diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
index 68735814..74240b67 100755
--- a/.github/workflows/build-and-test.sh
+++ b/.github/workflows/build-and-test.sh
@@ -10,25 +10,7 @@ export ROS_PYTHON_VERSION=3
 apt update -qq
 apt install -qq -y lsb-release wget curl build-essential
 
-# Citadel gets Ignition with rosdep
-if [ "$IGNITION_VERSION" != "citadel" ]; then
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list
-  echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list
-  wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
-
-  if [ "$IGNITION_VERSION" == "dome" ]; then
-    IGN_DEPS="libignition-msgs6-dev libignition-transport9-dev libignition-gazebo4-dev"
-  fi
-
-  if [ "$IGNITION_VERSION" == "edifice" ]; then
-    IGN_DEPS="libignition-msgs7-dev libignition-transport10-dev libignition-gazebo5-dev"
-  fi
-
-  if [ "$IGNITION_VERSION" == "fortress" ]; then
-    IGN_DEPS="libignition-msgs8-dev libignition-transport11-dev libignition-gazebo6-dev"
-  fi
-fi
+# Citadel, Edifice and Fortress get Ignition with rosdep for Focal
 
 # Dependencies.
 echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list
diff --git a/.github/workflows/noetic-ci.yml b/.github/workflows/noetic-ci.yml
index e172fb59..3ca30505 100644
--- a/.github/workflows/noetic-ci.yml
+++ b/.github/workflows/noetic-ci.yml
@@ -12,9 +12,6 @@ jobs:
           - docker-image: "ubuntu:20.04"
             ignition-version: "citadel"
             ros-distro: "noetic"
-          - docker-image: "ubuntu:20.04"
-            ignition-version: "dome"
-            ros-distro: "noetic"
           - docker-image: "ubuntu:20.04"
             ignition-version: "edifice"
             ros-distro: "noetic"
diff --git a/README.md b/README.md
index ebc176be..e2225cd2 100644
--- a/README.md
+++ b/README.md
@@ -3,13 +3,11 @@
 ROS version | Ignition version | Branch | Binaries hosted at
 -- | -- | -- | --
 Melodic | Citadel | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source
-Melodic | Dome | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | https://packages.osrfoundation.org
+Melodic | Fortress | [melodic](https://github.com/osrf/ros_ign/tree/melodic) | only from source
 Noetic | Citadel | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | https://packages.ros.org
-Noetic | Dome | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
 Noetic | Edifice | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
 Noetic | Fortress (not released) | [noetic](https://github.com/osrf/ros_ign/tree/noetic) | only from source
 Foxy | Citadel | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | https://packages.ros.org
-Foxy | Dome | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source
 Foxy | Edifice | [foxy](https://github.com/osrf/ros_ign/tree/foxy) | only from source
 Galactic | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
 Rolling | Edifice | [ros2](https://github.com/osrf/ros_ign/tree/ros2) | https://packages.ros.org
@@ -74,7 +72,7 @@ More ROS dependencies will be installed below.
 
 #### Ignition
 
-Install either [Citadel, Dome, Edifice or Fortress](https://ignitionrobotics.org/docs).
+Install either [Citadel, Edifice or Fortress](https://ignitionrobotics.org/docs).
 
 Set the `IGNITION_VERSION` environment variable to the Ignition version you'd
 like to compile against. For example:
diff --git a/ros_ign_bridge/CMakeLists.txt b/ros_ign_bridge/CMakeLists.txt
index 1f4b2eed..5e04c45d 100644
--- a/ros_ign_bridge/CMakeLists.txt
+++ b/ros_ign_bridge/CMakeLists.txt
@@ -38,15 +38,6 @@ elseif ("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
   set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Edifice")
-# Dome
-elseif ("$ENV{IGNITION_VERSION}" STREQUAL "dome")
-  find_package(ignition-transport9 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
-
-  find_package(ignition-msgs6 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Ignition Dome")
 # Default to Citadel
 else()
   find_package(ignition-transport8 REQUIRED)
@@ -56,6 +47,7 @@ else()
   set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Citadel")
+  add_definitions(-DIGNITION_CITADEL)
 endif()
 
 catkin_package()
diff --git a/ros_ign_bridge/package.xml b/ros_ign_bridge/package.xml
index bedeb61a..d675c04f 100644
--- a/ros_ign_bridge/package.xml
+++ b/ros_ign_bridge/package.xml
@@ -26,9 +26,6 @@
   <!-- Edifice -->
   <depend condition="$IGNITION_VERSION == edifice">ignition-msgs7</depend>
   <depend condition="$IGNITION_VERSION == edifice">ignition-transport10</depend>
-  <!-- Dome -->
-  <depend condition="$IGNITION_VERSION == dome">ignition-msgs6</depend>
-  <depend condition="$IGNITION_VERSION == dome">ignition-transport9</depend>
   <!-- Citadel (default) -->
   <depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
   <depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>
diff --git a/ros_ign_bridge/src/convert.cpp b/ros_ign_bridge/src/convert.cpp
index 6e96c091..5299ab41 100644
--- a/ros_ign_bridge/src/convert.cpp
+++ b/ros_ign_bridge/src/convert.cpp
@@ -554,7 +554,7 @@ convert_ros_to_ign(
   ign_msg.mutable_info()->set_height(
       ros_msg.info.height);
 
-  convert_ros_to_ign(ros_msg.info.origin, 
+  convert_ros_to_ign(ros_msg.info.origin,
       (*ign_msg.mutable_info()->mutable_origin()));
 
   ign_msg.set_data(&ros_msg.data[0], ros_msg.data.size());
@@ -1012,17 +1012,17 @@ convert_ros_to_ign(
   {
     auto newJoint = ign_msg.add_joint();
     newJoint->set_name(ros_msg.name[i]);
-    
+
     if (ros_msg.position.size() > i)
       newJoint->mutable_axis1()->set_position(ros_msg.position[i]);
     else
       newJoint->mutable_axis1()->set_position(nan);
-    
+
     if (ros_msg.velocity.size() > i)
       newJoint->mutable_axis1()->set_velocity(ros_msg.velocity[i]);
     else
       newJoint->mutable_axis1()->set_velocity(nan);
-    
+
     if (ros_msg.effort.size() > i)
       newJoint->mutable_axis1()->set_force(ros_msg.effort[i]);
     else
@@ -1353,7 +1353,7 @@ convert_ros_to_ign(
 {
   convert_ros_to_ign(ros_msg.header, (*ign_msg.mutable_header()));
 
-  // Note, in ROS's Marker message ADD and MODIFY both map to a value of "0", 
+  // Note, in ROS's Marker message ADD and MODIFY both map to a value of "0",
   // so that case is not needed here.
   switch(ros_msg.action)
   {
@@ -1379,7 +1379,7 @@ convert_ros_to_ign(
   // Type
   switch(ros_msg.type)
   {
-#ifdef IGNITION_DOME
+#ifndef IGNITION_CITADEL
     case visualization_msgs::Marker::ARROW:
       ign_msg.set_type(ignition::msgs::Marker::ARROW);
       break;
@@ -1485,7 +1485,7 @@ convert_ign_to_ros(
 
   switch(ign_msg.type())
   {
-#ifdef IGNITION_DOME
+#ifndef IGNITION_CITADEL
     case ignition::msgs::Marker::ARROW:
       ros_msg.type = visualization_msgs::Marker::TRIANGLE_LIST;
       break;
diff --git a/ros_ign_gazebo/CMakeLists.txt b/ros_ign_gazebo/CMakeLists.txt
index 14970554..87a06f8e 100644
--- a/ros_ign_gazebo/CMakeLists.txt
+++ b/ros_ign_gazebo/CMakeLists.txt
@@ -32,18 +32,6 @@ elseif ("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
   set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Edifice")
-# Dome
-elseif ("$ENV{IGNITION_VERSION}" STREQUAL "dome")
-  find_package(ignition-transport9 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
-
-  find_package(ignition-msgs6 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
-
-  find_package(ignition-gazebo4 REQUIRED)
-  set(IGN_GAZEBO_VER ${ignition-gazebo4_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Ignition Dome")
 # Default to Citadel
 else()
   find_package(ignition-transport8 REQUIRED)
diff --git a/ros_ign_gazebo/package.xml b/ros_ign_gazebo/package.xml
index bce273af..7f15950c 100644
--- a/ros_ign_gazebo/package.xml
+++ b/ros_ign_gazebo/package.xml
@@ -13,8 +13,6 @@
   <depend condition="$IGNITION_VERSION == fortress">ignition-gazebo6</depend>
   <!-- Edifice -->
   <depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</depend>
-  <!-- Dome -->
-  <depend condition="$IGNITION_VERSION == dome">ignition-gazebo4</depend>
   <!-- Citadel (default) -->
   <depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</depend>
   <depend condition="$IGNITION_VERSION == ''">ignition-gazebo3</depend>
diff --git a/ros_ign_gazebo_demos/package.xml b/ros_ign_gazebo_demos/package.xml
index ddc1ba01..7112c627 100644
--- a/ros_ign_gazebo_demos/package.xml
+++ b/ros_ign_gazebo_demos/package.xml
@@ -11,8 +11,6 @@
   <exec_depend condition="$IGNITION_VERSION == fortress">ignition-gazebo6</exec_depend>
   <!-- Edifice -->
   <exec_depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</exec_depend>
-  <!-- Dome -->
-  <exec_depend condition="$IGNITION_VERSION == dome">ignition-gazebo4</exec_depend>
   <!-- Citadel (default) -->
   <exec_depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</exec_depend>
   <exec_depend condition="$IGNITION_VERSION == ''">ignition-gazebo3</exec_depend>
diff --git a/ros_ign_image/CMakeLists.txt b/ros_ign_image/CMakeLists.txt
index 67221586..5bbf70f4 100644
--- a/ros_ign_image/CMakeLists.txt
+++ b/ros_ign_image/CMakeLists.txt
@@ -34,15 +34,6 @@ elseif ("$ENV{IGNITION_VERSION}" STREQUAL "edifice")
   set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 
   message(STATUS "Compiling against Ignition Edifice")
-# Dome
-elseif ("$ENV{IGNITION_VERSION}" STREQUAL "dome")
-  find_package(ignition-transport9 REQUIRED)
-  set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
-
-  find_package(ignition-msgs6 REQUIRED)
-  set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
-
-  message(STATUS "Compiling against Ignition Dome")
 # Default to Citadel
 else()
   find_package(ignition-transport8 REQUIRED)
diff --git a/ros_ign_image/package.xml b/ros_ign_image/package.xml
index 0394cee6..cc73f788 100644
--- a/ros_ign_image/package.xml
+++ b/ros_ign_image/package.xml
@@ -13,9 +13,6 @@
   <!-- Edifice -->
   <depend condition="$IGNITION_VERSION == edifice">ignition-msgs7</depend>
   <depend condition="$IGNITION_VERSION == edifice">ignition-transport10</depend>
-  <!-- Dome -->
-  <depend condition="$IGNITION_VERSION == dome">ignition-msgs6</depend>
-  <depend condition="$IGNITION_VERSION == dome">ignition-transport9</depend>
   <!-- Citadel (default) -->
   <depend condition="$IGNITION_VERSION == citadel">ignition-msgs5</depend>
   <depend condition="$IGNITION_VERSION == citadel">ignition-transport8</depend>
diff --git a/ros_ign_point_cloud/package.xml b/ros_ign_point_cloud/package.xml
index 678af6a0..7c82b1d0 100644
--- a/ros_ign_point_cloud/package.xml
+++ b/ros_ign_point_cloud/package.xml
@@ -15,10 +15,6 @@
   <depend condition="$IGNITION_VERSION == edifice">ignition-gazebo5</depend>
   <depend condition="$IGNITION_VERSION == edifice">ignition-rendering5</depend>
   <depend condition="$IGNITION_VERSION == edifice">ignition-sensors5</depend>
-  <!-- Dome -->
-  <depend condition="$IGNITION_VERSION == dome">ignition-gazebo4</depend>
-  <depend condition="$IGNITION_VERSION == dome">ignition-rendering4</depend>
-  <depend condition="$IGNITION_VERSION == dome">ignition-sensors4</depend>
   <!-- Citadel (default) -->
   <depend condition="$IGNITION_VERSION == citadel">ignition-gazebo3</depend>
   <depend condition="$IGNITION_VERSION == citadel">ignition-rendering3</depend>