diff --git a/.gitignore b/.gitignore
index c067b61..e22337a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,5 @@
+requirements.txt
+
 /models
 /test/data
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e5c175b..7427ef3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(detic_ros)
 
+option(DETIC_ROS_INSTALL_TORCH "Installing the pytorch when building" ON)
+
 find_package(catkin REQUIRED COMPONENTS
     catkin_virtualenv
     std_msgs
@@ -66,9 +68,16 @@ catkin_package(
     CATKIN_DEPENDS message_runtime
 )
 
+if(DETIC_ROS_INSTALL_TORCH)
+    set(REQUIREMENTS requirements_with_torch.txt)
+else()
+    set(REQUIREMENTS requirements_without_torch.txt)
+endif()
+
 catkin_generate_virtualenv(
     PYTHON_INTERPRETER python3
     CHECK_VENV FALSE
+    INPUT_REQUIREMENTS ${REQUIREMENTS}
 )
 
 file(GLOB PYTHON_SCRIPTS node_script/*.py)
diff --git a/l4t.Dockerfile b/l4t.Dockerfile
new file mode 100644
index 0000000..eecca97
--- /dev/null
+++ b/l4t.Dockerfile
@@ -0,0 +1,39 @@
+FROM nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.11-py3
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Remove OpenCV built with CUDA by NVIDIA. It conflicts with original OpenCV deb
+RUN apt purge opencv-* -y
+
+# Install ROS
+RUN apt update && apt install -y -qq curl &&\
+    sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' &&\
+    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&\
+    apt update && apt install -y -qq \
+    python3-catkin-tools python3-rosdep ros-noetic-desktop-full ros-noetic-jsk-recognition &&\
+    rm -rf /var/lib/apt/lists/*
+
+# Upgrade pip-setup related packages to make grpcio install faster. Without this line, the grpcio would be compiled from source and it takes so much time.
+RUN pip3 install --upgrade pip 'setuptools<=68.2.2' wheel && rm -rf ~/.cache/pip
+
+# Build detectron2 from source. The aarch64 version is not released
+RUN cd /tmp &&\
+    git clone --depth 1 -b v0.6 https://github.com/facebookresearch/detectron2 &&\
+    pip3 install --no-cache-dir -e detectron2 &&\
+    rm -rf ~/.cache/pip
+
+# Copy repository and install system dependencies
+RUN rosdep init
+RUN mkdir -p /catkin_ws/src/detic_ros
+COPY package.xml /catkin_ws/src/detic_ros
+RUN cd /catkin_ws/src/detic_ros &&\
+    apt update &&\
+    rosdep update &&\
+    rosdep install --rosdistro=noetic -iqry --from-paths /catkin_ws/src &&\
+    rm -rf /var/lib/apt/lists/*
+
+# Build
+COPY . /catkin_ws/src/detic_ros
+RUN sed -i '1,3d' /catkin_ws/src/detic_ros/requirements_without_torch.txt
+RUN cd /catkin_ws &&\
+    /opt/ros/noetic/env.sh catkin build detic_ros --cmake-args -DDETIC_ROS_INSTALL_TORCH=OFF
diff --git a/prepare.sh b/prepare.sh
index da4ae40..a4e794b 100755
--- a/prepare.sh
+++ b/prepare.sh
@@ -1,8 +1,6 @@
 #!/usr/bin/bash
 
-git submodule update --init --recursive 
-
-ln -sf Detic/configs detic_configs 
+ln -sf Detic/configs detic_configs
 ln -sf Detic/datasets datasets
 
 cd node_script
diff --git a/requirements.txt b/requirements_with_torch.txt
similarity index 100%
rename from requirements.txt
rename to requirements_with_torch.txt
diff --git a/requirements_without_torch.txt b/requirements_without_torch.txt
new file mode 100644
index 0000000..1ed3dd9
--- /dev/null
+++ b/requirements_without_torch.txt
@@ -0,0 +1,17 @@
+-f https://dl.fbaipublicfiles.com/detectron2/wheels/cu111/torch1.9/index.html
+detectron2
+
+pillow<10.0.0  # After 10.0.0, following error occurs: AttributeError: module 'PIL.Image' has no attribute 'LINEAR'
+
+# Copied from Detic
+opencv-python==4.5.5.62
+timm==0.5.4
+dataclasses  # remove version specification for local install
+ftfy==6.0.3
+regex==2022.1.18
+fasttext==0.9.2
+scikit-learn==1.0.2
+numpy==1.22.0
+lvis==0.5.3
+nltk==3.6.7
+git+https://github.com/openai/CLIP.git