diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 74fa218..b4a3da0 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -2,6 +2,8 @@
 xenial-cpp-build:
   stage: build
   image: rduweston/ubuntu-ci:16.04
+  before_script:
+    - apt update && apt -y install libasio-dev
   script:
     - mkdir build && cd build
     - cmake -DCMAKE_BUILD_TYPE=Release ..
@@ -10,6 +12,8 @@ xenial-cpp-build:
 bionic-cpp-build:
   stage: build
   image: rduweston/ubuntu-ci:18.04
+  before_script:
+    - apt update && apt -y install libasio-dev
   script:
     - mkdir build && cd build
     - cmake -DCMAKE_BUILD_TYPE=Release ..
@@ -18,6 +22,8 @@ bionic-cpp-build:
 focal-cpp-build:
   stage: build
   image: rduweston/ubuntu-ci:20.04
+  before_script:
+    - apt update && apt -y install libasio-dev
   script:
     - mkdir build && cd build
     - cmake -DCMAKE_BUILD_TYPE=Release ..
@@ -27,6 +33,8 @@ focal-cpp-build:
 kinetic-catkin-build:
   stage: build
   image: rduweston/ubuntu-ci:kinetic
+  before_script:
+    - apt update && apt -y install libasio-dev
   script:
     - mkdir -p /catkin_ws/src/ugv_sdk/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
@@ -35,6 +43,8 @@ kinetic-catkin-build:
 kinetic-catkin-isolated-build:
   stage: build
   image: rduweston/ubuntu-ci:kinetic
+  before_script:
+    - apt update && apt -y install libasio-dev
   script:
     - mkdir -p /catkin_ws/src/ugv_sdk/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
@@ -43,6 +53,8 @@ kinetic-catkin-isolated-build:
 melodic-catkin-build:
   stage: build
   image: rduweston/ubuntu-ci:melodic
+  before_script:
+    - apt update && apt -y install libasio-dev
   script:
     - mkdir -p /catkin_ws/src/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
@@ -51,6 +63,8 @@ melodic-catkin-build:
 melodic-catkin-isolated-build:
   stage: build
   image: rduweston/ubuntu-ci:melodic
+  before_script:
+    - apt update && apt -y install libasio-dev
   script:
     - mkdir -p /catkin_ws/src/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
@@ -59,6 +73,8 @@ melodic-catkin-isolated-build:
 noetic-catkin-build:
   stage: build
   image: rduweston/ubuntu-ci:noetic
+  before_script:
+    - apt update && apt -y install libasio-dev
   script:
     - mkdir -p /catkin_ws/src/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
@@ -67,6 +83,8 @@ noetic-catkin-build:
 noetic-catkin-isolated-build:
   stage: build
   image: rduweston/ubuntu-ci:noetic
+  before_script:
+    - apt update && apt -y install libasio-dev
   script:
     - mkdir -p /catkin_ws/src/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk