends -y pyqt5-dev python3-pyqt5 python3-pyqt5.qtsvg python3-sip-dev python3-pydot python3-pygraphviz
 
 # Install dependencies for robot_model and robot_state_publisher
-RUN apt-get update && apt-get install --no-install-recommends -y libtinyxml-dev libeigen3-dev
+RUN apt-get update && apt-get install --no-install-recommends -y libeigen3-dev
+RUN if test \( ${ROS_DISTRO} = humble -o ${ROS_DISTRO} = iron \); then apt-get update && apt-get install --no-install-recommends -y libtinyxml-dev; fi
 
 # Install Python3 development files.
 RUN apt-get update && apt-get install --no-install-recommends -y python3-dev
diff --git a/linux_docker_resources/Dockerfile-RHEL b/linux_docker_resources/Dockerfile-RHEL
index e527920ed..2b01c3966 100644
--- a/linux_docker_resources/Dockerfile-RHEL
+++ b/linux_docker_resources/Dockerfile-RHEL
@@ -167,7 +167,7 @@ RUN dnf install \
     spdlog-devel \
     sqlite-devel \
     tango-icon-theme \
-    tinyxml-devel \
+    $(if test \( ${ROS_DISTRO} = humble -o ${ROS_DISTRO} = iron \); then echo tinyxml-devel; fi) \
     tinyxml2-devel \
     uncrustify \
     yaml-cpp-devel \
diff --git a/windows_docker_resources/ros2-cookbooks b/windows_docker_resources/ros2-cookbooks
index 228942267..8af8a662c 160000
--- a/windows_docker_resources/ros2-cookbooks
+++ b/windows_docker_resources/ros2-cookbooks
@@ -1 +1 @@
-Subproject commit 2289422677c4e7b6212ac7f97c61efe91d68841c
+Subproject commit 8af8a662cf4757d2171d66636fd52ed1883b0d20