diff --git a/jsk_unitree_robot/cross/docker/entrypoint.sh b/jsk_unitree_robot/cross/docker/entrypoint.sh
index 69824361e9..7530a0a044 100644
--- a/jsk_unitree_robot/cross/docker/entrypoint.sh
+++ b/jsk_unitree_robot/cross/docker/entrypoint.sh
@@ -17,6 +17,7 @@ groupadd -g $HOST_GID user
 # -s The name of the user's login shell.
 useradd -u $HOST_UID -o -m -g $HOST_GID -s /usr/bin user
 export HOME=/home/user
+chown -R $HOST_UID:$HOST_GID $HOME
 cd $HOME
 
 runuser -u user -- "$@"
diff --git a/jsk_unitree_robot/cross/repos/unitree.repos b/jsk_unitree_robot/cross/repos/unitree.repos
index 72503f02e4..9db6c63ef7 100644
--- a/jsk_unitree_robot/cross/repos/unitree.repos
+++ b/jsk_unitree_robot/cross/repos/unitree.repos
@@ -24,3 +24,22 @@ repositories:
     # enable to run simple apps parallel to other apps
     # https://github.com/PR2/app_manager/pull/59 have been merged,
     # but 1.4.0 have not released yet.
+  catkin_virtualenv:
+    type: git
+    url: https://github.com/iory/catkin_virtualenv
+    version: unitree
+    # 0.9.0 contains following two patches, but not release on ROS1
+    #
+    # 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
+  esp_now_ros:
+    type: git
+    url: https://github.com/sktometometo/esp_now_ros.git
+    version: v0.3.0
diff --git a/jsk_unitree_robot/jsk_unitree_startup/package.xml b/jsk_unitree_robot/jsk_unitree_startup/package.xml
index 9723686b9a..d489372651 100644
--- a/jsk_unitree_robot/jsk_unitree_startup/package.xml
+++ b/jsk_unitree_robot/jsk_unitree_startup/package.xml
@@ -19,6 +19,7 @@
 
   <!-- for diagnostic aggregator -->
   <run_depend>diagnostic_aggregator</run_depend>
+  <run_depend>esp_now_ros</run_depend>
 
   <test_depend>roslaunch</test_depend>
   <test_depend>roslint</test_depend>