diff --git a/jsk_unitree_robot/cross/Makefile b/jsk_unitree_robot/cross/Makefile
index e942246cf6..7a05f06953 100644
--- a/jsk_unitree_robot/cross/Makefile
+++ b/jsk_unitree_robot/cross/Makefile
@@ -20,6 +20,9 @@ user:
 install:
 	./install.sh
 
+compress:
+	./compress.sh
+
 clean:
 	rm -fr ${TARGET_MACHINE}_ws_*
 
diff --git a/jsk_unitree_robot/cross/compress.sh b/jsk_unitree_robot/cross/compress.sh
new file mode 100755
index 0000000000..e506ab71d8
--- /dev/null
+++ b/jsk_unitree_robot/cross/compress.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+
+if [ -e "arm64v8_User" ]; then
+    if [ -e "arm64v8_User.tgz" ]; then
+        echo "WARNING: Compressed arm64v8_User.tgz is found."
+        read -p "WARNING: Are you sure to continue [y/N] ? " -n 1 -r
+        echo    # (optional) move to a new line
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            tar -zcvf arm64v8_User.tgz arm64v8_User
+        fi
+    else
+        tar -zcvf arm64v8_User.tgz arm64v8_User
+    fi
+fi
+
+if [ -e "arm64v8_System" ]; then
+    if [ -e "arm64v8_System.tgz" ]; then
+        echo "WARNING: Compressed arm64v8_System.tgz is found."
+        read -p "WARNING: Are you sure to continue [y/N] ? " -n 1 -r
+        echo    # (optional) move to a new line
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            chmod 644 arm64v8_System/ros1_inst/share/pr2eus/*.l
+            tar -zcvf arm64v8_System.tgz arm64v8_System
+        fi
+    else
+        chmod 644 arm64v8_System/ros1_inst/share/pr2eus/*.l
+        tar -zcvf arm64v8_System.tgz arm64v8_System
+    fi
+fi