diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..cdb866f
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,20 @@
+FROM ros:melodic
+
+RUN apt-get update && apt-get install -y \
+        curl \
+        x11-apps \
+        x11-utils \
+        x11-xserver-utils \
+        xserver-xephyr \
+        && apt-get clean \
+        && rm -rf /var/lib/apt/lists/*
+
+RUN curl https://sh.rustup.rs -sSf | bash -s -- -y
+
+ENV PATH="/root/.cargo/bin:${PATH}"
+
+RUN git clone https://github.com/openrr/urdf-viz.git /urdf-viz
+
+WORKDIR /urdf-viz
+
+RUN cargo install urdf-viz
diff --git a/README.md b/README.md
index 7de03b3..71ca022 100644
--- a/README.md
+++ b/README.md
@@ -49,6 +49,15 @@ You can install urdf-viz using [Homebrew tap on macOS and Linux](https://github.
 ```sh
 brew install openrr/tap/urdf-viz
 ```
+### Run with Docker
+Build docker image:
+```bash
+docker build . -t urdf_viz_docker
+```
+Create container:
+```bash
+docker run -it --rm --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $XAUTHORITY:/tmp/.docker.xauth -e XAUTHORITY=/tmp/.docker.xauth urdf_viz_docker
+```
 
 ## How to use