diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..8848192
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,6 @@
+.vscode/*
+html/*
+build/*
+install/*
+log/*
+LICENSE
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..cf74634
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,32 @@
+# Use the official ROS 2 humble base image
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO} as deps
+
+# Set the working directory
+WORKDIR /root/ros2_ws
+
+SHELL ["/bin/bash", "-c"]
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash
+RUN --mount=type=bind,source=package.xml,target=src/grid_map_geo/package.xml \ 
+    apt update && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -y
+
+# Run a default command, e.g., starting a bash shell
+CMD ["bash"]
+
+FROM deps as builder
+ARG CMAKE_BUILD_TYPE=Release
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash
+COPY . .
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} --packages-up-to grid_map_geo
+
+# Source the ROS2 setup file
+RUN echo "source /root/ros2_ws/install/setup.bash" >> ~/.bashrc
+
+# Run a default command, e.g., starting a bash shell
+CMD ["bash"]
+
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..0491396
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,7 @@
+.PHONY : docker_build
+docker_build:
+	docker build -t gmg .
+
+.PHONY : docker_run
+docker_run:
+	docker run -it --net=host --ipc=host --privileged --env="DISPLAY"  --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --volume="${XAUTHORITY}:/root/.Xauthority"  --entrypoint /bin/bash gmg
diff --git a/package.xml b/package.xml
index 2654b18..70102a3 100644
--- a/package.xml
+++ b/package.xml
@@ -20,8 +20,10 @@
   <depend>libgdal-dev</depend>
   <depend>rclcpp</depend>
   <depend>yaml_cpp_vendor</depend>
-  <exec_depend>ros2launch</exec_depend>
+
   <exec_depend>grid_map_rviz_plugin</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>rviz2</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>