diff --git a/octomap/Dockerfile b/octomap/Dockerfile
new file mode 100644
index 0000000..bc66235
--- /dev/null
+++ b/octomap/Dockerfile
@@ -0,0 +1,53 @@
+FROM --platform=linux/amd64 ubuntu:jammy
+
+MAINTAINER changh95
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update -y && apt-get upgrade -y
+
+RUN apt-get install build-essential -y && \
+    apt-get install cmake -y && \
+    apt-get install git -y && \
+    apt-get install sudo -y && \
+    apt-get install wget -y && \
+    apt-get install ninja-build -y && \
+    apt-get install software-properties-common -y && \
+    apt-get install python3 -y && \
+    apt-get install python3-pip -y && \
+    apt-get install -y ssh && \
+    apt-get install -y gcc && \
+    apt-get install -y g++ && \
+    apt-get install -y gdb && \
+    apt-get install -y cmake && \
+    apt-get install -y rsync && \
+    apt-get install -y tar && \
+    apt-get install -y x11-utils && \
+    apt-get install -y x11-apps && \
+    apt-get install -y zip &&\
+    apt-get clean
+
+RUN apt-get install -y mesa-utils && \
+    apt-get install -y libgl1-mesa-glx && \
+    apt-get install -y libglu1-mesa-dev && \
+    apt-get install -y libglew-dev &&\
+    apt-get install -y libglvnd-dev &&\
+    apt-get install -y libgl1-mesa-dev &&\
+    apt-get install -y libegl1-mesa-dev &&\
+    apt-get install -y mesa-common-dev
+
+RUN apt-get install -y qtbase5-dev qt5-qmake libqglviewer-dev-qt5
+
+RUN cd / && \
+    mkdir data && cd data && \
+    wget http://ais.informatik.uni-freiburg.de/projects/datasets/octomap/fr_campus.graph.gz && \
+    gzip -d fr_campus.graph.gz
+    
+RUN cd / && \
+    git clone https://github.com/OctoMap/octomap.git &&\
+    cd octomap && \
+    cd octomap && \
+    mkdir build && cd build &&\
+    cmake .. && make -j4 && make install &&\
+    cd ../../octovis &&\
+    mkdir build && cd build &&\
+    cmake .. && make -j4
diff --git a/octomap/Dockerfile_bonxai b/octomap/Dockerfile_bonxai
new file mode 100644
index 0000000..17738b5
--- /dev/null
+++ b/octomap/Dockerfile_bonxai
@@ -0,0 +1,11 @@
+FROM octomap
+
+MAINTAINER changh95
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get install -y libbenchmark-dev lz4 libeigen3-dev libpcl-dev
+
+RUN git clone https://github.com/facontidavide/Bonxai.git &&\
+    cd Bonxai &&\
+    mkdir build && cd build &&\
+    cmake .. && make -j
diff --git a/octomap/README.md b/octomap/README.md
new file mode 100644
index 0000000..1792586
--- /dev/null
+++ b/octomap/README.md
@@ -0,0 +1,11 @@
+# How to build
+
+```
+docker build . -tag octomap
+```
+
+# How to run
+
+```
+docker run -it --env DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro octomap
+```