diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..b405a01
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,18 @@
+# Exclude build artifacts and logs
+/cache/
+*.log
+
+# Exclude other potential build artifacts
+*.o
+*.a
+*.so
+
+# Exclude IDE and system-specific files
+*.swp
+*.swo
+.DS_Store
+*.pyc
+*.pyo
+
+# Exclude local configuration files
+*.env
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..9198c85
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,4 @@
+[submodule "src/turtlebot3_simulations"]
+	path = src/turtlebot3_simulations
+	url = https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
+	branch = humble-devel
diff --git a/README.md b/README.md
index b8b6790..1b74aa1 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,99 @@
-# Collaborative-Autonomous-Multi-Agent-SLAM
\ No newline at end of file
+# Collaborative-Autonomous-Multi-Agent-SLAM
+## Table of Contents
+- [Setup Development Environment](#setup-development-environment)
+  - [ROS](#ros)
+  - [Gazebo](#gazebo)
+  - [Python](#python)
+- [Troubleshooting Help](#troubleshooting-help)
+- [Interacting with the Platform](#interacting-with-the-platform)
+- [Resources](#resources)
+
+## Setup Development Environment
+
+### ROS
+To set up the ROS environment, follow these steps:
+
+1. **Install ROS**
+   - Open the "x64 Native Tools Command Prompt for VS 2019" as Administrator.
+   - Install Chocolatey package manager:
+     ```sh
+     @"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command "iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"
+     ```
+   - Install Git:
+     ```sh
+     choco upgrade git -y
+     ```
+   - Install ROS:
+     ```sh
+     mkdir c:\opt\chocolatey
+     set ChocolateyInstall=c:\opt\chocolatey
+     choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
+     choco upgrade ros-noetic-desktop_full -y --execution-timeout=0
+     ```
+
+2. **Source the ROS Environment**
+   - Open the Visual Studio Command Prompt as Administrator.
+   - Source the setup script:
+     ```sh
+     c:\opt\ros\noetic\x64\setup.bat
+     ```
+
+3. **Verify the ROS Installation**
+   - Check the ROS version:
+     ```sh
+     rosversion -d
+     ```
+
+For more detailed instructions, refer to the [Installing and Configuring Your ROS Environment](https://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment) tutorial.
+
+### Gazebo
+To set up Gazebo, follow these steps:
+
+1. **Install Gazebo**
+   - Use the ROS package manager to install Gazebo:
+     ```sh
+     sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
+     ```
+
+2. **Verify the Gazebo Installation**
+   - Run Gazebo to ensure it's installed correctly:
+     ```sh
+     gazebo
+     ```
+
+### Python
+To set up Python for ROS:
+
+1. **Install Python**
+   - Download and install Python from the [official website](https://www.python.org/downloads/).
+
+2. **Install ROS Python Dependencies**
+   - Install the necessary Python packages for ROS:
+     ```sh
+     pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools
+     ```
+
+## Troubleshooting Help
+If you encounter issues during setup, here are some common troubleshooting steps:
+
+- Ensure all paths are correctly set in your environment variables.
+- Verify that you are running the commands in the appropriate shell (e.g., Visual Studio Command Prompt for VS 2019).
+- Check for any typos or syntax errors in the commands.
+- Refer to the [ROS Troubleshooting Guide](https://wiki.ros.org/ROS/Installation/Windows#Troubleshooting).
+
+## Interacting with the Platform
+To start working with the platform, follow these steps:
+
+1. **Create a Catkin Workspace**
+   ```sh
+   mkdir -p ~/catkin_ws/src
+   cd ~/catkin_ws/
+   catkin_make
+   source devel/setup.bash
+   cd ~/catkin_ws/src
+   catkin_create_pkg my_package std_msgs rospy roscpp
+   cd ~/catkin_ws
+   catkin_make
+
+
+
diff --git a/src/rviz-mac/Dockerfile b/src/rviz-mac/Dockerfile
new file mode 100644
index 0000000..41d3b2d
--- /dev/null
+++ b/src/rviz-mac/Dockerfile
@@ -0,0 +1,53 @@
+# Use the official ROS Humble base image
+FROM ros:humble
+# Update apt sources to use Tsinghua mirrors
+RUN sed -i 's/ports\.ubuntu\.com/mirrors\.tuna\.tsinghua\.edu\.cn/g' /etc/apt/sources.list && \
+    sed -i 's/packages\.ros\.org/mirrors\.tuna\.tsinghua\.edu\.cn/g' /etc/apt/sources.list.d/ros2-latest.list
+# Install necessary packages
+RUN apt-get update && apt-get install -y \
+    iputils-ping \
+    net-tools \
+    wget \
+    sudo \
+    python3-pip \
+    mesa-utils \
+    mesa-utils-extra \
+    ros-humble-desktop \
+    ros-humble-cartographer \
+    ros-humble-cartographer-ros \
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-rviz2 \
+    bash \
+    fluxbox \
+    git \
+    novnc \
+    supervisor \
+    x11vnc \
+    xterm \
+    xvfb && \
+    rm -rf /var/lib/apt/lists/*
+# Create a workspace
+RUN mkdir -p /root/catkin_ws
+WORKDIR /root/catkin_ws
+# Source ROS environment
+RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc
+# Set environment variables
+ENV HOME=/root \
+    DEBIAN_FRONTEND=noninteractive \
+    LANG=en_US.UTF-8 \
+    LANGUAGE=en_US.UTF-8 \
+    LC_ALL=C.UTF-8 \
+    DISPLAY=:0.0 \
+    DISPLAY_WIDTH=1024 \
+    DISPLAY_HEIGHT=768 \
+    RUN_XTERM=yes \
+    RUN_FLUXBOX=yes \
+    ROS_MASTER_URI=http://172.16.0.240:11311 \
+    ROS_HOSTNAME=ros
+# Copy application files
+COPY . /app
+# Set the default command
+CMD ["/app/entrypoint.sh"]
+# Expose port
+EXPOSE 8080
\ No newline at end of file
diff --git a/src/rviz-mac/conf.d/fluxbox.conf b/src/rviz-mac/conf.d/fluxbox.conf
new file mode 100644
index 0000000..96793ad
--- /dev/null
+++ b/src/rviz-mac/conf.d/fluxbox.conf
@@ -0,0 +1,3 @@
+[program:fluxbox]
+command=fluxbox
+autorestart=true
diff --git a/src/rviz-mac/conf.d/websockify.conf b/src/rviz-mac/conf.d/websockify.conf
new file mode 100644
index 0000000..d15418c
--- /dev/null
+++ b/src/rviz-mac/conf.d/websockify.conf
@@ -0,0 +1,3 @@
+[program:websockify]
+command=websockify --web /usr/share/novnc 8080 localhost:5900
+autorestart=true
diff --git a/src/rviz-mac/conf.d/x11vnc.conf b/src/rviz-mac/conf.d/x11vnc.conf
new file mode 100644
index 0000000..2fff49a
--- /dev/null
+++ b/src/rviz-mac/conf.d/x11vnc.conf
@@ -0,0 +1,3 @@
+[program:x11vnc]
+command=x11vnc -forever -shared
+autorestart=true
diff --git a/src/rviz-mac/conf.d/xterm.conf b/src/rviz-mac/conf.d/xterm.conf
new file mode 100644
index 0000000..da1af44
--- /dev/null
+++ b/src/rviz-mac/conf.d/xterm.conf
@@ -0,0 +1,3 @@
+[program:xterm]
+command=xterm
+autorestart=true
diff --git a/src/rviz-mac/conf.d/xvfb.conf b/src/rviz-mac/conf.d/xvfb.conf
new file mode 100644
index 0000000..29949d8
--- /dev/null
+++ b/src/rviz-mac/conf.d/xvfb.conf
@@ -0,0 +1,3 @@
+[program:xvfb]
+command=Xvfb :0 -screen 0 "%(ENV_DISPLAY_WIDTH)s"x"%(ENV_DISPLAY_HEIGHT)s"x24 -listen tcp -ac
+autorestart=true
diff --git a/src/rviz-mac/entrypoint.sh b/src/rviz-mac/entrypoint.sh
new file mode 100644
index 0000000..283ca62
--- /dev/null
+++ b/src/rviz-mac/entrypoint.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+set -ex
+
+RUN_FLUXBOX=${RUN_FLUXBOX:-yes}
+RUN_XTERM=${RUN_XTERM:-yes}
+
+case $RUN_FLUXBOX in
+  false|no|n|0)
+    rm -f /app/conf.d/fluxbox.conf
+    ;;
+esac
+
+case $RUN_XTERM in
+  false|no|n|0)
+    rm -f /app/conf.d/xterm.conf
+    ;;
+esac
+
+exec supervisord -c /app/supervisord.conf
diff --git a/src/rviz-mac/supervisord.conf b/src/rviz-mac/supervisord.conf
new file mode 100644
index 0000000..3dd2ac7
--- /dev/null
+++ b/src/rviz-mac/supervisord.conf
@@ -0,0 +1,5 @@
+[supervisord]
+nodaemon=true
+
+[include]
+files = /app/conf.d/*.conf