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+## Build Image
+
+ROS Jazzy + GZ Harmonic
+
+```
+docker buildx build -f gz_harmonic_sim_dev.dockerfile -t sim_dev:gz_harmonic .
+```
+
+## NOTICE
+When you build code in container with error:
+> fatal: detected dubious ownership in repository at '/code/PX4-Autopilot'
+> To add an exception for this directory, call:
+> git config --global --add safe.directory
+
+you should run this command in container:
+```
+git config --global --add safe.directory '*'
+```
+
+## Ubuntu With GUI&GPU Support
+
+1. Install nvidia-container-toolkit
+    ```
+    curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
+    && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+        sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+        sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+
+    sudo apt install -y nvidia-container-toolkit
+    sudo systemctl restart docker
+    ```
+
+2. Run container with docker compose
+    ```
+    # in host bash
+    # x11 permission
+    xhost +local:root
+    # 修改 docker-compose-ubuntu.yml 中${HOST_WS} 为你主机上的工作空间的目录
+    docker compose -f docker-compose-ubuntu.yml up -d
+    docker exec -it sim_dev_container bash
+
+    # in container bash 
+    git config --global --add safe.directory '*'
+    cd /simulation_ws
+    sudo apt update
+    rosdep install --from-paths src/autonomy --ignore-src -r -y
+    /simulation_ws/src/autonomy/drivers/mavros/mavros/scripts/install_geographiclib_datasets.sh
+    colcon build --symlink-install --packages-up-to mavlink mavros px4_bringup
+    ```
+## How to enter container again with bash
+
+```
+# get container id
+docker container ls -a
+
+# start container if not
+docker container start [container id]
+
+docker exec -it [container id] bash
+```
+
+
+## WSL2 With GUI&GPU Support
+
+> NOTICE: replace `~/code` on your host
+
+```
+docker run -it \
+    -v ~/code:/code \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -v /mnt/wslg:/mnt/wslg \
+    -v /usr/lib/wsl:/usr/lib/wsl \
+    -e DISPLAY=$DISPLAY \
+    -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY \
+    -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR \
+    -e PULSE_SERVER=$PULSE_SERVER \
+    --device=/dev/dxg \
+    --device /dev/dri/card0 \
+    --device /dev/dri/renderD128 \
+    --gpus all sim_dev:gz_harmonic
+```
+
+docker-compose
+```
+docker compose -f docker-compose-wsl.yml up -d
+docker exec -it sim_dev_container bash
+cd /simulation_ws
+sudo apt update
+rosdep install --from-paths src/autonomy --ignore-src -r -y
+/simulation_ws/src/autonomy/drivers/mavros/mavros/scripts/install_geographiclib_datasets.sh
+colcon build --symlink-install --packages-up-to mavlink mavros px4_bringup
+```
+
+## Simulation 
+
+### build simulation worksapce
+
+```bash
+MAKEFLAGS="-j4" colcon build --symlink-install \
+    --packages-up-to \
+    mavlink mavros mavros_extras px4_bringup vins_estimator usb_cam \
+    --cmake-args \
+    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+    -DCMAKE_CXX_STANDARD=17 \
+    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+```
+