diff --git a/docker/Dockerfile_dev-base b/docker/Dockerfile_dev-base
index 652166f..3bb483f 100644
--- a/docker/Dockerfile_dev-base
+++ b/docker/Dockerfile_dev-base
@@ -61,7 +61,7 @@ RUN set -eux; \
 	\
 	pip --version
 
-RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 pycodestyle empy pyelftools tabulate pre-commit junitparser
+RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 pycodestyle empy>=3,<4 pyelftools tabulate pre-commit junitparser
 
 RUN mkdir -p /__w/ardupilot/ardupilot && git config --global --add safe.directory /__w/ardupilot/ardupilot && git config --system --add safe.directory /__w/ardupilot/ardupilot
 
diff --git a/docker/Dockerfile_dev-chibios-py2 b/docker/Dockerfile_dev-chibios-py2
index 1f9dd4c..f9f36db 100644
--- a/docker/Dockerfile_dev-chibios-py2
+++ b/docker/Dockerfile_dev-chibios-py2
@@ -34,7 +34,7 @@ RUN apt-get update \
     && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
 RUN wget -q https://bootstrap.pypa.io/pip/2.7/get-pip.py && python get-pip.py && rm -f get-pip.py
-RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 pycodestyle empy pyserial
+RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 pycodestyle empy>=3,<4 pyserial
 
 RUN mkdir -p /__w/ardupilot/ardupilot && git config --global --add safe.directory /__w/ardupilot/ardupilot && git config --system --add safe.directory /__w/ardupilot/ardupilot
 
diff --git a/docker/Dockerfile_dev-ros b/docker/Dockerfile_dev-ros
index 4830a14..f4bf874 100644
--- a/docker/Dockerfile_dev-ros
+++ b/docker/Dockerfile_dev-ros
@@ -63,7 +63,7 @@ RUN set -eux; \
 	\
 	pip --version
 
-RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 empy pyelftools tabulate pymavlink pre-commit junitparser
+RUN python -m pip install --no-cache-dir -U future lxml pexpect flake8 empy>=3,<4 pyelftools tabulate pymavlink pre-commit junitparser
 
 FROM eclipse-temurin:19-jdk-jammy as dds-gen-builder