diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..be81bdc7bd8e78b883aeff9194790c8ab3a730a3
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,29 @@
+FROM osrf/ros:melodic-desktop-full-bionic
+
+ENV uid 1000
+ENV gid 1000
+
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+
+ENV USERNAME ros
+RUN useradd -m $USERNAME && \
+        echo "$USERNAME:$USERNAME" | chpasswd && \
+        usermod --shell /bin/bash $USERNAME && \
+        usermod -aG sudo $USERNAME && \
+        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
+        chmod 0440 /etc/sudoers.d/$USERNAME && \
+        # Replace 1000 with your user/group id
+        usermod  --uid $uid $USERNAME && \
+        groupmod --gid $gid $USERNAME
+
+WORKDIR /home/$USERNAME
+COPY src /home/$USERNAME/src
+RUN apt-get update && apt-get install -y \
+      python-catkin-tools bash
+RUN rosdep install --from-paths . -r -y
+RUN catkin config \
+      --extend /opt/ros/melodic && \
+    catkin build
+
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/README.md b/README.md
index afa25cbdd3ec00b7b64fa851edde01b2c72ad86e..c65f7f0f586d480836886fe252a09182a4c0dcf4 100644
--- a/README.md
+++ b/README.md
@@ -44,5 +44,12 @@ See the [README.md of the submodule](../../../../sample_applications/-/blob/mast
 - Execution of a simple motion costraint by a blocking object: `roslaunch sample_applications sample_constraint_simulation.launch`
 - Execution of a velocity constraint cartesian trajectory: `roslaunch sample_applications simulation.launch`
 
+## Docker
 
+To run via docker on any up-to-date linux system:
 
+- `docker build . -t ceti-panda-gazebo-workspace`
+- `./docker-run.sh roslaunch sample_applications sample_simple_simulation.launch`
+
+Note that this expects your `uid` and `gid` to be `1000`. This is generally the case if your user is the primary user on your system. Otherwise, please change
+the values at the top of the `Dockerfile`.
\ No newline at end of file
diff --git a/docker-run.sh b/docker-run.sh
new file mode 100755
index 0000000000000000000000000000000000000000..8fbb638b940b97eb4dd114f4c0f78145593a0be2
--- /dev/null
+++ b/docker-run.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+# http://wiki.ros.org/docker/Tutorials/GUI
+
+XSOCK=/tmp/.X11-unix
+XAUTH=/tmp/.docker.xauth
+touch $XAUTH
+xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+
+docker run -it \
+    --volume=$XSOCK:$XSOCK:rw \
+    --volume=$XAUTH:$XAUTH:rw \
+    --env="XAUTHORITY=${XAUTH}" \
+    --env="DISPLAY" \
+    --user="ros" \
+    ceti-panda-gazebo-workspace \
+    "$@"
\ No newline at end of file
diff --git a/entrypoint.sh b/entrypoint.sh
new file mode 100644
index 0000000000000000000000000000000000000000..527ef79f97e119b848d1817fcec54f9bc4be1227
--- /dev/null
+++ b/entrypoint.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+source /opt/ros/melodic/setup.bash
+source $HOME/devel/setup.bash
+exec "$@"
\ No newline at end of file