diff --git a/.dev/docker/perception_pcl_ros/Dockerfile b/.dev/docker/perception_pcl_ros/Dockerfile
index 2541cc6837b..3d0cf141308 100644
--- a/.dev/docker/perception_pcl_ros/Dockerfile
+++ b/.dev/docker/perception_pcl_ros/Dockerfile
@@ -1,9 +1,9 @@
 # flavor appears twice, once for the FOR, once for the contents since
 # Dockerfile seems to reset arguments after a FOR appears
-ARG flavor="melodic"
+ARG flavor="noetic"
 FROM ros:${flavor}-robot
 
-ARG flavor="melodic"
+ARG flavor="noetic"
 ARG workspace="/root/catkin_ws"
 
 COPY ${flavor}_rosinstall.yaml ${workspace}/src/.rosinstall
@@ -17,10 +17,12 @@ COPY ${flavor}_rosinstall.yaml ${workspace}/src/.rosinstall
 RUN sed -i "s/^# deb-src/deb-src/" /etc/apt/sources.list \
  && apt update \
  && apt install -y \
+    git \
+    libboost-iostreams-dev \
     libeigen3-dev \
     libflann-dev \
     libqhull-dev \
-    python-pip \
+    python3-pip \
     ros-${flavor}-tf2-eigen \
  && pip install -U pip \
  && pip install catkin_tools \
diff --git a/.dev/docker/perception_pcl_ros/noetic_rosinstall.yaml b/.dev/docker/perception_pcl_ros/noetic_rosinstall.yaml
new file mode 100644
index 00000000000..e8f08058ea5
--- /dev/null
+++ b/.dev/docker/perception_pcl_ros/noetic_rosinstall.yaml
@@ -0,0 +1,12 @@
+- git:
+    local-name: 'noetic/perception_pcl'
+    uri: 'https://github.com/ros-perception/perception_pcl'
+    version: 'melodic-devel'
+- git:
+    local-name: 'noetic/pcl_msgs'
+    uri: 'https://github.com/ros-perception/pcl_msgs'
+    version: 'noetic-devel'
+- git:
+    local-name: 'pcl'
+    uri: 'https://github.com/PointCloudLibrary/pcl'
+    version: 'master'