diff --git a/jenkins/Dockerfile.kinetic b/jenkins/Dockerfile.kinetic
new file mode 100644
index 0000000..5bcf692
--- /dev/null
+++ b/jenkins/Dockerfile.kinetic
@@ -0,0 +1,109 @@
+# 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:kinetic
+
+ARG CARTOGRAPHER_VERSION=master
+
+# Xenial's base image doesn't ship with sudo.
+RUN apt-get update && apt-get install -y sudo time && 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
+
+RUN sudo apt-get update
+RUN sudo apt-get -y install openjdk-8-jdk
+
+ENV HOME /home/jenkins
+RUN addgroup --system --gid 10000 jenkins
+RUN adduser --system --ingroup jenkins --home $HOME --uid 10000 jenkins
+
+LABEL Description="This is a base image, which provides the Jenkins agent executable (slave.jar)" Vendor="Jenkins project" Version="3.10"
+
+ARG VERSION=3.10
+ARG AGENT_WORKDIR=/home/jenkins/agent
+
+RUN curl --create-dirs -sSLo /usr/share/jenkins/slave.jar https://repo.jenkins-ci.org/public/org/jenkins-ci/main/remoting/${VERSION}/remoting-${VERSION}.jar \
+ && chmod 755 /usr/share/jenkins \
+ && chmod 644 /usr/share/jenkins/slave.jar
+# USER jenkins
+ENV AGENT_WORKDIR=${AGENT_WORKDIR}
+RUN mkdir /home/jenkins/.jenkins && mkdir -p ${AGENT_WORKDIR}
+
+VOLUME /home/jenkins/.jenkins
+VOLUME ${AGENT_WORKDIR}
+WORKDIR /home/jenkins
+
+COPY jenkins/jenkins-slave /usr/local/bin/jenkins-slave
+
+ENV CLOUDSDK_CORE_DISABLE_PROMPTS 1
+ENV PATH /opt/google-cloud-sdk/bin:$PATH
+
+USER root
+
+# Install Google Cloud Components
+RUN curl https://sdk.cloud.google.com | bash && mv google-cloud-sdk /opt
+RUN gcloud components install kubectl
+
+# USER root
+ENTRYPOINT ["jenkins-slave"]
diff --git a/jenkins/jenkins-slave b/jenkins/jenkins-slave
new file mode 100755
index 0000000..bb99112
--- /dev/null
+++ b/jenkins/jenkins-slave
@@ -0,0 +1,86 @@
+#!/usr/bin/env sh
+
+# The MIT License
+#
+#  Copyright (c) 2015, CloudBees, Inc.
+#
+#  Permission is hereby granted, free of charge, to any person obtaining a copy
+#  of this software and associated documentation files (the "Software"), to deal
+#  in the Software without restriction, including without limitation the rights
+#  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+#  copies of the Software, and to permit persons to whom the Software is
+#  furnished to do so, subject to the following conditions:
+#
+#  The above copyright notice and this permission notice shall be included in
+#  all copies or substantial portions of the Software.
+#
+#  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+#  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+#  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+#  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+#  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+#  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+#  THE SOFTWARE.
+
+# Usage jenkins-slave.sh [options] -url http://jenkins [SECRET] [AGENT_NAME]
+# Optional environment variables :
+# * JENKINS_TUNNEL : HOST:PORT for a tunnel to route TCP traffic to jenkins host, when jenkins can't be directly accessed over network
+# * JENKINS_URL : alternate jenkins URL
+# * JENKINS_SECRET : agent secret, if not set as an argument
+# * JENKINS_AGENT_NAME : agent name, if not set as an argument
+
+/ros_entrypoint.sh
+
+if [ $# -eq 1 ]; then
+
+	# if `docker run` only has one arguments, we assume user is running alternate command like `bash` to inspect the image
+	exec "$@"
+
+else
+
+	# if -tunnel is not provided try env vars
+	case "$@" in
+		*"-tunnel "*) ;;
+		*)
+		if [ ! -z "$JENKINS_TUNNEL" ]; then
+			TUNNEL="-tunnel $JENKINS_TUNNEL"
+		fi ;;
+	esac
+
+	if [ -n "$JENKINS_URL" ]; then
+		URL="-url $JENKINS_URL"
+	fi
+
+	if [ -n "$JENKINS_NAME" ]; then
+		JENKINS_AGENT_NAME="$JENKINS_NAME"
+	fi  
+
+	if [ -z "$JNLP_PROTOCOL_OPTS" ]; then
+		echo "Warning: JnlpProtocol3 is disabled by default, use JNLP_PROTOCOL_OPTS to alter the behavior"
+		JNLP_PROTOCOL_OPTS="-Dorg.jenkinsci.remoting.engine.JnlpProtocol3.disabled=true"
+	fi
+
+	# If both required options are defined, do not pass the parameters
+	OPT_JENKINS_SECRET=""
+	if [ -n "$JENKINS_SECRET" ]; then
+		case "$@" in
+			*"${JENKINS_SECRET}"*) echo "Warning: SECRET is defined twice in command-line arguments and the environment variable" ;;
+			*)
+			OPT_JENKINS_SECRET="${JENKINS_SECRET}" ;;
+		esac
+	fi
+	
+	OPT_JENKINS_AGENT_NAME=""
+	if [ -n "$JENKINS_AGENT_NAME" ]; then
+		case "$@" in
+			*"${JENKINS_AGENT_NAME}"*) echo "Warning: AGENT_NAME is defined twice in command-line arguments and the environment variable" ;;
+			*)
+			OPT_JENKINS_AGENT_NAME="${JENKINS_AGENT_NAME}" ;;
+		esac
+	fi
+
+	#TODO: Handle the case when the command-line and Environment variable contain different values.
+	#It is fine it blows up for now since it should lead to an error anyway.
+
+	exec java $JAVA_OPTS $JNLP_PROTOCOL_OPTS -cp /usr/share/jenkins/slave.jar hudson.remoting.jnlp.Main -headless $TUNNEL $URL $OPT_JENKINS_SECRET $OPT_JENKINS_AGENT_NAME "$@"
+fi