diff --git a/.travis.yml b/.travis.yml
index 40f02d1..b524ecc 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -24,6 +24,7 @@ cache:
 env:
   - ROS_RELEASE=indigo DOCKER_CACHE_FILE=/home/travis/docker/indigo-cache.tar.gz
   - ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz
+  - ROS_RELEASE=lunar DOCKER_CACHE_FILE=/home/travis/docker/lunar-cache.tar.gz
 
 before_install: scripts/load_docker_cache.sh
 
diff --git a/Dockerfile.lunar b/Dockerfile.lunar
new file mode 100644
index 0000000..5c6bd43
--- /dev/null
+++ b/Dockerfile.lunar
@@ -0,0 +1,73 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM ros:lunar
+
+ARG CARTOGRAPHER_VERSION=master
+
+# Xenial's base image doesn't ship with sudo.
+RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
+
+# First, we invalidate the entire cache if googlecartographer/cartographer has
+# changed. This file's content changes whenever master changes. See:
+# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
+ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master \
+    cartographer_ros/cartographer_version.json
+
+# wstool needs the updated rosinstall file to clone the correct repos.
+COPY cartographer_ros.rosinstall cartographer_ros/
+COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
+RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
+    cartographer_ros/scripts/prepare_catkin_workspace.sh
+
+# rosdep needs the updated package.xml files to install the correct debs.
+COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
+COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
+COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
+COPY scripts/install_debs.sh cartographer_ros/scripts/
+RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
+
+# Build, install, and test all packages individually to allow caching. The
+# ordering of these steps must match the topological package ordering as
+# determined by Catkin.
+COPY scripts/install.sh cartographer_ros/scripts/
+COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
+
+COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
+
+RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
+
+RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
+    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
+
+COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_ros \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
+
+COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
+
+COPY scripts/ros_entrypoint.sh /
+# A BTRFS bug may prevent us from cleaning up these directories.
+# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
+RUN rm -rf cartographer_ros catkin_ws || true