diff --git a/jsk_unitree_robot/cross/docker/Dockerfile_ros1 b/jsk_unitree_robot/cross/docker/Dockerfile_ros1
index bb0eb650f9..ef0486553f 100644
--- a/jsk_unitree_robot/cross/docker/Dockerfile_ros1
+++ b/jsk_unitree_robot/cross/docker/Dockerfile_ros1
@@ -21,7 +21,7 @@ RUN apt-get update -y
 RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
 COPY deb-packages.txt .
 COPY ros-packages.txt .
-RUN apt install -y --no-install-recommends $(cat deb-packages.txt | grep -v ^#)
+RUN apt install -y --no-install-recommends --allow-downgrades $(cat deb-packages.txt | grep -v ^#)
 RUN apt install -y --no-install-recommends $(cat ros-packages.txt | grep -v ^#)
 #
 # Package required for cross environment
diff --git a/jsk_unitree_robot/cross/docker/deb-packages.txt b/jsk_unitree_robot/cross/docker/deb-packages.txt
index 84684bfd7c..1f1c822ea4 100644
--- a/jsk_unitree_robot/cross/docker/deb-packages.txt
+++ b/jsk_unitree_robot/cross/docker/deb-packages.txt
@@ -827,7 +827,7 @@ libsuperlu-dev
 libswresample-dev
 libswscale-dev
 libsys-hostname-long-perl
-libsystemd0
+libsystemd0=237-3ubuntu10.53
 libsz2
 libtag1v5
 libtag1v5-vanilla
@@ -852,7 +852,7 @@ libtsan0
 libtwolame0
 libu2f-udev
 libuchardet0
-libudev1
+libudev1=237-3ubuntu10.53
 libudisks2-0
 libunique-1.0-0
 libunistring2