diff --git a/.gitignore b/.gitignore
index 1c4f49fdea4b11bb55cd09962d85f5d59957d16e..d4e2a46379492cfabb3010b25b5cca5fcf2898d5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -43,3 +43,4 @@ src/modules/uORB/topics/*
Firmware.zip
unittests/build
*.generated.h
+.vagrant
diff --git a/Tools/ros/docker/px4-ros/Dockerfile b/Tools/ros/docker/px4-ros/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..532a9af8b39ac6589599a1f3ae18152b614974a4
--- /dev/null
+++ b/Tools/ros/docker/px4-ros/Dockerfile
@@ -0,0 +1,42 @@
+#
+# Base ROS Indigo
+#
+
+FROM ubuntu:14.04.1
+MAINTAINER Andreas Antener "andreas@antener.name"
+
+# Install basics
+RUN apt-get update \
+ && apt-get -y install wget git mercurial
+
+# Main ROS Setup
+# Following http://wiki.ros.org/indigo/Installation/Ubuntu
+# Also adding dependencies for gazebo http://gazebosim.org/tutorials?tut=drcsim_install
+
+## add ROS repositories and keys
+## install main ROS pacakges
+RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list \
+ && wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | apt-key add - \
+ && apt-get update \
+ && apt-get -y install ros-indigo-desktop-full
+
+RUN rosdep init \
+ && rosdep update
+
+## setup environment variables
+RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+
+## get rosinstall
+RUN apt-get -y install python-rosinstall
+
+## additional dependencies
+RUN apt-get -y install ros-indigo-octomap-msgs
+
+
+## install drcsim
+#RUN echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list \
+# && wget http://packages.osrfoundation.org/drc.key -O - | apt-key add - \
+# && apt-get update \
+# && apt-get -y install drcsim
+
+CMD /bin/bash
diff --git a/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile b/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..4c47295a8f8131573950dad85c9674e2c1569fed
--- /dev/null
+++ b/Tools/ros/docker/px4-ros/px4-ros-sitl/Dockerfile
@@ -0,0 +1,22 @@
+#
+# PX4 ROS SITL
+#
+
+FROM px4ros/ros-base:no-drcsim
+MAINTAINER Andreas Antener "andreas@antener.name"
+
+# TODO
+#USER px4
+
+RUN . /opt/ros/indigo/setup.sh \
+ && mkdir -p /catkin_ws/src \
+ && cd /catkin_ws/src \
+ && catkin_init_workspace \
+ && cd /catkin_ws \
+ && catkin_make \
+ && echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+COPY get-sources.sh /catkin_ws/src/
+RUN chmod +x /catkin_ws/src/get-sources.sh
+
+CMD /bin/bash
diff --git a/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh b/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh
new file mode 100644
index 0000000000000000000000000000000000000000..237ae7500a663d6da08695a7d803ca2cda9dc45e
--- /dev/null
+++ b/Tools/ros/docker/px4-ros/px4-ros-sitl/get-sources.sh
@@ -0,0 +1,28 @@
+#!/bin/sh
+#
+# Fetch source repositories
+#
+
+# PX4 Firmware
+git clone https://github.com/PX4/Firmware.git \
+ && cd Firmware \
+ && git checkout ros \
+ && cd ..
+
+# euroc simulator
+git clone https://github.com/PX4/euroc_simulator.git \
+ && cd euroc_simulator \
+ && git checkout px4_nodes \
+ && cd ..
+
+# mav comm
+git clone https://github.com/PX4/mav_comm.git
+
+# glog catkin
+git clone https://github.com/ethz-asl/glog_catkin.git
+
+# catkin simple
+git clone https://github.com/catkin/catkin_simple.git
+
+echo "Execute catkin_make to compile all the sources."
+
diff --git a/Tools/ros/vagrant/docker-host-base/Vagrantfile b/Tools/ros/vagrant/docker-host-base/Vagrantfile
new file mode 100644
index 0000000000000000000000000000000000000000..5897735d0f33b3f990e8a87935bd916ffc1b3153
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host-base/Vagrantfile
@@ -0,0 +1,59 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+#
+# Vagrantfile to create docker-host-base
+#
+# After build, do "vagrant package --base docker-host-base" to package,
+# and import as box: "vagrant box add --name docker-host-base package.box"
+#
+# To add local docker images into the docker host, configure your local
+# docker client to control the docker daemon on the later running docker-host VM.
+# This box configures docker to listen on any IP on port 2375.
+# You can then also load an existing image, e.g.:
+# "docker load -i px4ros_ros-sitl_no-drcsim_a4209708a04a.tar"
+#
+Vagrant.configure(2) do |config|
+ config.vm.box = "ubuntu/trusty64"
+
+ config.vm.define "docker-host-base"
+
+ config.vm.provider "virtualbox" do |vb|
+ vb.name = "docker-host-base"
+ vb.gui = true
+ vb.memory = "1024"
+ end
+
+ config.vm.provision "file", source: "config/docker-default", destination: "/home/vagrant/docker-default"
+ config.vm.provision "file", source: "config/xsessionrc", destination: "/home/vagrant/.xsessionrc"
+
+ config.vm.provision "shell", inline: <<-SHELL
+ # Update and install apps
+ sudo apt-get update
+ sudo apt-get upgrade -y
+ sudo apt-get install -y --no-install-recommends ubuntu-desktop
+ sudo apt-get install -y gnome-terminal unity-lens-applications
+
+ # Reset the ssh key (because vagrant regenerates it during provisioning)
+ sudo wget --no-check-certificate https://raw.github.com/mitchellh/vagrant/master/keys/vagrant.pub -O /home/vagrant/.ssh/authorized_keys
+ sudo chmod 0700 /home/vagrant/.ssh
+ sudo chmod 0600 /home/vagrant/.ssh/authorized_keys
+ sudo chown -R vagrant /home/vagrant/.ssh
+
+ # Copy docker config
+ sudo mv /home/vagrant/docker-default /etc/default/docker
+
+ # Enable autologin so docker can start GUI apps
+ sudo echo "autologin-user=vagrant" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+ sudo echo "autologin-user-timeout=0" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
+
+ # X session RC
+ chmod +x /home/vagrant/.xsessionrc
+ SHELL
+
+ config.vm.provision "docker"
+
+ # Shutdown after provisioning. "vagrant halt" doesn't recognize the original ssh key anymore
+ # and would just kill the VM. This might lead to FS inconsistencies (e.g. in the docker DB).
+ config.vm.provision "shell", inline: "sudo shutdown -h now"
+end
diff --git a/Tools/ros/vagrant/docker-host-base/config/docker-default b/Tools/ros/vagrant/docker-host-base/config/docker-default
new file mode 100644
index 0000000000000000000000000000000000000000..e8a86ce6a1c83127d6024cf34b40fd2bde6e27a3
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host-base/config/docker-default
@@ -0,0 +1,26 @@
+#
+# Default config for docker /etc/default/docker
+# Copied from a provisioned vagrant box
+#
+# Modifications:
+# - listen to TCP port
+# - removing deprecated "-r=true" option which apparently doesn't work anymore
+# > use restart policies for specific containers if necessary
+#
+
+# Docker Upstart and SysVinit configuration file
+
+# Customize location of Docker binary (especially for development testing).
+#DOCKER="/usr/local/bin/docker"
+
+# Use DOCKER_OPTS to modify the daemon startup options.
+#DOCKER_OPTS="--dns 8.8.8.8 --dns 8.8.4.4"
+
+# If you need Docker to use an HTTP proxy, it can also be specified here.
+#export http_proxy="http://127.0.0.1:3128/"
+
+# This is also a handy place to tweak where Docker's temporary files go.
+#export TMPDIR="/mnt/bigdrive/docker-tmp"
+
+# Expose TCP port in addition to socket
+DOCKER_OPTS="${DOCKER_OPTS} -H unix:///var/run/docker.sock -H 0.0.0.0:2375"
diff --git a/Tools/ros/vagrant/docker-host-base/config/xsessionrc b/Tools/ros/vagrant/docker-host-base/config/xsessionrc
new file mode 100644
index 0000000000000000000000000000000000000000..d8ab6d53da7e3ade84fef19be975f1d5398fd42a
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host-base/config/xsessionrc
@@ -0,0 +1,5 @@
+#!/bin/sh
+#
+# Disable X access control so we can easily start GUI apps
+#
+xhost +
diff --git a/Tools/ros/vagrant/docker-host/Vagrantfile b/Tools/ros/vagrant/docker-host/Vagrantfile
new file mode 100644
index 0000000000000000000000000000000000000000..2e5fcb774e7b3ea9c004a2955dc29503fa9b6bb2
--- /dev/null
+++ b/Tools/ros/vagrant/docker-host/Vagrantfile
@@ -0,0 +1,25 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+Vagrant.configure(2) do |config|
+ config.vm.box = "docker-host-base"
+
+ config.vm.define "docker-host"
+
+ config.vm.provider "virtualbox" do |vb|
+ vb.name = "docker-host"
+ vb.gui = true
+ vb.memory = "4096"
+ vb.cpus = 2
+ vb.customize ["modifyvm", :id, "--graphicscontroller", "vboxvga"]
+ vb.customize ["modifyvm", :id, "--accelerate3d", "on"]
+ vb.customize ["modifyvm", :id, "--ioapic", "on"]
+ vb.customize ["modifyvm", :id, "--vram", "128"]
+ vb.customize ["modifyvm", :id, "--hwvirtex", "on"]
+ end
+
+ config.vm.network "private_network", ip: "192.168.59.104"
+
+ # TBD: would it be better to provision docker here instead of in the base box?
+ #config.vm.provision "docker"
+end
diff --git a/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
new file mode 100644
index 0000000000000000000000000000000000000000..5357ce94dc8187cb5d9211fff971a1ad7a654438
--- /dev/null
+++ b/Tools/ros/vagrant/px4-ros-sitl/Vagrantfile
@@ -0,0 +1,27 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+Vagrant.configure(2) do |config|
+ # Configure docker host
+ config.vm.provider "docker" do |d|
+ d.vagrant_machine = "docker-host"
+ d.vagrant_vagrantfile = "../docker-host/Vagrantfile"
+ end
+
+ # Configure docker apps to run
+ config.vm.define "gazebo" do |app|
+ app.vm.provider "docker" do |d|
+ d.name = "gazebo"
+ d.image = "px4ros/ros-sitl:no-drcsim"
+
+ # share docker host x11 socket
+ d.volumes = ["/tmp/.X11-unix:/tmp/.X11-unix:ro"]
+ # TODO: get display number from host system
+ d.env = {
+ "DISPLAY" => ":0"
+ }
+
+ d.cmd = ["xterm"]
+ end
+ end
+end