diff --git a/jsk_unitree_robot/cross/Makefile b/jsk_unitree_robot/cross/Makefile
index e942246cf6..7a05f06953 100644
--- a/jsk_unitree_robot/cross/Makefile
+++ b/jsk_unitree_robot/cross/Makefile
@@ -20,6 +20,9 @@ user:
 install:
 	./install.sh
 
+compress:
+	./compress.sh
+
 clean:
 	rm -fr ${TARGET_MACHINE}_ws_*
 
diff --git a/jsk_unitree_robot/cross/build_ros1.sh b/jsk_unitree_robot/cross/build_ros1.sh
index e7d1cde8e0..c9ed426547 100755
--- a/jsk_unitree_robot/cross/build_ros1.sh
+++ b/jsk_unitree_robot/cross/build_ros1.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
@@ -31,9 +32,12 @@ mkdir -p ${SOURCE_ROOT}/src
 mkdir -p ${HOST_INSTALL_ROOT}/ros1_inst
 
 if [ ${UPDATE_SOURCE_ROOT} -eq 1 ]; then
+    vcs import --force --retry 10 --shallow ${SOURCE_ROOT}/src < repos/catkin_virtualenv.repos
     vcs import --force --retry 10 --shallow ${SOURCE_ROOT}/src < repos/roseus_no_window.repos
     for dir in euslisp jskeus; do ls ${SOURCE_ROOT}/src/$dir/patches/; rsync -avz ${SOURCE_ROOT}/src/$dir/patches/ ${SOURCE_ROOT}/src/$dir; done
-    sed -i s@:{version}@0.0.0@ ${SOURCE_ROOT}/src/euslisp/package.xml ${SOURCE_ROOT}/src/jskeus/package.xml
+    # linux can use sed -i'.bak' and latest mac also supports same syntax.
+    # https://stackoverflow.com/questions/4247068/sed-command-with-i-option-failing-on-mac-but-works-on-linux/14813278#14813278
+    sed -i.bak s@:{version}@0.0.0@ ${SOURCE_ROOT}/src/euslisp/package.xml ${SOURCE_ROOT}/src/jskeus/package.xml
 fi
 wget https://patch-diff.githubusercontent.com/raw/PR2/pr2_mechanism/pull/346.diff -O ${SOURCE_ROOT}/pr2_mechanism-346.diff
 
@@ -47,14 +51,16 @@ DIAGNOSTIC_AGGREGATOR="diagnostic_aggregator"  # jsk_XXX_startup usually depends
 PR2EUS="pr2eus"
 
 docker run -it --rm \
-  -u $(id -u $USER) \
+  -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -e MAKEFLAGS=${MAKEFLAGS} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
+  -v ${PWD}/startup_scripts/usercustomize.py:/home/user/.local/lib/python2.7/site-packages/usercustomize.py:ro \
+  -v ${PWD}/startup_scripts/usercustomize.py:/home/user/.local/lib/python3.6/site-packages/usercustomize.py:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_inst:/opt/jsk/${INSTALL_ROOT}/ros1_inst:rw \
   -v ${PWD}/${SOURCE_ROOT}:/home/user/${SOURCE_ROOT}:rw \
-  ros1-unitree:${TARGET_MACHINE} \
+  ${IMAGE_NAME}:${TARGET_MACHINE} \
   bash -c "\
     source /opt/jsk/System/ros1_dependencies_setup.bash && \
     source /opt/ros/melodic/setup.bash && \
@@ -70,4 +76,7 @@ docker run -it --rm \
         -DEUSLISP_WITHOUT_DISPLAY=TRUE -DDISABLE_DOCUMENTATION=1 \
     " 2>&1 | tee ${TARGET_MACHINE}_build_ros1.log
 
-cp ${PWD}/startup_scripts/system_setup.bash ${HOST_INSTALL_ROOT}/
+for file in system_setup.bash usercustomize.py; do
+    [ -d ${HOST_INSTALL_ROOT}/$file ] && rmdir ${HOST_INSTALL_ROOT}/$file
+    cp ${PWD}/startup_scripts/$file ${HOST_INSTALL_ROOT}/
+done
diff --git a/jsk_unitree_robot/cross/build_ros1_dependencies.sh b/jsk_unitree_robot/cross/build_ros1_dependencies.sh
index 05f70d65ad..1a988ff417 100755
--- a/jsk_unitree_robot/cross/build_ros1_dependencies.sh
+++ b/jsk_unitree_robot/cross/build_ros1_dependencies.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
@@ -27,23 +28,24 @@ mkdir -p ${HOST_INSTALL_ROOT}/Python
 cp repos/go1_requirements.txt ${SOURCE_ROOT}/go1_requirements.txt
 
 docker run -it --rm \
-  -u $(id -u $USER) \
+  -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -e MAKEFLAGS=${MAKEFLAGS} \
   -v ${PWD}/ros1_dependencies_build_scripts:/home/user/ros1_dependencies_build_scripts:ro \
   -v ${PWD}/${SOURCE_ROOT}:/home/user/ros1_dependencies_sources:rw \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk//${INSTALL_ROOT}/ros1_dependencies:rw \
   -v ${HOST_INSTALL_ROOT}/Python:/opt/jsk/${INSTALL_ROOT}/Python:rw \
-  ros1-unitree:${TARGET_MACHINE} \
+  ${IMAGE_NAME}:${TARGET_MACHINE} \
   bash -c "\
     set -xeuf -o pipefail && \
     cd /home/user/ros1_dependencies_sources && \
     vcs import --skip-existing --retry 10 --shallow src < ros1_dependencies.repos && \
     for script_file in \$(ls /home/user/ros1_dependencies_build_scripts/|sort); do
+      [ -e /home/user/ros1_dependencies_sources/\$script_file.installed ] && continue;
       /home/user/ros1_dependencies_build_scripts/\$script_file || exit 1;
+      touch /home/user/ros1_dependencies_sources/\$script_file.installed;
     done && \
     pip install -U --user pip && \
-    export PYTHONPATH=\"/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages\" && \
     export PKG_CONFIG_PATH=\"/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/pkgconfig\" && \
     ~/.local/bin/pip install --prefix=/opt/jsk/${INSTALL_ROOT}/Python -r /home/user/ros1_dependencies_sources/go1_requirements.txt \
     " 2>&1 | tee ${TARGET_MACHINE}_build_ros1_dependencies.log
diff --git a/jsk_unitree_robot/cross/build_user.sh b/jsk_unitree_robot/cross/build_user.sh
index f18831c411..2dcd963351 100755
--- a/jsk_unitree_robot/cross/build_user.sh
+++ b/jsk_unitree_robot/cross/build_user.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
@@ -39,20 +40,22 @@ done
 
 # check if /proc/sys/fs/binfmt_misc/qemu-* is updated
 # See https://github.com/k-okada/jsk_robot/issues/61
-docker run -it --rm ros1-unitree:${TARGET_MACHINE} bash -c 'exit' ||  docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
+docker run -it --rm -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) ${IMAGE_NAME}:${TARGET_MACHINE} bash -c 'exit' ||  docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
 
 # run on docker
 docker run -it --rm \
-  -u $(id -u $USER) \
+  -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/Python:/opt/jsk/${INSTALL_ROOT}/Python:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_inst:/opt/jsk/${INSTALL_ROOT}/ros1_inst:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
   -v ${HOST_INSTALL_ROOT}/system_setup.bash:/opt/jsk/${INSTALL_ROOT}/system_setup.bash:ro \
+  -v ${PWD}/startup_scripts/usercustomize.py:/home/user/.local/lib/python2.7/site-packages/usercustomize.py:ro \
+  -v ${PWD}/startup_scripts/usercustomize.py:/home/user/.local/lib/python3.6/site-packages/usercustomize.py:ro \
   -v ${PWD}/${SOURCE_ROOT}:/opt/jsk/User:rw \
   -v ${PWD}/rosinstall_generator_unreleased.py:/home/user/rosinstall_generator_unreleased.py:ro \
-  ros1-unitree:${TARGET_MACHINE} \
+  ${IMAGE_NAME}:${TARGET_MACHINE} \
   bash -c "\
     source /opt/jsk/System/system_setup.bash && \
     env && \
diff --git a/jsk_unitree_robot/cross/compress.sh b/jsk_unitree_robot/cross/compress.sh
new file mode 100755
index 0000000000..e506ab71d8
--- /dev/null
+++ b/jsk_unitree_robot/cross/compress.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+
+if [ -e "arm64v8_User" ]; then
+    if [ -e "arm64v8_User.tgz" ]; then
+        echo "WARNING: Compressed arm64v8_User.tgz is found."
+        read -p "WARNING: Are you sure to continue [y/N] ? " -n 1 -r
+        echo    # (optional) move to a new line
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            tar -zcvf arm64v8_User.tgz arm64v8_User
+        fi
+    else
+        tar -zcvf arm64v8_User.tgz arm64v8_User
+    fi
+fi
+
+if [ -e "arm64v8_System" ]; then
+    if [ -e "arm64v8_System.tgz" ]; then
+        echo "WARNING: Compressed arm64v8_System.tgz is found."
+        read -p "WARNING: Are you sure to continue [y/N] ? " -n 1 -r
+        echo    # (optional) move to a new line
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            chmod 644 arm64v8_System/ros1_inst/share/pr2eus/*.l
+            tar -zcvf arm64v8_System.tgz arm64v8_System
+        fi
+    else
+        chmod 644 arm64v8_System/ros1_inst/share/pr2eus/*.l
+        tar -zcvf arm64v8_System.tgz arm64v8_System
+    fi
+fi
diff --git a/jsk_unitree_robot/cross/docker/Dockerfile_ros1 b/jsk_unitree_robot/cross/docker/Dockerfile_ros1
index 7de759b9d3..0936a7d68f 100644
--- a/jsk_unitree_robot/cross/docker/Dockerfile_ros1
+++ b/jsk_unitree_robot/cross/docker/Dockerfile_ros1
@@ -31,19 +31,18 @@ RUN git clone https://github.com/k-okada/rosinstall_generator /tmp/rosinstall_ge
 RUN pip install /tmp/rosinstall_generator
 RUN apt install -y python3-vcstool
 #
-# Setup Users
+# add tool for users
 #
-ARG UID=1000
 RUN apt-get install -y sudo
-RUN useradd --uid $UID -ms /bin/bash -G sudo user
-RUN newgrp
-RUN echo user:user | chpasswd
 #
 # Remove packages is not found on 161
 #
 RUN dpkg -r --force-depends cython gir1.2-gstreamer-1.0 libtinyxml-dev python-attr python-autobahn python-automat python-cbor python-concurrent.futures python-constantly python-constantly python-incremental python-lz4 python-nacl python-pyasn1 python-pyasn1-modules python-qrcode python-service-identity python-snappy python-trie python-trollius python-twisted-bin python-twisted-core python-twisted python-txaio python-ubjson python-u-msgpack python-wsaccel python-zope.interface
 #
+# Add cython, which we need to compile packages with catkin_virtualenv, not sure why 1049-cython works...
+RUN (cd /tmp; apt download cython && dpkg --force-depends -i cython_*.deb)
 #
 #
-WORKDIR /home/user
-USER user
+ADD entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/jsk_unitree_robot/cross/docker/entrypoint.sh b/jsk_unitree_robot/cross/docker/entrypoint.sh
new file mode 100644
index 0000000000..52e76e91f8
--- /dev/null
+++ b/jsk_unitree_robot/cross/docker/entrypoint.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+
+function fail {
+    printf '\033[31m%s\033[0m\n' "$1" >&2 ## Send message to stderr.
+    exit "${2-1}" ## Return a code specified by $2, or 1 by default.
+}
+[ -z "${HOST_UID}" ] && fail "ERROR: HOST_UID is requried, add '-e HOST_UID=$(id -u)' to your docker commandline option"
+[ -z "${HOST_GID}" ] && fail "ERROR: HOST_GID is requried, add '-e HOST_GID=$(id -g)' to your docker commandline option"
+
+# create user with same UID as the host user
+# -g The numerical value of the group's ID.
+groupadd -g $HOST_GID user
+# -u The numerical value of the user's ID.
+# -o Allow the creation of a user account with a duplicate (non-unique) UID.
+# -m Create the user's home directory if it does not exist.
+# -g The group name or number of the user's initial login group.
+# -s The name of the user's login shell.
+useradd -u $HOST_UID -o -m -g $HOST_GID -s /usr/bin user -G sudo
+echo user:user | chpasswd
+export HOME=/home/user
+chown $HOST_UID:$HOST_GID $HOME
+cd $HOME
+
+runuser -u user -- "$@"
diff --git a/jsk_unitree_robot/cross/install.sh b/jsk_unitree_robot/cross/install.sh
index 2ac8a123f4..4ef698f5af 100755
--- a/jsk_unitree_robot/cross/install.sh
+++ b/jsk_unitree_robot/cross/install.sh
@@ -54,7 +54,9 @@ function copy_data () {
     fi
 
     # Check if robot is reachable
-    reachability=$(LANG=C ping -c4 ${hostname} 2>/dev/null | awk '/---/,0' | grep -Po '[0-9]{1,3}(?=% packet loss)')
+    # Use perl instead of `grep -Po '[0-9]{1,3}(?=% packet loss)'` for Mac environment.
+    # See https://stackoverflow.com/questions/16658333/grep-p-no-longer-works-how-can-i-rewrite-my-searches/16658690#16658690
+    reachability=$(LANG=C ping -c4 ${hostname} 2>/dev/null | awk '/---/,0' | perl -nle'print $& while m{[0-9]{1,3}(?=% packet loss)}g')
     if [ -z "$reachability" ] || [ "$reachability" == 100 ]; then
         echo "ERROR: ${hostname} unreachable" 1>&2
         exit 2
@@ -64,6 +66,12 @@ function copy_data () {
     ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "${hostname}" || echo "OK"
     sshpass -p $PASS ssh -o StrictHostKeyChecking=no ${user}@${hostname} exit
 
+    if [[ "${TARGET_DIRECTORY}" == "System" ]]; then
+        sshpass -p 123 scp ${TARGET_MACHINE}_${TARGET_DIRECTORY}/usercustomize.py ${user}@${hostname}:/tmp/usercustomize.py
+        sshpass -p $PASS ssh -t ${user}@${hostname} "mkdir -p ~/.local/lib/python2.7/site-packages/; cp -f /tmp/usercustomize.py .local/lib/python2.7/site-packages/"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "mkdir -p ~/.local/lib/python3.6/site-packages/; cp -f /tmp/usercustomize.py .local/lib/python3.6/site-packages/"
+    fi
+
     # cehck disk space
     echo "Copy ${TARGET_MACHINE}_${TARGET_DIRECTORY} ...."
     echo "==="
@@ -108,15 +116,15 @@ function copy_data () {
 
         # update udev
         # respeaker_ros
-        sshpass -p $PASS ssh -t ${user}@${hostname} "source /opt/jsk/User/user_setup.bash; sudo cp -f \$(rospack find respeaker_ros)/config/60-respeaker.rules /etc/udev/rules.d/60-respeaker.rules"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "source /opt/jsk/User/user_setup.bash; echo $PASS | sudo cp -f \$(rospack find respeaker_ros)/config/60-respeaker.rules /etc/udev/rules.d/60-respeaker.rules"
         #
-        sshpass -p $PASS ssh -t ${user}@${hostname} "ls -al /etc/udev/rules.d/; sudo systemctl restart udev"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "ls -al /etc/udev/rules.d/; echo $PASS | sudo systemctl restart udev"
     fi
 
     # enable Internet with USB LTE module
     if [[ "${hostname}" == "192.168.123.161" ]]; then
-        sshpass -p $PASS ssh -t ${user}@${hostname} "source /opt/jsk/User/user_setup.bash; sudo cp -f \$(rospack find jsk_unitree_startup)/config/dhcpcd.conf /etc/dhcpcd.conf"
-        sshpass -p $PASS ssh -t ${user}@${hostname} "sudo systemctl restart dhcpcd"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "export PATH=\$PATH:/sbin; source /opt/jsk/User/user_setup.bash; echo $PASS | sudo cp -f \$(rospack find jsk_unitree_startup)/config/dhcpcd.conf /etc/dhcpcd.conf"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "echo $PASS | sudo systemctl restart dhcpcd"
     fi
     set +x
 }
diff --git a/jsk_unitree_robot/cross/prepare_requirements_ros1.sh b/jsk_unitree_robot/cross/prepare_requirements_ros1.sh
index 110d88651c..2aae00838c 100755
--- a/jsk_unitree_robot/cross/prepare_requirements_ros1.sh
+++ b/jsk_unitree_robot/cross/prepare_requirements_ros1.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"System
 INSTALL_ROOT=System
@@ -14,4 +15,4 @@ if [ -e /proc/sys/fs/binfmt_misc/qemu-aarch64 ] &&  [ ! "$(docker images -q mult
     docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
 fi
 
-docker buildx build $@ --progress plain -t ros1-unitree:${TARGET_MACHINE} --build-arg TARGET_MACHINE=${TARGET_MACHINE} --build-arg UID=$(id -u $USER) -f docker/Dockerfile_ros1 docker/ 2>&1 | tee ${TARGET_MACHINE}_prepare_requirements_ros1.log
+docker buildx build $@ --progress plain -t ${IMAGE_NAME}:${TARGET_MACHINE} --build-arg TARGET_MACHINE=${TARGET_MACHINE} --build-arg UID=$(id -u $USER) -f docker/Dockerfile_ros1 docker/ 2>&1 | tee ${TARGET_MACHINE}_prepare_requirements_ros1.log
diff --git a/jsk_unitree_robot/cross/repos/catkin_virtualenv.repos b/jsk_unitree_robot/cross/repos/catkin_virtualenv.repos
new file mode 100644
index 0000000000..1352315ced
--- /dev/null
+++ b/jsk_unitree_robot/cross/repos/catkin_virtualenv.repos
@@ -0,0 +1,18 @@
+repositories:
+  catkin_virtualenv:
+    type: git
+    url: https://github.com/locusrobotics/catkin_virtualenv
+    version: 0.9.0
+    #
+    # 0.9.0 contains following two patches, but not release on ROS1
+    # catkin_virtualenv depends on python3-rospkg-modules (and others). It is installed in build_ros1_dependencies.sh
+    #
+    # At current, if we do a catkin build with CATKIN_ENABLE_TESTING=FALSE,
+    # we get the error 'Unknown CMake command "catkin_run_tests_target"'
+    # when calling catkin_generate_virtualenv. The following PR fixes this error.
+    # https://github.com/locusrobotics/catkin_virtualenv/pull/89
+    #
+    # Some python environments may not have ensurepip installed.
+    # Also, some users may not be able to use sudo apt install to install python3-venv (sudo command), etc.
+    # The following PR will enable catkin_virtualenv in environments without ensurepip by doing get-pip.py within venv.
+    # https://github.com/locusrobotics/catkin_virtualenv/pull/90
diff --git a/jsk_unitree_robot/cross/repos/ros1_dependencies.repos b/jsk_unitree_robot/cross/repos/ros1_dependencies.repos
index d69c626402..71648aaceb 100644
--- a/jsk_unitree_robot/cross/repos/ros1_dependencies.repos
+++ b/jsk_unitree_robot/cross/repos/ros1_dependencies.repos
@@ -262,3 +262,33 @@ repositories:
     type: tar
     url: http://archive.ubuntu.com/ubuntu/pool/universe/libc/libccd/libccd_2.0-1.debian.tar.xz
     # fcl depends on ccd
+  virtualenv:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/ubuntu/pool/universe/p/python-virtualenv/python-virtualenv_15.1.0+ds.orig.tar.gz
+  virtualenv/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/ubuntu/pool/universe/p/python-virtualenv/python-virtualenv_15.1.0+ds-1.1.debian.tar.xz
+  python3-pyparsing:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/p/pyparsing/pyparsing_2.2.0+dfsg1.orig.tar.gz
+  python3-pyparsing/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/pool/main/p/pyparsing/pyparsing_2.2.0+dfsg1-2.debian.tar.xz
+  python3-catkin-pkg-modules:
+    type: tar
+    url: http://packages.ros.org/ros/ubuntu/pool/main/p/python3-catkin-pkg-modules/python3-catkin-pkg-modules_0.5.2.orig.tar.gz
+  python3-catkin-pkg-modules/debian:
+    type: tar
+    url: http://packages.ros.org/ros/ubuntu/pool/main/p/python3-catkin-pkg-modules/python3-catkin-pkg-modules_0.5.2-1.debian.tar.xz
+  python3-rospkg-modules:
+    type: tar
+    url: http://packages.ros.org/ros/ubuntu/pool/main/p/python3-rospkg-modules/python3-rospkg-modules_1.5.0.orig.tar.gz
+  python3-rospkg-modules/debian:
+    type: tar
+    url: http://packages.ros.org/ros/ubuntu/pool/main/p/python3-rospkg-modules/python3-rospkg-modules_1.5.0-1.debian.tar.xz
+  cython:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/ubuntu/pool/universe/c/cython/cython_0.26.1.orig.tar.gz
+  cython/debian:
+    type: tar
+    url: http://archive.ubuntu.com/ubuntu/ubuntu/pool/universe/c/cython/cython_0.26.1-0.4.debian.tar.xz
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1045-virtualenv b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1045-virtualenv
new file mode 100755
index 0000000000..6f2f02e50b
--- /dev/null
+++ b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1045-virtualenv
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/virtualenv/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/virtualenv/virtualenv-15.1.0
+
+cd ${DEBIAN_DIR}/patches
+for patch_file in $(grep -v ^# series); do
+    OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+done
+
+cd ${SOURCE_DIR}
+
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages/
+SKIP_PYTHON_SCRIPTS=1 \
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages" \
+          python3 \
+          setup.py install \
+	  --force --root=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+	  --no-compile -O0 --single-version-externally-managed --prefix=./
+#          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1046-python3-pyparsing b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1046-python3-pyparsing
new file mode 100755
index 0000000000..6ab82d8494
--- /dev/null
+++ b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1046-python3-pyparsing
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/python3-pyparsing/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/python3-pyparsing/pyparsing-2.2.0+dfsg1
+
+# cd ${DEBIAN_DIR}/patches
+# for patch_file in $(grep -v ^# series); do
+#     OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+# done
+
+cd ${SOURCE_DIR}
+
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages/
+SKIP_PYTHON_SCRIPTS=1 \
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages" \
+          python3 \
+          setup.py install \
+	  --force --root=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+	  --no-compile -O0 --single-version-externally-managed --prefix=./
+#          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1047-python3-catkin-pkg-modules b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1047-python3-catkin-pkg-modules
new file mode 100755
index 0000000000..da470da7cd
--- /dev/null
+++ b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1047-python3-catkin-pkg-modules
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/python3-catkin-pkg-modules/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/python3-catkin-pkg-modules/catkin_pkg_modules-0.5.2
+
+# cd ${DEBIAN_DIR}/patches
+# for patch_file in $(grep -v ^# series); do
+#     OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+# done
+
+cd ${SOURCE_DIR}
+
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages/
+SKIP_PYTHON_SCRIPTS=1 \
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages" \
+          python3 \
+          setup.py install \
+	  --force --root=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+	  --no-compile -O0 --single-version-externally-managed --prefix=./
+#          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1048-python3-rospkg-modules b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1048-python3-rospkg-modules
new file mode 100755
index 0000000000..8af6e48c05
--- /dev/null
+++ b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1048-python3-rospkg-modules
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -xeuf -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/python3-rospkg-modules/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/python3-rospkg-modules/rospkg_modules-1.5.0
+
+# cd ${DEBIAN_DIR}/patches
+# for patch_file in $(grep -v ^# series); do
+#     OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+# done
+
+cd ${SOURCE_DIR}
+
+mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages/
+SKIP_PYTHON_SCRIPTS=1 \
+PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python3.6/site-packages" \
+          python3 \
+          setup.py install \
+	  --force --root=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+	  --no-compile -O0 --single-version-externally-managed --prefix=./
+#          --prefix /opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
diff --git a/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1049-cython b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1049-cython
new file mode 100755
index 0000000000..fd38c9c307
--- /dev/null
+++ b/jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1049-cython
@@ -0,0 +1,46 @@
+#!/bin/bash
+set -xeu -o pipefail
+
+DEBIAN_DIR=/home/user/ros1_dependencies_sources/src/cython/debian/debian
+SOURCE_DIR=/home/user/ros1_dependencies_sources/src/cython/Cython-0.26.1
+
+cd ${DEBIAN_DIR}/patches
+for patch_file in $(grep -v ^# series); do
+    OUT="$(patch -p1 --forward --directory ${SOURCE_DIR} < ${patch_file} | tee /dev/tty)" || echo "${OUT}" | grep "Skipping patch" -q || (echo "$OUT" && false) || echo "OK"
+done
+
+cd ${SOURCE_DIR}
+
+# mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python2.7/site-packages/
+# PYTHONPATH="/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python2.7/site-packages" \
+#           python2 \
+#           setup.py install \
+# 	  --force --root=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
+# 	  --no-compile -O0 --single-version-externally-managed --prefix=./
+
+# fix shebang
+#sed -i -e '1 s,#!.*python.*,#!/usr/bin/python,' /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/bin/cython
+#sed -i -e '1 s,#!.*python.*,#!/usr/bin/python,' /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/bin/cygdb
+#sed -i -e '1 s,#!.*python.*,#!/usr/bin/python,' /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/bin/cythonize
+
+###
+### catkin_virtualenv failed with PyYAML,
+### We still do not find the root couse but it fails with source install
+### add following code in docker/Dockerfile_ros1, but it is exceptional.
+### RUN (cd /tmp; apt download cython && dpkg --force-depends -i cython_*.deb)
+### Dockerfile_ros1 is designed to reproduce dog's internal PC and we install cython just to pass build_ros1.sh
+
+ # [ 20%] Lock input requirements if they don't exist                                                                      [ 40%] Install requirements to /home/user/arm64v8_ws_system/build_isolated/test_catkin_virtualenv_python2/venv            ERROR: Command errored out with exit status 1:                                                                           command: /home/user/arm64v8_ws_system/build_isolated/test_catkin_virtualenv_python2/venv/bin/python /home/user/arm64v8_ws_system/build_isolated/test_catkin_virtualenv_python2/venv/local/lib/python2.7/site-packages/pip/_vendor/pep517/_in_process.py get_requires_for_build_wheel /tmp/tmplXEZlo                                                                         cwd: /tmp/pip-install-YKwwFS/pyyaml
+ #  Complete output (46 lines):                                                                                             running egg_info                                                                                                        creating lib/PyYAML.egg-info
+ #  writing lib/PyYAML.egg-info/PKG-INFO
+ #  writing top-level names to lib/PyYAML.egg-info/top_level.txt
+ #  writing dependency_links to lib/PyYAML.egg-info/dependency_links.txt
+ #  writing manifest file 'lib/PyYAML.egg-info/SOURCES.txt'
+ #  Traceback (most recent call last):                                                                                        File "/home/user/arm64v8_ws_system/build_isolated/test_catkin_virtualenv_python2/venv/local/lib/python2.7/site-packages/pip/_vendor/pep517/_in_process.py", line 280, in <module>                                                                 main()                                                 
+ #    File "/home/user/arm64v8_ws_system/build_isolated/test_catkin_virtualenv_python2/venv/local/lib/python2.7/site-packages/setuptools/command/py36compat.py", line 120, in _add_defaults_ext
+ #      self.filelist.extend(build_ext.get_source_files())                                                                    File "setup.py", line 201, in get_source_files
+ #      self.cython_sources(ext.sources, ext)
+ #    File "/usr/lib/python2.7/distutils/cmd.py", line 105, in __getattr__
+ #      raise AttributeError, attr
+ #  AttributeError: cython_sources
+ #  ----------------------------------------
diff --git a/jsk_unitree_robot/cross/run_user.sh b/jsk_unitree_robot/cross/run_user.sh
index 07c9f39652..e53cb068e0 100755
--- a/jsk_unitree_robot/cross/run_user.sh
+++ b/jsk_unitree_robot/cross/run_user.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
@@ -10,15 +11,17 @@ set -xeuf -o pipefail
 #  -v ${PWD}/${TARGET_MACHINE}_ws_system:/home/user/${TARGET_MACHINE}_ws_system:rw \
 # run on docker
 docker run -it --rm \
-  -u $(id -u $USER) \
+  -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/Python:/opt/jsk/${INSTALL_ROOT}/Python:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_inst:/opt/jsk/${INSTALL_ROOT}/ros1_inst:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
   -v ${HOST_INSTALL_ROOT}/system_setup.bash:/opt/jsk/${INSTALL_ROOT}/system_setup.bash:ro \
+  -v ${HOST_INSTALL_ROOT}/usercustomize.py:/home/user/.local/lib/python2.7/site-packages/usercustomize.py:ro \
+  -v ${HOST_INSTALL_ROOT}/usercustomize.py:/home/user/.local/lib/python3.6/site-packages/usercustomize.py:ro \
   -v ${PWD}/${SOURCE_ROOT}:/opt/jsk/User:rw \
-  ros1-unitree:${TARGET_MACHINE} \
+  ${IMAGE_NAME}:${TARGET_MACHINE} \
   bash -c "echo 'source /opt/jsk/User/user_setup.bash; env; cd /opt/jsk/User' > ~/.bashrc; exec \"\$0\""
 
 # https://stackoverflow.com/questions/59814742/docker-run-bash-init-file
diff --git a/jsk_unitree_robot/cross/startup_scripts/ros1_dependencies_setup.bash b/jsk_unitree_robot/cross/startup_scripts/ros1_dependencies_setup.bash
index bb83142ace..c03e083861 100755
--- a/jsk_unitree_robot/cross/startup_scripts/ros1_dependencies_setup.bash
+++ b/jsk_unitree_robot/cross/startup_scripts/ros1_dependencies_setup.bash
@@ -5,14 +5,17 @@
 export CMAKE_PREFIX_PATH="/opt/jsk/System/ros1_dependencies:${CMAKE_PREFIX_PATH}"
 export PKG_CONFIG_PATH="/opt/jsk/System/ros1_dependencies/lib/pkgconfig:${PKG_CONFIG_PATH}"
 export LD_LIBRARY_PATH="/opt/jsk/System/ros1_dependencies/lib:${LD_LIBRARY_PATH}"
-export PYTHONPATH="/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages:${PYTHONPATH}"
+export PATH="/opt/jsk/System/ros1_dependencies/bin:${PATH}"
+# Python's sys.path is automatically set in ~/.local/lib/python2.7/usercustomize.py
+# export PYTHONPATH="/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages:${PYTHONPATH}"
 
 # GI : for gir1.2-gstreamer-1.0, which is installed by ros1_dependencies_build_scripts/0006-gstreamer
 export GI_TYPELIB_PATH="/opt/jsk/System/ros1_dependencies/lib/girepository-1.0"
 
 # Python
 export LD_LIBRARY_PATH="/opt/jsk/System/Python/lib:${LD_LIBRARY_PATH}"
-export PYTHONPATH="/opt/jsk/System/Python/lib/python2.7/site-packages:${PYTHONPATH}"
+# Python's sys.path is automatically set in ~/.local/lib/python2.7/usercustomize.py
+# export PYTHONPATH="/opt/jsk/System/Python/lib/python2.7/site-packages:${PYTHONPATH}"
 export PATH="/opt/jsk/System/Python/bin:${PATH}"
 
 
diff --git a/jsk_unitree_robot/cross/startup_scripts/usercustomize.py b/jsk_unitree_robot/cross/startup_scripts/usercustomize.py
new file mode 100644
index 0000000000..b292e21a43
--- /dev/null
+++ b/jsk_unitree_robot/cross/startup_scripts/usercustomize.py
@@ -0,0 +1,42 @@
+import site
+import sys
+import os
+import os.path as osp
+
+site.PREFIXES += [
+    '/opt/jsk/System/Python/',
+    '/opt/jsk/System/ros1_dependencies/'
+]
+
+# https://www.programcreek.com/python/?code=Pylons%2Fhupper%2Fhupper-master%2Fsrc%2Fhupper%2Fcompat.py
+def get_site_packages():
+    try:
+        paths = []
+        for path in site.getsitepackages():
+            if osp.exists(path):
+                paths.append(path)
+            site_package = osp.join(osp.dirname(path), 'site-packages')
+            if site_package != path and osp.exists(site_package):
+                paths.append(site_package)
+
+        return paths
+
+    # virtualenv does not ship with a getsitepackages impl so we fallback
+    # to using distutils if we can
+    # https://github.com/pypa/virtualenv/issues/355
+    except Exception:
+        try:
+            paths = []
+            for base_path in site.PREFIXES:
+                for python_path in ['lib/python{}'.format(sys.version_info[0]),
+                                    'lib/python{}.{}'.format(sys.version_info[0], sys.version_info[1])]:
+                    site_package = osp.join(base_path, python_path, 'site-packages')
+                    if osp.exists(site_package):
+                        paths.append(site_package)
+            return paths
+
+        # just incase, don't fail here, it's not worth it
+        except Exception as e:
+            return []
+
+sys.path.extend(get_site_packages())