diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..209181c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+pepper-lite.taz
+*.gz
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..c55a58a
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,202 @@
+FROM tiryoh/ros-desktop-vnc:kinetic
+
+ENV DEBCONF_NOWARNINGS=yes
+ENV DEBIAN_FRONTEND noninteractive
+ENV ROS_PYTHON_VERSION 1
+SHELL ["/bin/bash", "-c"]
+
+RUN sed -i 's@archive.ubuntu.com@ftp.jaist.ac.jp/pub/Linux@g' /etc/apt/sources.list
+
+RUN apt-get update && \
+    apt-get upgrade -y && \
+    apt-get install --no-install-recommends -y \
+    build-essential \
+    dkms \
+    openssh-server && \
+    apt-get -y clean && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN mkdir /var/run/sshd && \
+    echo 'root:ubuntu' | chpasswd && \
+    sed -i 's/PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config && \
+    sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd
+
+EXPOSE 22
+
+RUN apt-get update && \
+    apt-get upgrade -y && \
+    apt-get install --no-install-recommends -y \
+    python-catkin-tools \
+    python-rosdep \
+    openssh-server \
+    ros-kinetic-driver-base \
+    ros-kinetic-move-base-msgs \
+    ros-kinetic-octomap \
+    ros-kinetic-octomap-msgs \
+    ros-kinetic-humanoid-msgs \
+    ros-kinetic-humanoid-nav-msgs \
+    ros-kinetic-camera-info-manager \
+    ros-kinetic-camera-info-manager-py \
+  libccd-dev \
+  libccd2 \
+  libfcl-0.5-dev \
+  libfcl0.5 \
+  libglew-dev \
+  libglew1.13 \
+  python-bs4 \
+  python-html5lib \
+  python-lxml \
+  ros-kinetic-ackermann-steering-controller \
+  ros-kinetic-chomp-motion-planner \
+  ros-kinetic-combined-robot-hw \
+  ros-kinetic-combined-robot-hw-tests \
+  ros-kinetic-control-toolbox \
+  ros-kinetic-controller-interface \
+  ros-kinetic-controller-manager \
+  ros-kinetic-controller-manager-msgs \
+  ros-kinetic-controller-manager-tests \
+  ros-kinetic-diff-drive-controller \
+  ros-kinetic-effort-controllers \
+  ros-kinetic-force-torque-sensor-controller \
+  ros-kinetic-forward-command-controller \
+  ros-kinetic-gazebo-ros-control \
+  ros-kinetic-gripper-action-controller \
+  ros-kinetic-hardware-interface \
+  ros-kinetic-imu-sensor-controller \
+  ros-kinetic-joint-limits-interface \
+  ros-kinetic-joint-state-controller \
+  ros-kinetic-joint-trajectory-controller \
+  ros-kinetic-moveit-core \
+  ros-kinetic-moveit-fake-controller-manager \
+  ros-kinetic-moveit-kinematics \
+  ros-kinetic-moveit-msgs \
+  ros-kinetic-moveit-planners-ompl \
+  ros-kinetic-moveit-ros-move-group \
+  ros-kinetic-moveit-ros-perception \
+  ros-kinetic-moveit-ros-planning \
+  ros-kinetic-moveit-simple-controller-manager \
+  ros-kinetic-naoqi-bridge-msgs \
+  ros-kinetic-naoqi-dcm-driver \
+  ros-kinetic-naoqi-driver \
+  ros-kinetic-naoqi-driver-py \
+  ros-kinetic-naoqi-libqi \
+  ros-kinetic-naoqi-libqicore \
+  ros-kinetic-naoqi-pose \
+  ros-kinetic-naoqi-sensors-py \
+  ros-kinetic-object-recognition-msgs \
+  ros-kinetic-ompl \
+  ros-kinetic-pepper-bringup \
+  ros-kinetic-pepper-control \
+  ros-kinetic-pepper-dcm-bringup \
+  ros-kinetic-pepper-description \
+  ros-kinetic-pepper-gazebo-plugin \
+  ros-kinetic-pepper-moveit-config \
+  ros-kinetic-pepper-robot \
+  ros-kinetic-pepper-sensors-py \
+  ros-kinetic-position-controllers \
+  ros-kinetic-realtime-tools \
+  ros-kinetic-rgbd-launch ros-kinetic-ros-control \
+  ros-kinetic-ros-controllers \
+  ros-kinetic-rqt-joint-trajectory-controller \
+  ros-kinetic-srdfdom \
+  ros-kinetic-transmission-interface \
+  ros-kinetic-urdfdom-py \
+  ros-kinetic-velocity-controllers \
+  libgflags2v5 \
+  tmux \
+  python-pyassimp \
+  ros-kinetic-dsr-description \
+  ros-kinetic-eigenpy \
+  ros-kinetic-graph-msgs \
+  ros-kinetic-moveit \
+  ros-kinetic-moveit-chomp-optimizer-adapter \
+  ros-kinetic-moveit-commander \
+  ros-kinetic-moveit-config-m0609 \
+  ros-kinetic-moveit-config-m0617 \
+  ros-kinetic-moveit-config-m1013 \
+  ros-kinetic-moveit-config-m1509 \
+  ros-kinetic-moveit-controller-manager-example \
+  ros-kinetic-moveit-experimental \
+  ros-kinetic-moveit-opw-kinematics-plugin \
+  ros-kinetic-moveit-planners \
+  ros-kinetic-moveit-planners-chomp \
+  ros-kinetic-moveit-plugins \
+  ros-kinetic-moveit-pr2 ros-kinetic-moveit-python \
+  ros-kinetic-moveit-resources \
+  ros-kinetic-moveit-ros \
+  ros-kinetic-moveit-ros-benchmarks \
+  ros-kinetic-moveit-ros-control-interface \
+  ros-kinetic-moveit-ros-manipulation \
+  ros-kinetic-moveit-ros-planning-interface \
+  ros-kinetic-moveit-ros-robot-interaction \
+  ros-kinetic-moveit-ros-visualization \
+  ros-kinetic-moveit-ros-warehouse \
+  ros-kinetic-moveit-runtime \
+  ros-kinetic-moveit-setup-assistant \
+  ros-kinetic-moveit-sim-controller \
+  ros-kinetic-moveit-visual-tools \
+  ros-kinetic-pr2-controllers-msgs \
+  ros-kinetic-pr2-description \
+  ros-kinetic-pr2-mechanism-msgs \
+  ros-kinetic-pr2-moveit-config \
+  ros-kinetic-pr2-moveit-plugins \
+  ros-kinetic-ros-control-boilerplate \
+  ros-kinetic-rosparam-shortcuts \
+  ros-kinetic-rviz-visual-tools \
+  ros-kinetic-warehouse-ros \
+  iputils-ping \
+  ros-kinetic-joint-trajectory-* \
+  ros-kinetic-move-base \
+  ros-kinetic-teleop-twist-keyboard  && \
+  apt-get -y clean && \
+  rm -rf /var/lib/apt/lists/*
+
+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" && \
+    echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc && \
+    echo "source /home/ubuntu/catkin_ws/devel/setup.bash" >> ~/.bashrc && \
+    echo "export ROS_PACKAGE_PATH=\${ROS_PACKAGE_PATH}:/home/ubuntu/catkin_ws" >> ~/.bashrc && \
+    echo "export ROS_WORKSPACE=/home/ubuntu/catkin_ws" >> ~/.bashrc && \
+    echo "alias cm='cd ~/catkin_ws;catkin build'" >> ~/.bashrc && \
+    echo "alias cs='cd ~/catkin_ws/src'" >> ~/.bashrc
+
+RUN apt-get update && \
+    apt-get upgrade -y && \
+    cd /home/ubuntu/catkin_ws && \
+    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 && \
+    git clone https://github.com/SoftbankRoboticsChina/pepper-ros-navigation.git && \
+    rosdep install -i --from-paths . --ignore-src --rosdistro kinetic -y ./pepper-ros-navigation && \
+    cd /home/ubuntu/catkin_ws && \
+    catkin build  && \
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN cd /home/ubuntu/catkin_ws/src && \
+    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 && \
+    chmod +x create_speech.py && \
+    cd /home/ubuntu/catkin_ws && \
+    catkin build
+
+# Install pynaoqi 2.5.5 library
+COPY ./scripts/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz /home/ubuntu/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz
+COPY ./scripts/naoqi-sdk-2.5.5.5-linux64.tar.gz /home/ubuntu/naoqi-sdk-2.5.5.5-linux64.tar.gz
+RUN tar -xvzf /home/ubuntu/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz -C /home/ubuntu/ && \
+    rm /home/ubuntu/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz && \
+    tar -xvzf /home/ubuntu/naoqi-sdk-2.5.5.5-linux64.tar.gz -C /home/ubuntu/ && \
+    rm /home/ubuntu/naoqi-sdk-2.5.5.5-linux64.tar.gz
+
+RUN echo "export PYTHONPATH=\${PYTHONPATH}:/home/ubuntu/naoqi-sdk-2.5.5.5-linux64/lib" >> ~/.bashrc && \
+    echo "export PYTHONPATH=\${PYTHONPATH}:/home/ubuntu/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages" >> ~/.bashrc
+
+COPY ./scripts/startup.sh /startup.sh
+COPY ./scripts/connectPEPPER.sh /home/ubuntu/connectPEPPER.sh
+COPY ./scripts/pepper.rviz /home/ubuntu/pepper.rviz
+COPY ./scripts/launchdemo.txt /home/ubuntu/launchdemo.txt
+
diff --git a/buildPEPPER.sh b/buildPEPPER.sh
new file mode 100755
index 0000000..5c6b398
--- /dev/null
+++ b/buildPEPPER.sh
@@ -0,0 +1,7 @@
+if [ ! -e ./scripts/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz ]; then
+  wget -P ./scripts https://community-static.aldebaran.com/resources/2.5.5/sdk-python/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz
+fi
+if [ ! -e ./scripts/naoqi-sdk-2.5.5.5-linux64.tar.gz ]; then
+  wget -P ./scripts https://community-static.aldebaran.com/resources/2.5.5/naoqi-sdk/naoqi-sdk-2.5.5.5-linux64.tar.gz
+fi
+docker build -t pepper .
diff --git a/exportPEPPER.sh b/exportPEPPER.sh
new file mode 100755
index 0000000..c4193b6
--- /dev/null
+++ b/exportPEPPER.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+read -p "Please open new terminal and run ./runPEPPER.sh after that hit Enter key"
+echo "export container id is "
+docker ps -q
+read -p "When the string GET /api/health HTTP/1.1 is displayed, please hit Enter key"
+docker export $(docker ps -q) | gzip -c > pepper-lite.taz
diff --git a/importPEPPERLITE.sh b/importPEPPERLITE.sh
new file mode 100755
index 0000000..ba3250f
--- /dev/null
+++ b/importPEPPERLITE.sh
@@ -0,0 +1 @@
+cat pepper-lite.taz | docker import - pepper-lite:latest
diff --git a/readme.txt b/readme.txt
new file mode 100644
index 0000000..f40371c
--- /dev/null
+++ b/readme.txt
@@ -0,0 +1,25 @@
+---
+IMPORT and EXECUTE
+
+> ./importPEPPERLITE.sh
+> ./runPEPPERLITE.sh
+
+open
+http://docker_ip:6080
+ssh
+ssh ubuntu@docker_ip -p 2222
+---
+BUILD LITE IMAGE
+
+> ./buildPEPPER.sh
+> ./runPEPPER.sh
+
+Reconstruction of a single layer image may take up to 20 minutes to merge multi-layer images.
+
+> cat exportPEPPER.txt
+> docker container ls 
+> docker export PEPPER_containerID | gzip -c > pepper-lite.taz
+> docker image ls
+> docker image rm pepper_imageID
+---
+
diff --git a/runPEPPER.sh b/runPEPPER.sh
new file mode 100755
index 0000000..4a63d4f
--- /dev/null
+++ b/runPEPPER.sh
@@ -0,0 +1 @@
+docker run --rm -p 6080:80 -p 2222:22 --shm-size=512m -e HOME=/home/ubuntu -e SHELL=/bin/bash --entrypoint '/startup.sh' pepper
diff --git a/runPEPPERLITE.sh b/runPEPPERLITE.sh
new file mode 100755
index 0000000..71451cb
--- /dev/null
+++ b/runPEPPERLITE.sh
@@ -0,0 +1 @@
+docker run --rm -p 6080:80 -p 2222:22 --shm-size=512m --net bridge -e HOME=/home/ubuntu -e SHELL=/bin/bash --entrypoint '/startup.sh' pepper-lite
diff --git a/scripts/connectPEPPER.sh b/scripts/connectPEPPER.sh
new file mode 100755
index 0000000..42120cf
--- /dev/null
+++ b/scripts/connectPEPPER.sh
@@ -0,0 +1,3 @@
+sudo apt update
+sudo apt install ros-kinetic-pepper-meshes
+roslaunch pepper_bringup pepper_full_py.launch nao_ip:=192.168.100.3 roscore_ip:=127.0.0.1
diff --git a/scripts/launchdemo.txt b/scripts/launchdemo.txt
new file mode 100755
index 0000000..9253f98
--- /dev/null
+++ b/scripts/launchdemo.txt
@@ -0,0 +1,101 @@
+sudo apt install ros-kinetic-pepper-mesh*
+
+open 192.168.100.3 
+ID nao
+PW kobaken
+
+roslaunch pepper-bringup pepper_full_py.launch nao_ip=192.168.100.3
+rosrun rviz rviz -d ~/catkin_ws/src/pepper-ros-navigation/config/pepper.rviz
+
+roslaunch pepper_moveit_config demo.launch
+rosservice call /pepper_robot/pose/life/disable "{}"
+rosservice call /pepper_robot/pose/wakeup "{}"
+rostopic pub -l /speech std_msgs/String "Hogehoge"
+
+
+See Programming Robots with ROS, O'RELLY
+
+
+roslaunch pepper-ros-navigation gmapping.launch
+rosrun map_server map_saver -f /tmp/my_map
+
+roslaunch pepper-ros-navigation navigation.launch map_file:=/tmp/my_map
+
+rostopic echo /move_base_simple/goal
+
+
+How to speech
+>> python
+>> from naoqi import ALProxy
+>> tts=ALProxy("ALTextToSpeech","192.168.100.3",9559)
+>> tts.say("hogehoge")
+
+
+roslaunch pepper_bringup pepper.launch nao_ip:=192.168.0.4 network_interface:=wlan1
+roslaunch pepper_bringup pepper_full_py.launch nao_ip:=192.168.0.4 network_interface:=wlan1
+
+rostopic pub -1 /speech std_msgs/String "法政大学理工学部創生科学科へようこそ"
+rostopic pub -1 /speech std_msgs/String "ほうせいだいがくりこうがくぶそうせいかがくかへようそこ"
+rostopic pub /cmd_vel geometory_msgs/Twist '{linear:{x:0.0,y:0.0,z:0.0},angular:{x:0.0,y:0.0,z:0.2}}'
+rostopic pub /cmd_vel geometory_msgs/Twist -- '[0,0,0]' '[0,0,0.2]'
+
+roslaunch naoqi_sensors camera.launch nao_ip:=192.168.0.4
+rosrun image_view image_view image:=/camera/front/image_raw
+
+# バンパーセンサ
+rostopic echo /pepper_robot/bumper
+
+# 頭タッチセンサ
+rostopic echo /pepper_robot/tactile_touch
+
+# 脚部ソナーセンサ（前後）
+rostopic echo /pepper_robot/sonar/front
+rostopic echo /pepper_robot/sonar/back
+
+# 加速度センサ（脚部、胸部）
+rostopic echo /pepper_robot/imu/base
+rostopic echo /pepper_robot/imu/torso
+
+# 1Dデータをプロット
+rqt_plot
+
+# 画像表示
+rqt_image_view
+
+/* ----------------------
+ 3. アクションを取らせる
+------------------------- */
+
+/* ----------------------
+ 1. 画像の学習、認識
+------------------------- */
+
+# 画像学習、認識を行うノードを起動
+rosrun find_object_2d find_object_2d image:=/pepper_robot/camera/front/image_raw
+
+# 認識結果を表示
+rostopic echo /objects
+
+
+/* ----------------------
+ 2. Pythonコード作成
+------------------------- */
+
+# パッケージ作成
+cd ~/catkin_ws/src
+catkin_create_pkg create_speech rospy std_msgs
+
+# Python雛形コードのダウンロードとパッケージのビルド
+cd create_speech
+mkdir scripts && cd scripts
+curl -o create_speech.py https://raw.githubusercontent.com/ykoga-kyutech/pepper_ros_handson/master/scripts/create_speech_template.py
+chmod +x create_speech.py
+cd ~/catkin_ws && catkin_make
+source ~/catkin_ws/devel/setup.bash
+
+# create_speechノードの実行
+rosrun create_speech create_speech.py
+
+# Pythonコードの編集
+emacs ~/catkin_ws/src/create_speech/scripts/create_speech.py
+
diff --git a/scripts/pepper.rviz b/scripts/pepper.rviz
new file mode 100755
index 0000000..3e5a26b
--- /dev/null
+++ b/scripts/pepper.rviz
@@ -0,0 +1,769 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /DepthCloud1/Status1
+        - /DepthCloud1/Auto Size1
+        - /DepthCloud1/Occlusion Compensation1
+        - /Image1/Status1
+      Splitter Ratio: 0.5
+    Tree Height: 284
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: true
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        BumperB_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        BumperFL_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        BumperFR_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        CameraBottom_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        CameraBottom_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        CameraDepth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        CameraDepth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        CameraTop_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        CameraTop_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        ChestButton_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Head:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        HeadTouchFront_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        HeadTouchMiddle_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        HeadTouchRear_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        Hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ImuBaseAccelerometer_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        ImuBaseGyrometer_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        ImuTorsoAccelerometer_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        ImuTorsoGyrometer_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        LBicep:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LElbow:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger11_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger12_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger13_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger21_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger22_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger23_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger31_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger32_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger33_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger41_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger42_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LFinger43_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LForeArm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LHandTouchBack_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        LShoulder:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LSpeaker_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        LThumb1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        LThumb2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link Tree Style: Links in Alphabetic Order
+        Neck:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Pelvis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RBicep:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RElbow:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger11_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger12_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger13_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger21_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger22_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger23_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger31_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger32_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger33_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger41_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger42_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RFinger43_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RForeArm:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RHandTouchBack_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        RShoulder:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RSpeaker_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        RThumb1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RThumb2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ShovelLaser_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        SonarBack_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        SonarFront_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        SurroundingFrontLaser_device_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        SurroundingFrontLaser_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        SurroundingLeftLaser_device_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        SurroundingLeftLaser_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        SurroundingRightLaser_device_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        SurroundingRightLaser_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        Tablet_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        Tibia:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        VerticalLeftLaser_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        VerticalRightLaser_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        WheelB_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        WheelFL_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        WheelFR_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_gripper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        l_wrist:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_gripper:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        r_wrist:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        torso:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Auto Size:
+        Auto Size Factor: 1
+        Value: true
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/DepthCloud
+      Color: 255; 255; 255
+      Color Image Topic: /pepper_robot/camera/front/camera/image_raw
+      Color Transformer: RGB8
+      Color Transport Hint: raw
+      Decay Time: 0
+      Depth Map Topic: /pepper_robot/camera/depth/camera/image_raw
+      Depth Map Transport Hint: raw
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: DepthCloud
+      Occlusion Compensation:
+        Occlusion Time-Out: 30
+        Value: false
+      Position Transformer: XYZ
+      Queue Size: 5
+      Selectable: true
+      Size (Pixels): 3
+      Style: Flat Squares
+      Topic Filter: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /pepper_robot/camera/front/camera/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Range
+      Queue Size: 100
+      Topic: /pepper_robot/sonar/front/sonar
+      Value: true
+    - Alpha: 0.5
+      Buffer Length: 1
+      Class: rviz/Range
+      Color: 255; 255; 255
+      Enabled: true
+      Name: Range
+      Queue Size: 100
+      Topic: /pepper_robot/sonar/back/sonar
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05
+      Style: Squares
+      Topic: /laser/ground_left/pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05
+      Style: Squares
+      Topic: /laser/ground_right/pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05
+      Style: Squares
+      Topic: /pepper/laser/srd_left/pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05
+      Style: Squares
+      Topic: /pepper/laser/srd_right/pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05
+      Style: Boxes
+      Topic: /pepper/laser/ground_left/pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05
+      Style: Boxes
+      Topic: /pepper/laser/ground_right/pointcloud
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 3.5673
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.549272
+        Y: 0.416871
+        Z: -1.19209e-07
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.195204
+      Target Frame: <Fixed Frame>
+      Value: XYOrbit (rviz)
+      Yaw: 3.1604
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 795
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c00000278fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000017b000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000410000015d000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001a4000001150000001600ffffff000000010000010f00000294fc0200000003fb0000000a00560069006500770073000000004100000294000000b000fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004640000003efc0100000002fb0000000800540069006d00650100000000000004640000031b00fffffffb0000000800540069006d00650100000000000004500000000000000000000003220000027800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1124
+  X: 347
+  Y: 124
diff --git a/scripts/startup.sh b/scripts/startup.sh
new file mode 100755
index 0000000..8eb5e9f
--- /dev/null
+++ b/scripts/startup.sh
@@ -0,0 +1,72 @@
+#!/bin/bash
+/usr/sbin/sshd -D &
+if [ -n "$VNC_PASSWORD" ]; then
+    echo -n "$VNC_PASSWORD" > /.password1
+    x11vnc -storepasswd $(cat /.password1) /.password2
+    chmod 400 /.password*
+    sed -i 's/^command=x11vnc.*/& -rfbauth \/.password2/' /etc/supervisor/conf.d/supervisord.conf
+    export VNC_PASSWORD=
+fi
+
+if [ -n "$X11VNC_ARGS" ]; then
+    sed -i "s/^command=x11vnc.*/& ${X11VNC_ARGS}/" /etc/supervisor/conf.d/supervisord.conf
+fi
+
+if [ -n "$OPENBOX_ARGS" ]; then
+    sed -i "s#^command=/usr/bin/openbox.*#& ${OPENBOX_ARGS}#" /etc/supervisor/conf.d/supervisord.conf
+fi
+
+if [ -n "$RESOLUTION" ]; then
+    sed -i "s/1024x768/$RESOLUTION/" /usr/local/bin/xvfb.sh
+fi
+
+USER=${USER:-root}
+HOME=/root
+if [ "$USER" != "root" ]; then
+    echo "* enable custom user: $USER"
+    useradd --create-home --shell /bin/bash --user-group --groups adm,sudo $USER
+    if [ -z "$PASSWORD" ]; then
+        echo "  set default password to \"ubuntu\""
+        PASSWORD=ubuntu
+    fi
+    HOME=/home/$USER
+    echo "$USER:$PASSWORD" | chpasswd
+    cp -r /root/{.gtkrc-2.0,.asoundrc} ${HOME}
+    [ -d "/dev/snd" ] && chgrp -R adm /dev/snd
+fi
+sed -i -e "s|%USER%|$USER|" -e "s|%HOME%|$HOME|" /etc/supervisor/conf.d/supervisord.conf
+
+# home folder
+mkdir -p $HOME/.config/pcmanfm/LXDE/
+ln -sf /usr/local/share/doro-lxde-wallpapers/desktop-items-0.conf $HOME/.config/pcmanfm/LXDE/
+chown -R $USER:$USER $HOME
+
+# nginx workers
+sed -i 's|worker_processes .*|worker_processes 1;|' /etc/nginx/nginx.conf
+
+# nginx ssl
+if [ -n "$SSL_PORT" ] && [ -e "/etc/nginx/ssl/nginx.key" ]; then
+    echo "* enable SSL"
+        sed -i 's|#_SSL_PORT_#\(.*\)443\(.*\)|\1'$SSL_PORT'\2|' /etc/nginx/sites-enabled/default
+        sed -i 's|#_SSL_PORT_#||' /etc/nginx/sites-enabled/default
+fi
+
+# nginx http base authentication
+if [ -n "$HTTP_PASSWORD" ]; then
+    echo "* enable HTTP base authentication"
+    htpasswd -bc /etc/nginx/.htpasswd $USER $HTTP_PASSWORD
+        sed -i 's|#_HTTP_PASSWORD_#||' /etc/nginx/sites-enabled/default
+fi
+
+# dynamic prefix path renaming
+if [ -n "$RELATIVE_URL_ROOT" ]; then
+    echo "* enable RELATIVE_URL_ROOT: $RELATIVE_URL_ROOT"
+        sed -i 's|#_RELATIVE_URL_ROOT_||' /etc/nginx/sites-enabled/default
+        sed -i 's|_RELATIVE_URL_ROOT_|'$RELATIVE_URL_ROOT'|' /etc/nginx/sites-enabled/default
+fi
+
+# clearup
+PASSWORD=
+HTTP_PASSWORD=
+echo "Please execute -> sudo apt install ros-kinetic-peper-meshes"
+exec /bin/tini -- /usr/bin/supervisord -n -c /etc/supervisor/supervisord.conf