diff --git a/linux_docker_resources/Dockerfile b/linux_docker_resources/Dockerfile
index 972c929a..b4961356 100644
--- a/linux_docker_resources/Dockerfile
+++ b/linux_docker_resources/Dockerfile
@@ -72,6 +72,7 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
   libyaml-cpp-dev \
   libyaml-dev \
   libzstd-dev \
+  $(if test ${ROS_DISTRO} != humble -a ${ROS_DISTRO} != jazzy; then echo nlohmann-json3-dev; fi) \
   pybind11-dev \
   pydocstyle \
   python3-argcomplete \
diff --git a/linux_docker_resources/Dockerfile-RHEL b/linux_docker_resources/Dockerfile-RHEL
index 51249683..b279a74b 100644
--- a/linux_docker_resources/Dockerfile-RHEL
+++ b/linux_docker_resources/Dockerfile-RHEL
@@ -108,6 +108,7 @@ RUN dnf install \
     lz4-devel \
     mesa-libGL-devel \
     mesa-libGLU-devel \
+    $(if test ${ROS_DISTRO} != humble -a ${ROS_DISTRO} != jazzy; then echo json-devel; fi) \
     opencv-devel \
     openssl \
     openssl-devel \