diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 00000000..b7972978
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,5 @@
+.circleci/
+.github/
+.gitignore/
+LICENSE/
+README.md
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000..0ee0be8b
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,36 @@
+ARG ROS_DISTRO=rolling
+FROM ros:${ROS_DISTRO}-ros-core
+
+WORKDIR /root/ros2_ws/
+
+# Install essential dependencies
+RUN apt-get update && \
+    apt-get install -y \
+        ros-dev-tools \
+        wget && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+# Clone dependencies
+COPY tools/ros2_dependencies.repos .
+RUN mkdir -p src && \
+    vcs import --input ros2_dependencies.repos src
+
+# Initialize rosdep
+RUN rosdep init
+
+# Copy source code
+COPY . src/grid_map
+
+# Install dependencies
+SHELL ["/bin/bash", "-c"]
+RUN apt-get update && \
+    rosdep update && \
+    source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    rosdep install -y --ignore-src --from-paths src --skip-keys slam_toolbox --skip-keys gazebo_ros_pkgs --skip-keys turtlebot3_gazebo && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+# Build
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    colcon build --symlink-install --packages-up-to grid_map