diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..0ac6f18
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,2 @@
+build/**
+build
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index af96791..90eb763 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,4 @@
 .vscode
-build
+/build
+/cmake-build*
+.idea
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..9e26f5e
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,13 @@
+FROM osrf/ros:noetic-desktop-full
+
+RUN apt-get update
+RUN apt-get -y install python3-catkin-tools
+
+ADD . / data/
+WORKDIR data
+RUN mkdir build
+WORKDIR build
+ENV CMAKE_PREFIX_PATH=/opt/ros/noetic
+RUN bash -c 'cmake ..'
+RUN make
+
diff --git a/README.md b/README.md
index c8f0112..a1e4456 100644
--- a/README.md
+++ b/README.md
@@ -2,4 +2,14 @@ documentation
 
 [unitree-z1-docs-english](http://dev-z1.unitree.com)
 
-[unitree-z1-docs-chinese](http://dev-z1.cn.unitree.com)
\ No newline at end of file
+[unitree-z1-docs-chinese](http://dev-z1.cn.unitree.com)
+
+see [unitree-z1-docs](http://dev-z1.unitree.com)
+
+## Build docker image
+docker build . -t bytelogics:z1_controller
+
+## Run the docker instance
+docker run -ti --rm --network host -p 8071:8071 bytelogics:z1_controller
+
+once new shell connects, run `z1_ctrl`
\ No newline at end of file