diff --git a/Dockerfile b/Dockerfile
index 3b395a5..852ae8d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -7,8 +7,11 @@
 
 RUN sed -i 's@archive.ubuntu.com@ftp.jaist.ac.jp/pub/Linux@g' /etc/apt/sources.list
 
-RUN apt-get update && \
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-keys F42ED6FBAB17C654 && \
+    apt-get update && \
     apt-get upgrade -y && \
+    apt-get install --no-install-recommends curl -y && \
+    curl -k https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | sudo apt-key add - && \
     apt-get install --no-install-recommends -y \
     build-essential \
     dkms \
@@ -147,10 +150,17 @@
     iputils-ping \
     ros-kinetic-joint-trajectory-* \
     ros-kinetic-move-base \
+    ros-kinetic-tf2-ros \
+    ros-kinetic-pointcloud-to-laserscan \
+    ros-kinetic-gmapping* \
     ros-kinetic-teleop-twist-keyboard  && \
     apt-get -y clean && \
     rm -rf /var/lib/apt/lists/*
 
+#RUN apt-get update && \
+#    apt-get upgrade -y && \
+#    yes | apt-get install --no-install-recommends ros-kinetic-peper-meshes 
+
 RUN mkdir -p /home/ubuntu/catkin_ws/src && \
     /bin/bash -c "source /opt/ros/kinetic/setup.bash ; cd /home/ubuntu/catkin_ws/src ; catkin_init_workspace" && \
     /bin/bash -c "source /opt/ros/kinetic/setup.bash ; cd /home/ubuntu/catkin_ws && catkin build" && \
@@ -166,9 +176,9 @@
     catkin build && \
     cd /home/ubuntu/catkin_ws/src && \
     git clone https://github.com/ros-naoqi/naoqi_driver.git && \
-    rosdep install -i --from-paths . --ignore-src --rosdistro kinetic -y ./naoqi_driver && \
+    #rosdep install -i --from-paths . --ignore-src --rosdistro kinetic -y ./naoqi_driver && \
     git clone https://github.com/SoftbankRoboticsChina/pepper-ros-navigation.git && \
-    rosdep install -i --from-paths . --ignore-src --rosdistro kinetic -y ./pepper-ros-navigation && \
+    #rosdep install -i --from-paths . --ignore-src --rosdistro kinetic -y ./pepper-ros-navigation && \
     catkin_create_pkg create_speech rospy std_msgs --rosdistro kinetic && \
     cd create_speech && \
     curl -o create_speech.py https://raw.githubusercontent.com/ykoga-kyutech/pepper_ros_handson/master/scripts/create_speech_template.py && \