diff --git a/.github/workflows/rust_and_ros2.yml b/.github/workflows/rust_and_ros2.yml
index abdbea1..7f44b9c 100644
--- a/.github/workflows/rust_and_ros2.yml
+++ b/.github/workflows/rust_and_ros2.yml
@@ -10,12 +10,12 @@ env:
   CARGO_TERM_COLOR: always
 
 jobs:
-  docs_humble:
+  docs_no_ros:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v2
-    - run: docker build . --file ./tests/Dockerfile_humble --tag r2r_humble
-    - run: docker run r2r_humble cargo build --features doc-only
+    - run: docker build . --file ./tests/Dockerfile_no_ros --tag r2r_no_ros
+    - run: docker run r2r_no_ros cargo build --features doc-only
 
   tests_humble:
     runs-on: ubuntu-latest
diff --git a/r2r/Cargo.toml b/r2r/Cargo.toml
index d3d0363..2680651 100644
--- a/r2r/Cargo.toml
+++ b/r2r/Cargo.toml
@@ -37,7 +37,7 @@ r2r_msg_gen = { path = "../r2r_msg_gen", version = "0.3.10" }
 
 [features]
 save-bindgen = ["r2r_rcl/save-bindgen", "r2r_msg_gen/save-bindgen", "r2r_actions/save-bindgen"]
-doc-only = ["r2r_rcl/doc-only", "r2r_msg_gen/doc-only", "r2r_actions/doc-only"]
+doc-only = ["r2r_common/doc-only", "r2r_rcl/doc-only", "r2r_msg_gen/doc-only", "r2r_actions/doc-only"]
 
 [package.metadata.docs.rs]
 features = ["doc-only"]
diff --git a/r2r_actions/Cargo.toml b/r2r_actions/Cargo.toml
index ca915e1..d6a25cb 100644
--- a/r2r_actions/Cargo.toml
+++ b/r2r_actions/Cargo.toml
@@ -20,7 +20,7 @@ r2r_common = { path = "../r2r_common", version = "0.3.5" }
 
 [features]
 save-bindgen = ["r2r_rcl/save-bindgen", "r2r_msg_gen/save-bindgen"]
-doc-only = ["r2r_rcl/doc-only", "r2r_msg_gen/doc-only"]
+doc-only = ["r2r_common/doc-only", "r2r_rcl/doc-only", "r2r_msg_gen/doc-only"]
 
 [package.metadata.docs.rs]
 features = ["doc-only"]
diff --git a/r2r_common/Cargo.toml b/r2r_common/Cargo.toml
index 8ac5a7e..dbc9b35 100644
--- a/r2r_common/Cargo.toml
+++ b/r2r_common/Cargo.toml
@@ -14,3 +14,9 @@ documentation = "https://docs.rs/r2r/latest/r2r"
 bindgen = "0.63.0"
 itertools = "0.10.5"
 sha2 = "0.10.6"
+
+[features]
+doc-only = []
+
+[package.metadata.docs.rs]
+features = ["doc-only"]
diff --git a/r2r_common/src/lib.rs b/r2r_common/src/lib.rs
index 47f9824..7616c4a 100644
--- a/r2r_common/src/lib.rs
+++ b/r2r_common/src/lib.rs
@@ -6,6 +6,7 @@ use std::fs::{self, File};
 use std::io::Read;
 use std::path::Path;
 
+#[cfg(not(feature = "doc-only"))]
 const SUPPORTED_ROS_DISTROS: &[&str] = &[
     "foxy",
     "galactic",
@@ -119,6 +120,11 @@ pub fn setup_bindgen_builder() -> bindgen::Builder {
     builder
 }
 
+#[cfg(feature = "doc-only")]
+pub fn print_cargo_ros_distro() {
+}
+
+#[cfg(not(feature = "doc-only"))]
 pub fn print_cargo_ros_distro() {
     let ros_distro = env::var("ROS_DISTRO")
         .unwrap_or_else(|_| panic!("ROS_DISTRO not set: Source your ROS!"));
diff --git a/r2r_msg_gen/Cargo.toml b/r2r_msg_gen/Cargo.toml
index 88e698c..867eacf 100644
--- a/r2r_msg_gen/Cargo.toml
+++ b/r2r_msg_gen/Cargo.toml
@@ -23,7 +23,7 @@ heck = "0.4.0"
 
 [features]
 save-bindgen = ["r2r_rcl/save-bindgen"]
-doc-only = ["r2r_rcl/doc-only"]
+doc-only = ["r2r_common/doc-only", "r2r_rcl/doc-only"]
 
 [package.metadata.docs.rs]
 features = ["doc-only"]
diff --git a/r2r_rcl/Cargo.toml b/r2r_rcl/Cargo.toml
index 7b2e53a..3b9a2e8 100644
--- a/r2r_rcl/Cargo.toml
+++ b/r2r_rcl/Cargo.toml
@@ -20,7 +20,7 @@ r2r_common = { path = "../r2r_common", version = "0.3.5" }
 
 [features]
 save-bindgen = []
-doc-only = []
+doc-only = ["r2r_common/doc-only"]
 
 [package.metadata.docs.rs]
 features = ["doc-only"]
diff --git a/tests/Dockerfile_no_ros b/tests/Dockerfile_no_ros
new file mode 100644
index 0000000..e97ba46
--- /dev/null
+++ b/tests/Dockerfile_no_ros
@@ -0,0 +1,19 @@
+# syntax=docker/dockerfile:1
+FROM ubuntu:latest
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+
+COPY . /r2r
+RUN chmod +x /r2r/tests/test.bash
+ENTRYPOINT [ "/r2r/tests/test.bash" ]