diff --git a/Dockerfile b/Dockerfile
index 5106c38..b367fd7 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -2,8 +2,8 @@
 
 LABEL maintainer="ikko@hosei.ac.jp"
 
-ARG CARLA_VERSION_FULL=0.9.10.1
-ARG CARLA_VERSION=0.9.10
+ARG CARLA_VERSION_FULL=0.9.13
+ARG CARLA_VERSION=0.9.13
 ENV NVIDIA_VISIBLE_DEVICES=all
 ENV NVIDIA_DRIVER_CAPABILITIES=compute,graphics,display
 ENV DEBIAN_FRONTEND noninteractive
@@ -196,7 +196,9 @@
         ros-melodic-derived-object-msgs \
         ros-melodic-ackermann-msgs \
         ros-melodic-ainstein-radar-msgs \
-        python3-numpy && \
+        python3-numpy \
+        libomp-dev \
+        libomp5 && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
@@ -243,7 +245,8 @@
     source /opt/ros/melodic/setup.bash && \
     catkin_init_workspace ~/catkin_ws/src && \
     cd ~/catkin_ws/src && \
-    git clone --recursive https://github.com/carla-simulator/ros-bridge.git -b ${CARLA_VERSION_FULL} && \
+    git clone --recursive https://github.com/carla-simulator/ros-bridge.git -b 0.9.11 && \
+    echo "0.9.13" > /home/kbkn/catkin_ws/src/ros-bridge/carla_ros_bridge/src/carla_ros_bridge/CARLA_VERSION && \
     cd ~/catkin_ws && \
     catkin_make -DCMAKE_BUILD_TYPE=Release && \
     source ~/catkin_ws/devel/setup.bash
@@ -256,8 +259,8 @@
     echo "alias cm='cd ~/catkin_ws;catkin_make'" >> ~/.bashrc && \
     echo "alias cs='cd ~/catkin_ws/src'" >> ~/.bashrc  && \
     echo "export SCENARIO_RUNNER_PATH=/home/$USERNAME/scenario_runner" >> ~/.bashrc && \
-    pip install -r /home/kbkn/CARLA_0.9.10.1/PythonAPI/util/requirements.txt && \
-    pip install -r /home/kbkn/CARLA_0.9.10.1/PythonAPI/carla/requirements.txt && \
+    pip install -r /home/kbkn/CARLA_0.9.13/PythonAPI/util/requirements.txt && \
+    pip install -r /home/kbkn/CARLA_0.9.13/PythonAPI/carla/requirements.txt && \
 pip install -r /home/kbkn/scenario_runner/requirements.txt
 
 USER root
diff --git a/build.sh b/build.sh
index 6752ddd..d089d92 100755
--- a/build.sh
+++ b/build.sh
@@ -1,9 +1,9 @@
 #!/bin/bash
-#if [ ! -e ./AdditionalMaps_0.9.10.1.tar.gz ]; then
-#  wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.10.1.tar.gz
+#if [ ! -e ./AdditionalMaps_0.9.13.tar.gz ]; then
+#  wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/AdditionalMaps_0.9.13.tar.gz
 #fi
-if [ ! -e ./CARLA_0.9.10.1.tar.gz ]; then
-  wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.10.1.tar.gz
+if [ ! -e ./CARLA_0.9.13.tar.gz ]; then
+  wget https://carla-releases.s3.eu-west-3.amazonaws.com/Linux/CARLA_0.9.13.tar.gz
 fi
 
-docker build -t carla0910a .
+docker build -t carla0913a .
diff --git a/run.sh b/run.sh
index 211ae3f..a3864ab 100755
--- a/run.sh
+++ b/run.sh
@@ -15,4 +15,4 @@
   -e RESOLUTION=1920x1080 \
   --shm-size=8gb \
   --net bridge \
-  --name carla0910a carla0910a
+  --name carla0913a carla0913a
diff --git a/scripts/setcarla.sh b/scripts/setcarla.sh
index 7fca5b1..1ddc86d 100755
--- a/scripts/setcarla.sh
+++ b/scripts/setcarla.sh
@@ -1,2 +1,2 @@
-cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+cd /home/$USERNAME/CARLA_0.9.13/PythonAPI
 python util/config.py -m Town03 
diff --git a/scripts/setcarla01.sh b/scripts/setcarla01.sh
index 7760119..de574fe 100755
--- a/scripts/setcarla01.sh
+++ b/scripts/setcarla01.sh
@@ -1,2 +1,2 @@
-cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+cd /home/$USERNAME/CARLA_0.9.13/PythonAPI
 python util/config.py -m Town01
diff --git a/scripts/setcarla02.sh b/scripts/setcarla02.sh
index 28045f5..bbaa7ba 100755
--- a/scripts/setcarla02.sh
+++ b/scripts/setcarla02.sh
@@ -1,2 +1,2 @@
-cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+cd /home/$USERNAME/CARLA_0.9.13/PythonAPI
 python util/config.py -m Town02 
diff --git a/scripts/setcarla04.sh b/scripts/setcarla04.sh
index 8cbd8ba..95067da 100755
--- a/scripts/setcarla04.sh
+++ b/scripts/setcarla04.sh
@@ -1,2 +1,2 @@
-cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+cd /home/$USERNAME/CARLA_0.9.13/PythonAPI
 python util/config.py -m Town04 
diff --git a/scripts/setcarla05.sh b/scripts/setcarla05.sh
index 541e55e..46949df 100755
--- a/scripts/setcarla05.sh
+++ b/scripts/setcarla05.sh
@@ -1,2 +1,2 @@
-cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+cd /home/$USERNAME/CARLA_0.9.13/PythonAPI
 python util/config.py -m Town05
diff --git a/scripts/setcarla06.sh b/scripts/setcarla06.sh
index a0257ac..83fdb7b 100755
--- a/scripts/setcarla06.sh
+++ b/scripts/setcarla06.sh
@@ -1,2 +1,2 @@
-cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+cd /home/$USERNAME/CARLA_0.9.13/PythonAPI
 python util/config.py -m Town06
diff --git a/scripts/setcarla07.sh b/scripts/setcarla07.sh
index ecb7105..4afb1d6 100755
--- a/scripts/setcarla07.sh
+++ b/scripts/setcarla07.sh
@@ -1,2 +1,2 @@
-cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+cd /home/$USERNAME/CARLA_0.9.13/PythonAPI
 python util/config.py -m Town07 
diff --git a/scripts/setcarla10.sh b/scripts/setcarla10.sh
index 543254c..f956179 100755
--- a/scripts/setcarla10.sh
+++ b/scripts/setcarla10.sh
@@ -1,2 +1,2 @@
-cd /home/$USERNAME/CARLA_0.9.10.1/PythonAPI
+cd /home/$USERNAME/CARLA_0.9.13/PythonAPI
 python util/config.py -m Town10HD 
diff --git a/scripts/startcarla.sh b/scripts/startcarla.sh
index f756b89..12082e1 100755
--- a/scripts/startcarla.sh
+++ b/scripts/startcarla.sh
@@ -1,5 +1,5 @@
-cd /home/$USERNAME/CARLA_0.9.10.1
+cd /home/$USERNAME/CARLA_0.9.13
 #./CarlaUE4.sh -opengl -quality-level=Low -windowed -ResX=160 -ResY=120
-./CarlaUE4.sh -windowed -ResX=160 -ResY=120 -opengl
+./CarlaUE4.sh -windowed -ResX=160 -ResY=120 
 #SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -opengl -quality-level=Low
 #SDL_VIDEODRIVER=offscreen ./CarlaUE4.sh -opengl