diff --git a/ros_librealsense/Dockerfile b/ros_librealsense/Dockerfile
new file mode 100644
index 0000000..e91efca
--- /dev/null
+++ b/ros_librealsense/Dockerfile
@@ -0,0 +1,64 @@
+# This is an auto generated Dockerfile for ros:perception
+# generated from docker_images/create_ros_image.Dockerfile.em
+FROM ros:kinetic-ros-base-xenial
+
+# install ros packages
+RUN apt-get update && apt-get install -y \
+    ros-kinetic-perception=1.3.1-0*
+
+# Use "noninteractive" debconf frontedn since we're installing in a non-interactive way.
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get -y update && \
+    apt-get -y dist-upgrade
+
+RUN apt-get install -y --no-install-recommends \
+      apt-utils \
+      build-essential \
+      git \
+      vim \
+      net-tools \
+      sudo \
+      bc
+
+RUN apt-get install -y --install-recommends \
+      linux-generic-lts-xenial \
+      xserver-xorg-core-lts-xenial \
+      xserver-xorg-lts-xenial \
+      xserver-xorg-video-all-lts-xenial \
+      xserver-xorg-input-all-lts-xenial \
+      libwayland-egl1-mesa-lts-xenial \
+      libusb-1.0-0-dev \
+      pkg-config \
+      libglfw3-dev \
+      libudev* \
+      ros-kinetic-realsense-camera \
+      && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p ~/catkin_ws/src && \
+    cd ~/catkin_ws
+
+RUN mkdir -p ~/temporary_folder
+
+# /bin/sh 는 쉘이며, -c 옵션은 그 뒤에 오는 문자열을 실행하라는 의미.
+RUN /bin/bash -c '. /opt/ros/kinetic/setup.bash; cd ~/catkin_ws; catkin_make'
+
+RUN echo "source /opt/ros/kinetic/setup.bash" >> /root/.bashrc
+RUN echo "source ~/catkin_ws/devel/setup.bash" >> /root/.bashrc
+RUN echo "export ROS_MASTER_URI=http://172.17.0.1:11311" >> /root/.bashrc
+RUN echo "export ROS_IP=172.17.0.2" >> /root/.bashrc
+
+ADD /librealsense /root/catkin_ws/src/librealsense
+ADD /social_navigation /root/temporary_folder
+
+RUN cd /root/catkin_ws/src/librealsense && \
+    mkdir build && cd build && cmake ../ && \
+    make && make install && make clean
+
+RUN cd ~/temporary_folder && \
+    cp -r aruco_ros ~/catkin_ws/src
+RUN /bin/bash -c '. /opt/ros/kinetic/setup.bash; cd ~/catkin_ws; catkin_make'
+
+RUN cd ~/temporary_folder && \
+    cp -r ros_realsense ~/catkin_ws/src
+RUN /bin/bash -c '. /opt/ros/kinetic/setup.bash; cd ~/catkin_ws; catkin_make'
diff --git a/ros_librealsense/librealsense b/ros_librealsense/librealsense
new file mode 160000
index 0000000..45359bb
--- /dev/null
+++ b/ros_librealsense/librealsense
@@ -0,0 +1 @@
+Subproject commit 45359bb43a9c32e18c53c9bbfa3cd4037ecb8982
diff --git a/ros_librealsense/social_navigation b/ros_librealsense/social_navigation
new file mode 160000
index 0000000..ce00057
--- /dev/null
+++ b/ros_librealsense/social_navigation
@@ -0,0 +1 @@
+Subproject commit ce000572b4c70d4bd8a7b5d7761e6b7b78963a47