diff --git a/README.md b/README.md
index befca41..0cbc598 100644
--- a/README.md
+++ b/README.md
@@ -2,3 +2,15 @@
 
 # neato_ros2
 ROS2 interface to Neato vacuum robots
+
+# Docker
+```bash
+docker build -f docker/Dockerfile . -t neato
+
+docker run -it --net=host --ipc=host --privileged \
+--env="DISPLAY" \
+--env="QT_X11_NO_MITSHM=1" \
+--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+--volume="${XAUTHORITY}:/root/.Xauthority" \
+neato bash -c "ros2 launch neato_bringup neato.launch.py"
+```
\ No newline at end of file
diff --git a/Dockerfile b/docker/Dockerfile
similarity index 94%
rename from Dockerfile
rename to docker/Dockerfile
index 18ed04d..aa7c0fb 100644
--- a/Dockerfile
+++ b/docker/Dockerfile
@@ -49,4 +49,6 @@ RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash \
  && colcon build --symlink-install --event-handlers console_cohesion+\
  && rm -rf /var/lib/apt/lists/*"
 
- # Continue with https://roboticseabass.com/2023/07/09/updated-guide-docker-and-ros2/
\ No newline at end of file
+# Set up entrypoint
+COPY ./docker/entrypoint.sh /
+ENTRYPOINT [ "/entrypoint.sh" ]
\ No newline at end of file
diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
new file mode 100755
index 0000000..3118ebf
--- /dev/null
+++ b/docker/entrypoint.sh
@@ -0,0 +1,11 @@
+#! /bin/bash
+# Entrypoint for ROS Docker containers
+
+# Source ROS 2
+source /opt/ros/${ROS_DISTRO}/setup.bash
+
+# Source the overlay workspace, if built
+source /root/ros2_ws/install/setup.bash
+
+# Execute the command passed into this entrypoint
+exec "$@"
\ No newline at end of file