diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..7c52dc3d4e79238035ed65db74aa6ed53fcbdf95
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,12 @@
+image: eur0c.laas.fr:5000/humanoid-path-planner/hpp_foottrajectory
+
+build:
+  stage: build
+  script:
+    - cmake .
+    - make
+
+test:
+  stage: test
+  script:
+    - make test
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000000000000000000000000000000000000..7e0af84db286ff91fef785a895980d9f4e5c1b6d
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,7 @@
+FROM eur0c.laas.fr:5000/gepetto/buildfarm/robotpkg:16.04
+
+RUN apt-get update -qqy \
+ && apt-get install -qqy \
+    libyaml-cpp-dev \
+    robotpkg-qpoases \
+ && rm -rf /var/lib/apt/lists/*
diff --git a/README.md b/README.md
index 90cc21ceea276a050b5fb2057fb3e43325ab705d..ba89194154ae895f167b6ff7bcb0bcdd545eb03b 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,7 @@
-# HPP_foottrajectory
\ No newline at end of file
+# HPP_foottrajectory
+
+### Build Docker image for Gitlab CI:
+```
+docker build -t eur0c.laas.fr:5000/humanoid-path-planner/hpp_foottrajectory .
+docker push eur0c.laas.fr:5000/humanoid-path-planner/hpp_foottrajectory
+```