diff --git a/README.md b/README.md
index e2a60b1..94f6038 100644
--- a/README.md
+++ b/README.md
@@ -70,6 +70,162 @@ roslaunch wild_visual_navigation_jackal wild_visual_navigation.launch
 
 [![IEEE](https://img.shields.io/badge/IEEE-10468651-blue?logo=IEEE)](https://ieeexplore.ieee.org/document/10468651)
 [![GitHub](https://img.shields.io/badge/GitHub-Repository-lightgrey?logo=github)](https://github.com/Ikhyeon-Cho/LeSTA)
+
+# LeSTA with Gazebo Simulation Setup
+
+This guide walks you through building and launching the LeSTA with Gazebo simulation environment using Docker.
+
+---
+
+## 1. Clone the Repository
+
+```bash
+cd lesta_sim
+```
+
+---
+
+## 2. Docker Setup
+
+### 2.1. Make entrypoint scripts executable:
+
+```bash
+cd Docker
+chmod +x lesta_entrypoint.sh
+cd ..
+```
+
+---
+
+### 2.2. Build and run the container
+
+**Before running**, edit the `volumes` section in `docker-compose.yaml` to match your absolute project path.
+
+You can get the full path using:
+
+```bash
+pwd
+```
+
+**Example `volumes` section:**
+
+```yaml
+volumes:
+  - /home/yourname/path/to/lesta_sim:/workspace/docker_root
+```
+
+Make sure the first path points to your current directory (`lesta_sim`).
+
+Then:
+
+```bash
+cd Docker
+```
+
+- For Docker Compose v1:
+  ```bash
+  docker-compose up --build
+  ```
+
+- For Docker Compose v2:
+  ```bash
+  docker compose up --build
+  ```
+
+---
+
+## 3. Start the container (if it was stopped):
+
+```bash
+docker start lesta
+docker attach lesta
+```
+
+---
+
+## 4. CMake Fix Required for building LeSTA
+
+Before building the workspace, edit:
+
+```
+/workspace/docker_root/lesta_ws/src/LeSTA/lesta_ros/CMakeLists.txt
+```
+
+Move the following block **above all other `find_package(...)` calls**:
+
+```cmake
+find_package(catkin REQUIRED COMPONENTS
+    height_mapping_core
+    roscpp
+    tf2_ros
+    pcl_conversions
+    grid_map_ros
+    message_generation
+)
+```
+
+---
+
+## 5. Build the Workspace
+
+```bash
+cd /workspace/docker_root/lesta_ws
+catkin build lesta
+source devel/setup.bash
+```
+
+---
+
+## 6. Install pylesta Package
+
+```bash
+cd /workspace/docker_root/lesta_ws/src/LeSTA
+pip install -e pylesta
+```
+
+---
+
+## 7. Gazebo Simulation
+
+### 7.1. Make Gazebo entrypoints executable:
+
+```bash
+cd /workspace/docker_root/Docker
+chmod +x gazebo_entrypoint_1.sh gazebo_entrypoint_2.sh
+```
+
+
+
+### 7.2. Run the Git clone & environment setup:
+
+```bash
+./gazebo_entrypoint_1.sh
+```
+
+> ⚠️ **TODO:** You must edit the workspace directory and `GAZEBO_MODEL_PATH` inside:  
+> `/workspace/docker_root/gazebo_ws/src/husky/setup/first_run.sh`
+
+
+
+### 7.3. After editing:
+    
+> [OPTIONAL] edit the custom world path inside gazebo_entrypoint_2.sh and uncomment lines before running:
+```bash
+cd /workspace/docker_root/Docker && ./gazebo_entrypoint_2.sh
+```
+---
+## 8. Run
+If you have completed all the steps above,
+you can refer to the following project pages for execution commands:
+
+- LeSTA: https://github.com/Ikhyeon-Cho/LeSTA.git
+
+- Husky: https://github.com/dongjineee/husky.git
+
+Simply follow the instructions provided on each project page to run the system.
+
+---
+
 </details>
 <details>
   <summary>Gaussian Process-Based Traversability Analysis for Terrain Mapless Navigation         </summary>
diff --git a/lesta_sim/Docker/Dockerfile b/lesta_sim/Docker/Dockerfile
new file mode 100644
index 0000000..dab6e00
--- /dev/null
+++ b/lesta_sim/Docker/Dockerfile
@@ -0,0 +1,107 @@
+FROM annazabnus/ros-cuda:11.8-noetic
+
+ARG DEBIAN_FRONTEND=noninteractive
+ARG ROS_DISTRO=noetic
+ENV ROS_DISTRO=${ROS_DISTRO}
+
+# Curl
+RUN apt-get update && apt-get install -y curl
+RUN curl -I https://raw.githubusercontent.com
+
+# install ros packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    "ros-noetic-desktop-full=1.5.0-1*" \
+    && rm -rf /var/lib/apt/lists/*
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-vcstools \
+    && rm -rf /var/lib/apt/lists/*
+
+# bootstrap rosdep
+RUN rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && rosdep init && \
+  rosdep update --rosdistro $ROS_DISTRO
+  
+# install ros packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-ros-base=1.5.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install commonly-used development tools.
+RUN apt-get update && apt-get install --yes \
+    build-essential \
+    clang-12 \
+    clang-format-12 \
+    cmake \
+    g++ \
+    gdb \
+    git \
+    nano \
+    valgrind \
+    vim
+
+# Install commonly-used Python tools.
+RUN apt-get update && apt-get install --yes \
+    python-is-python3 \
+    python3-catkin-tools \
+    python3-pip
+
+# Install commonly-used command-line tools.
+RUN apt-get update && apt-get install --yes \
+    curl \
+    iproute2 \
+    iputils-ping \
+    less \
+    mesa-utils \
+    net-tools \
+    rsync \
+    software-properties-common \
+    sudo \
+    tmux \
+    tree \
+    unzip \
+    usbutils \
+    wget \
+    zip \
+    zsh
+
+RUN apt-get update && apt-get install ros-noetic-grid-map -y
+    
+# Fix networkx compatibility for Python 3.8 before installing PyTorch
+RUN pip install 'networkx<3.0'
+
+# Pytorch   
+RUN pip install torch==2.2.2 torchvision==0.17.2 torchaudio==2.2.2 --index-url https://download.pytorch.org/whl/cu118
+
+# Install LibTorch (2.6.0 + CUDA 11.8)
+RUN wget https://download.pytorch.org/libtorch/cu118/libtorch-cxx11-abi-shared-with-deps-2.6.0%2Bcu118.zip && \
+    unzip libtorch-cxx11-abi-shared-with-deps-2.6.0+cu118.zip && \
+    rm libtorch-cxx11-abi-shared-with-deps-2.6.0+cu118.zip && \
+    mv libtorch /opt/libtorch
+ENV TORCH_DIR=/libtorch/share/cmake/Torch
+ENV LIBTORCH /opt/libtorch
+ENV LD_LIBRARY_PATH /opt/libtorch/lib:$LD_LIBRARY_PATH
+    
+ENV CMAKE_PREFIX_PATH="/libtorch/share/cmake/Torch:${CMAKE_PREFIX_PATH}"
+
+# Install simulation dependency
+RUN apt update && apt install -y \
+    ros-noetic-ros-controllers \
+    ros-noetic-fath-pivot-mount-description \
+    ros-noetic-flir-camera-description \
+    ros-noetic-velodyne-description \
+    ros-noetic-realsense2-description \
+    ros-noetic-lms1xx \
+    ros-noetic-robot-localization \
+    ros-noetic-interactive-marker-twist-server \
+    ros-noetic-twist-mux \
+    ros-noetic-teleop-twist-keyboard \
+    ros-noetic-teleop-twist-joy \
+    ros-noetic-rviz-imu-plugin \
+    ros-noetic-gmapping \
+    python3-catkin-tools && \
+    apt clean && rm -rf /var/lib/apt/lists/*
+
diff --git a/lesta_sim/Docker/docker-compose-gui-nvidia.yaml b/lesta_sim/Docker/docker-compose-gui-nvidia.yaml
new file mode 100644
index 0000000..f8e1e81
--- /dev/null
+++ b/lesta_sim/Docker/docker-compose-gui-nvidia.yaml
@@ -0,0 +1,10 @@
+services:
+  lesta:
+    extends:
+      file: docker-compose-gui.yaml
+      service: lesta
+    environment:
+     - NVIDIA_VISIBLE_DEVICES=all
+     - NVIDIA_DRIVER_CAPABILITIES=all
+     - LIBGL_ALWAYS_INDIRECT=0
+    runtime: nvidia
diff --git a/lesta_sim/Docker/docker-compose-gui.yaml b/lesta_sim/Docker/docker-compose-gui.yaml
new file mode 100644
index 0000000..78f7371
--- /dev/null
+++ b/lesta_sim/Docker/docker-compose-gui.yaml
@@ -0,0 +1,13 @@
+services:
+  lesta:
+    extends:
+      file: docker-compose.yaml
+      service: lesta
+    environment:
+     - DISPLAY=${DISPLAY}
+     - QT_X11_NO_MITSHM=1
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - capabilities: [gpu]
diff --git a/lesta_sim/Docker/docker-compose.yaml b/lesta_sim/Docker/docker-compose.yaml
new file mode 100644
index 0000000..227263f
--- /dev/null
+++ b/lesta_sim/Docker/docker-compose.yaml
@@ -0,0 +1,21 @@
+version: "3.9"
+
+services:
+  lesta:
+    build:
+      context: .
+      dockerfile: Dockerfile
+    image: lesta
+    container_name: lesta
+    privileged: true
+    network_mode: host
+    volumes:
+      - /home/miiiiiryeong/traversability_application/lesta_sim:/workspace/docker_root
+      - /dev/dri:/dev/dri
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
+      - /usr/lib/x86_64-linux-gnu:/usr/lib/x86_64-linux-gnu:ro
+      - /usr/lib/x86_64-linux-gnu/libGL.so.1:/usr/lib/x86_64-linux-gnu/libGL.so.1:ro
+    stdin_open: true
+    tty: true
+    entrypoint: ["/workspace/docker_root/Docker/lesta_entrypoint.sh"]
diff --git a/lesta_sim/Docker/gazebo_entrypoint_1.sh b/lesta_sim/Docker/gazebo_entrypoint_1.sh
new file mode 100755
index 0000000..34b5132
--- /dev/null
+++ b/lesta_sim/Docker/gazebo_entrypoint_1.sh
@@ -0,0 +1,6 @@
+GAZEBO_WS="/workspace/docker_root/gazebo_ws"
+if [ ! -d "$GAZEBO_WS/src/husky" ]; then
+    mkdir -p $GAZEBO_WS/src
+    cd $GAZEBO_WS/src
+    git clone https://github.com/dongjineee/husky.git
+fi
diff --git a/lesta_sim/Docker/gazebo_entrypoint_2.sh b/lesta_sim/Docker/gazebo_entrypoint_2.sh
new file mode 100755
index 0000000..32574de
--- /dev/null
+++ b/lesta_sim/Docker/gazebo_entrypoint_2.sh
@@ -0,0 +1,29 @@
+# TODO: You have to edit workspace directory and GAZEBO_MODEL_PATH in /workspace/docker_root/gazebo_ws/src/husky/setup/first_run.sh
+
+GAZEBO_WS="/workspace/docker_root/gazebo_ws"
+cd $GAZEBO_WS/src/husky/setup
+source first_run.sh
+
+# [Optional] Prepare moon world
+ GAZEBO_MAPS_DIR="$GAZEBO_WS/src/husky/husky_gazebo/gazebo_maps"
+ mkdir -p $GAZEBO_MAPS_DIR
+
+# [Optional] Copy moon world
+ if [ -d "/workspace/docker_root/moon" ]; then
+     cp -r /workspace/docker_root/moon "$GAZEBO_MAPS_DIR/"
+ fi
+
+cd $GAZEBO_WS/src
+if [ ! -d "velodyne_simulator" ]; then
+    git clone https://github.com/lmark1/velodyne_simulator.git
+fi
+
+if [ ! -d "hector_gazebo" ]; then
+    git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo.git
+fi
+
+source /opt/ros/noetic/setup.bash
+
+if [ -f "$GAZEBO_WS/devel/setup.bash" ]; then
+    source "$GAZEBO_WS/devel/setup.bash"
+fi
diff --git a/lesta_sim/Docker/lesta_entrypoint.sh b/lesta_sim/Docker/lesta_entrypoint.sh
new file mode 100755
index 0000000..01aafad
--- /dev/null
+++ b/lesta_sim/Docker/lesta_entrypoint.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+set -e
+
+source /opt/ros/noetic/setup.bash
+
+WS_PATH="/workspace/docker_root/lesta_ws"
+mkdir -p $WS_PATH
+
+if [ ! -d "$WS_PATH/src" ]; then
+    mkdir -p $WS_PATH/src
+    cd $WS_PATH/src
+    git clone https://github.com/Ikhyeon-Cho/LeSTA.git
+fi
+
+echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+echo "export ROS_WORKSPACE=$WS_PATH" >> ~/.bashrc
+echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:$WS_PATH/src" >> ~/.bashrc
+
+exec /bin/bash