Redesign Dockerfiles using new ndn-cxx base images

Refs: #5303
Change-Id: I1a78db309e0443410f5b585f3b0318408e30f76d
diff --git a/.jenkins.d/00-deps.sh b/.jenkins.d/00-deps.sh
index df1e433..ad3828e 100755
--- a/.jenkins.d/00-deps.sh
+++ b/.jenkins.d/00-deps.sh
@@ -2,7 +2,8 @@
 set -eo pipefail
 
 APT_PKGS=(
-    build-essential
+    dpkg-dev
+    g++
     libboost-chrono-dev
     libboost-date-time-dev
     libboost-dev
@@ -17,7 +18,7 @@
     libssl-dev
     libsystemd-dev
     pkg-config
-    python3-minimal
+    python3
 )
 FORMULAE=(boost openssl pkg-config)
 PIP_PKGS=()