diff --git a/jsk_spot_robot/SetupInternalPCAndSpotUser.md b/jsk_spot_robot/SetupInternalPCAndSpotUser.md
index ab7f5a886a..f45fa3c014 100644
--- a/jsk_spot_robot/SetupInternalPCAndSpotUser.md
+++ b/jsk_spot_robot/SetupInternalPCAndSpotUser.md
@@ -17,6 +17,55 @@ core-io$ passwd ...                       # change password
 core-io$ sudo usermod -a -G docker spot   # add spot to docker group
 ```
 
+# Build Docker containers for Development environment
+
+Software development on core-is uses Docker containers and we provided two containers.
+
+1.  spot_dev_env
+2.  `<your username>_dev_env`.
+
+The `spot_dev_env` runs as `spot` user, which will provide basic functions like `roscore` and `jsk_spot_startup` and should be started at boot time.
+
+Users are expected to run `<your username>_dev_env` and create an overay workspace (https://wiki.ros.org/catkin/Tutorials/workspace_overlaying) on top of the workspace of `spot` user.
+
+## Build `spot_dev_env` (for admin)
+
+1. Login to spot as `spot` user or any ararch64 machine as user with uid 1000. Using an aarch64 machine is recommended because `spot-io` has less CPU power.
+2. Create a ROS workspace in `~/spot_dev_env`. Then change to the `jsk_spot_robot/coreio/base` directory.
+3. Run `make build`. This will build the docker image and compile all packages needed for `jsk_spot_startup`.
+
+
+If you have built `spot_dev_env` on a machine other than `core-io,
+
+1. Run `docker save spot_dev_env -O spot_dev_env.tar` on your aarch64 machine
+2. copy it to core-io, e.g. `scp spot_dev_env.tar spot@core-io:/tmp'.
+3 . Run `docker load -i spot_dev_env.tar'.
+4. As this docker image requires `~/spot_dev_env`. Please set up the ROS workspace under `~/spot_dev_env` as the same as your aarch64 machine.
+5. Run `make build` in the `jsk_spot_robot/coreio/base` directory.
+
+## Build `<your username>_dev_env`
+
+1. Create your ROS workspace on `core-io` as your own userid.
+2. go to `jsk_spot_robot/coreio/base` and run `make build`.
+
+# Run Docker container as your development environment
+
+## Run the startup program (for admin)
+
+1.Login to `core-io` as `spot` user, run `~/bash.sh` to start `spot_dev_env` container2. run `roslaunch jsk_spot_startup jsk_spot_bringup.launch credential_config:=$(rospack find jsk_spot_startup)/auth/spot_credential.yaml use_gps:=false`.
+
+Note:
+- This process should be run as upstart or supervisor.
+- Please do not start multiple `spot_dev_env` containers, it will restart multiple system services including bluetooth, so it will disconnect your joystick.
+
+## Run your custom development environment
+
+1. Login to `core-io` as your local user and run `~/bash.sh` to start your build environment.
+2. For the first time, you don't have an overlay package, so if you run `rospack list | grep $HOME`, you will get nothing. If you have a package to modify, run `catkin <package name>` and `source devel/setup.bash`, you will have your package on your overlay workspace.
+
+
+# Tips
+
 ### Setup development environment
 
 ```
diff --git a/jsk_spot_robot/jsk_spot_driver.rosinstall b/jsk_spot_robot/jsk_spot_driver.rosinstall
index 10f5a54ea8..021b6953c2 100644
--- a/jsk_spot_robot/jsk_spot_driver.rosinstall
+++ b/jsk_spot_robot/jsk_spot_driver.rosinstall
@@ -55,10 +55,11 @@
     local-name: robot_upstart
     uri: https://github.com/k-okada/robot_upstart.git
     version: develop
-# aques_talk needs to be compiled from source
-- tar:
-    local-name: aques_talk
-    uri: https://github.com/tork-a/jsk_3rdparty-release/archive/refs/tags/release/melodic/aques_talk/2.1.24-2.tar.gz
+### aques_talk does not have arm64 libraries
+# # aques_talk needs to be compiled from source
+# - tar:
+#     local-name: aques_talk
+#     uri: https://github.com/tork-a/jsk_3rdparty-release/archive/refs/tags/release/melodic/aques_talk/2.1.24-2.tar.gz
 # use parallel app_manager
 - git:
     local-name: app_manager