diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 8c73456..1caf4da 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
           base_image_name: [ubuntu]
-          base_image_tag: [focal, jammy]
+          base_image_tag: [focal, jammy, noble]
     name: "${{ matrix.base_image_name }}-${{ matrix.base_image_tag }}"
     # always use latest linux worker, as it should not have any impact
     # when it comes to building docker images.
@@ -102,15 +102,15 @@ jobs:
 
           # Rolling Ridley (June 2020 - Ongoing)
           - ros_distro: rolling
-            base_image_tag: jammy
+            base_image_tag: noble
             ros_variant: desktop
             rmw_implementations: ros-rolling-rmw-fastrtps-cpp,ros-rolling-rmw-cyclonedds-cpp,ros-rolling-rmw-connextdds
-            output_image_tag: ubuntu-jammy-ros-rolling-desktop
+            output_image_tag: ubuntu-noble-ros-rolling-desktop
           - ros_distro: rolling
-            base_image_tag: jammy
+            base_image_tag: noble
             ros_variant: ros-base
             rmw_implementations: ros-rolling-rmw-fastrtps-cpp,ros-rolling-rmw-cyclonedds-cpp,ros-rolling-rmw-connextdds
-            output_image_tag: ubuntu-jammy-ros-rolling-ros-base
+            output_image_tag: ubuntu-noble-ros-rolling-ros-base
 
     name: "${{ matrix.output_image_tag }}"
     # always use latest linux worker, as it should not have any impact
diff --git a/Dockerfile b/Dockerfile
index ed47d09..a1e5824 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -3,6 +3,7 @@
 # The script has been tested against:
 # - ubuntu:focal
 # - ubuntu:jammy
+# - ubuntu:noble
 #
 # Do not pass directly "X:Y" to BASE_IMAGE_NAME, only pass the image name.
 # The version must be specified separately in BASE_IMAGE_TAG.
@@ -10,7 +11,7 @@
 # This script will not work with non-APT based Linux distributions.
 ARG BASE_IMAGE_NAME
 
-# Base Linux distribution version (one of "focal", "jammy")
+# Base Linux distribution version (one of "focal", "jammy", "noble")
 
 ARG BASE_IMAGE_TAG
 
@@ -44,4 +45,4 @@ RUN for i in $(echo ${EXTRA_APT_PACKAGES} | tr ',' ' '); do \
         apt-get install --yes --no-install-recommends "$i"; \
     done
 # ROS 1 installations clobber this - it doesn't affect ROS 2
-RUN pip3 install -U catkin_pkg
+RUN if [ "noble" = "$(lsb_release -cs)" ]; then pip3 install -U catkin_pkg --break-system-packages; else pip3 install -U catkin_pkg; fi
diff --git a/setup-ros.sh b/setup-ros.sh
index cde107b..2ae4388 100755
--- a/setup-ros.sh
+++ b/setup-ros.sh
@@ -21,7 +21,7 @@ echo 'Etc/UTC' > /etc/timezone
 apt-get update
 
 apt-get install --no-install-recommends --quiet --yes \
-    ca-certificates curl gnupg2 locales lsb-release
+	ca-certificates curl gnupg2 locales lsb-release
 
 locale-gen en_US en_US.UTF-8
 export LANG=en_US.UTF-8
@@ -36,16 +36,16 @@ curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr
 ROS_VERSION="ros"
 RTI_CONNEXT_DDS=""
 case ${ROS_DISTRO} in
-    "noetic")
+	"noetic")
 		ROS_VERSION="ros"
-        ;;
-    *)
-        RTI_CONNEXT_DDS="rti-connext-dds-6.0.1"
+		;;
+	*)
+		RTI_CONNEXT_DDS="rti-connext-dds-6.0.1"
 		ROS_VERSION="ros2"
-        ;;
+		;;
 esac
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/${ROS_VERSION}/ubuntu $(lsb_release -sc) main" |\
-  tee /etc/apt/sources.list.d/${ROS_VERSION}.list > /dev/null
+	tee /etc/apt/sources.list.d/${ROS_VERSION}.list > /dev/null
 
 apt-get update
 
@@ -74,14 +74,8 @@ apt-get install --no-install-recommends --quiet --yes \
 # install it, but won't fail if it does not suceed.
 apt-get install --no-install-recommends --quiet --yes libopensplice69 || true
 
-# Get the latest version of pip before installing dependencies,
-# the version from apt can be very out of date (v8.0 on xenial)
-# The latest version of pip doesn't support Python3.5 as of v21,
-# but pip 8 doesn't understand the metadata that states this, so we must first
-# make an intermediate upgrade to pip 20, which does understand that information
-python3 -m pip install --upgrade pip==20.*
-python3 -m pip install --upgrade pip
-
+# Required to install pip packages outside a venv with pip >=23.0.1 (older versions will ignore it)
+export PIP_BREAK_SYSTEM_PACKAGES=1
 pip3 install --upgrade \
 	argcomplete \
 	catkin_pkg \
@@ -127,15 +121,23 @@ pip3 install --upgrade \
 	nose \
 	pep8 \
 	pydocstyle \
-	pyparsing \
 	pytest \
 	pytest-cov \
 	pytest-mock \
 	pytest-repeat \
 	pytest-rerunfailures \
 	pytest-runner \
-	setuptools \
-	wheel
+	setuptools
+UBUNTU_VERSION=$(lsb_release -cs)
+case ${UBUNTU_VERSION} in
+	"noble")
+		;;
+	*)
+		pip3 install --upgrade \
+			pyparsing \
+			wheel
+		;;
+esac
 
 rosdep init