diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index d235816..789f0db 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -46,6 +46,24 @@ jobs:
       run: python3 tools/check_c_cpp_properties.py
 
   build_simulator:
+    runs-on: ubuntu-22.04
+    steps:
+    - name: Install Arduino CLI
+      uses: arduino/setup-arduino-cli@v1.1.1
+    - uses: actions/checkout@v4
+    - name: Install Gazebo
+      run: curl -sSL http://get.gazebosim.org | sh
+    - name: Install SDL2
+      run: sudo apt-get install libsdl2-dev
+    - name: Build simulator
+      run: make build_simulator
+    - uses: actions/upload-artifact@v4
+      with:
+        name: gazebo-plugin-binary
+        path: gazebo/build/*.so
+        retention-days: 1
+
+  build_simulator_docker:
     runs-on: ubuntu-latest
     container:
       image: ubuntu:20.04
@@ -65,28 +83,6 @@ jobs:
         path: gazebo/build/*.so
         retention-days: 1
 
-  build_simulator_docker:
-    runs-on: ubuntu-latest
-    steps:
-    - name: Set up Docker
-      uses: docker/setup-buildx-action@v2
-    - name: Pull Docker image
-      run: docker pull ubuntu:20.04
-    - name: Run build in Docker
-      run: |
-        docker run --rm -v ${{ github.workspace }}:/workspace -w /workspace ubuntu:20.04 /bin/bash -c "
-          apt-get update &&
-          apt-get install -y curl sudo build-essential libsdl2-dev &&
-          curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh &&
-          curl -sSL http://get.gazebosim.org | sh &&
-          make build_simulator
-        "
-    - uses: actions/upload-artifact@v4
-      with:
-        name: gazebo-plugin-binary
-        path: gazebo/build/*.so
-        retention-days: 1
-
   build_simulator_macos:
     runs-on: macos-latest
     if: github.event_name == 'workflow_dispatch'