diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..175f24f
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,49 @@
+ARG ROS_DISTRO=noetic
+
+FROM osrf/ros:${ROS_DISTRO}-desktop-full as deps
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV ROS_PYTHON_VERSION=3
+
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update && apt-get install -y \
+        python3-rosdep \
+        python3-catkin-tools \
+        build-essential \
+        libyaml-cpp-dev \
+        ros-${ROS_DISTRO}-ompl \
+        ros-${ROS_DISTRO}-grid-map-core \
+        ros-${ROS_DISTRO}-grid-map-ros \
+        ros-${ROS_DISTRO}-grid-map-msgs \
+        ros-${ROS_DISTRO}-geometry-msgs \
+        ros-${ROS_DISTRO}-visualization-msgs \
+        ros-${ROS_DISTRO}-std-msgs \
+        ros-${ROS_DISTRO}-dynamic-reconfigure \
+        ros-${ROS_DISTRO}-tf \
+        ros-${ROS_DISTRO}-tf2 \
+        ros-${ROS_DISTRO}-tf2-ros \
+        ros-${ROS_DISTRO}-urdf \
+        ros-${ROS_DISTRO}-eigen-conversions \
+        ros-${ROS_DISTRO}-rviz \
+        ros-${ROS_DISTRO}-fake-localization \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /root/catkin_ws
+
+RUN mkdir -p src
+COPY . /root/catkin_ws/src/se2_navigation
+
+FROM deps as builder
+
+ARG CMAKE_BUILD_TYPE=Release
+
+WORKDIR /root/catkin_ws
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && \
+    catkin build
+
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> /root/.bashrc
+
+CMD ["bash"]
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..4ae1deb
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,31 @@
+.PHONY: docker-build docker-shell compose-build compose-up compose-down
+
+IMAGE ?= se2_navigation:noetic
+SERVICE ?= car_demo
+
+docker-build:
+	docker build --build-arg ROS_DISTRO=noetic -t $(IMAGE) .
+
+docker-shell:
+	xhost +local:root || true
+	docker run --rm -it \
+		-e DISPLAY=$$DISPLAY \
+		-e QT_X11_NO_MITSHM=1 \
+		-e ROS_MASTER_URI=http://127.0.0.1:11311 \
+		-e ROS_IP=127.0.0.1 \
+		--network host \
+		-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+		--device /dev/dri \
+		--shm-size 1g \
+		$(IMAGE) \
+		bash
+
+compose-build:
+	docker compose build $(SERVICE)
+
+compose-up:
+	xhost +local:root || true
+	docker compose up $(SERVICE)
+
+compose-down:
+	docker compose down
diff --git a/README.md b/README.md
index 2a299af..516c84b 100644
--- a/README.md
+++ b/README.md
@@ -73,6 +73,16 @@ Refer to [car_demo](car_demo/README.md) for the details.
 Refer to [approach_pose_planner](se2_approach_pose_planning/approach_pose_planner_ros/README.md) if you are interested
 in approach pose planning.
 
+## Docker Setup
+
+The repository includes a ROS Noetic `Dockerfile`, a `docker-compose.yml`, and Makefile shortcuts for desktop testing.
+
+- **Prerequisites**: Docker with the Compose plugin, GPU drivers/X11 if you plan to visualize RViz or Gazebo. Allow the container to access your X server with `xhost +` before launching.
+- **Build image**: `make docker-build` (sets up the catkin workspace inside the container).
+- **Open interactive shell**: `make docker-shell` enters the image with ROS sourced; you can run commands such as `roslaunch car_demo demo_autonomous.launch`.
+- **Run the demo via Compose**: `make compose-up` builds (if needed) and launches the `car_demo` service defined in `docker-compose.yml`.
+- **Stop containers**: `make compose-down` tears down the Compose stack and keeps the catkin workspace volume.
+
 ## Usage
 
 Run the main demo with:   
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000..ccfbcf0
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,28 @@
+version: "3.9"
+
+services:
+  car_demo:
+    build:
+      context: .
+      dockerfile: Dockerfile
+      args:
+        ROS_DISTRO: noetic
+    command: ["/bin/bash", "-lc", "source /root/catkin_ws/devel/setup.bash && roslaunch car_demo demo_autonomous.launch"]
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - ROS_MASTER_URI=http://127.0.0.1:11311
+      - ROS_IP=127.0.0.1
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    network_mode: host
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - car_demo_workspace:/root/catkin_ws
+    devices:
+      - /dev/dri:/dev/dri
+    shm_size: 1g
+    restart: "no"
+
+volumes:
+  car_demo_workspace: