diff --git a/jsk_unitree_robot/cross/build_ros1.sh b/jsk_unitree_robot/cross/build_ros1.sh
index fbd2a03d13..20e660d3e4 100755
--- a/jsk_unitree_robot/cross/build_ros1.sh
+++ b/jsk_unitree_robot/cross/build_ros1.sh
@@ -48,24 +48,15 @@ JSK_ROBOT_UTILS="jsk_network_tools"
 DIAGNOSTIC_AGGREGATOR="diagnostic_aggregator"  # jsk_XXX_startup usually depends on diagnostic_aggregator
 PR2EUS="pr2eus"
 
-case ${OSTYPE} in
-    linux*)
-        OPTIONS="-u $(id -u $USER)"
-        ;;
-    darwin*)
-        OPTIONS=""
-        ;;
-esac
-
 docker run -it --rm \
-  ${OPTIONS} \
+  -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -e MAKEFLAGS=${MAKEFLAGS} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
   -v ${HOST_INSTALL_ROOT}/ros1_inst:/opt/jsk/${INSTALL_ROOT}/ros1_inst:rw \
   -v ${PWD}/${SOURCE_ROOT}:/home/user/${SOURCE_ROOT}:rw \
-  ros1-unitree:${TARGET_MACHINE} \
+  ${IMAGE_NAME}:${TARGET_MACHINE} \
   bash -c "\
     source /opt/jsk/System/ros1_dependencies_setup.bash && \
     source /opt/ros/melodic/setup.bash && \
diff --git a/jsk_unitree_robot/cross/build_ros1_dependencies.sh b/jsk_unitree_robot/cross/build_ros1_dependencies.sh
index 8813b24958..079d34cd14 100755
--- a/jsk_unitree_robot/cross/build_ros1_dependencies.sh
+++ b/jsk_unitree_robot/cross/build_ros1_dependencies.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
@@ -26,24 +27,15 @@ cp repos/ros1_dependencies.repos ${SOURCE_ROOT}/
 mkdir -p ${HOST_INSTALL_ROOT}/Python
 cp repos/go1_requirements.txt ${SOURCE_ROOT}/go1_requirements.txt
 
-case ${OSTYPE} in
-    linux*)
-        OPTIONS="-u $(id -u $USER)"
-    ;;
-    darwin*)
-        OPTIONS=""
-    ;;
-esac
-
 docker run -it --rm \
-  ${OPTIONS} \
+  -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -e MAKEFLAGS=${MAKEFLAGS} \
   -v ${PWD}/ros1_dependencies_build_scripts:/home/user/ros1_dependencies_build_scripts:ro \
   -v ${PWD}/${SOURCE_ROOT}:/home/user/ros1_dependencies_sources:rw \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk//${INSTALL_ROOT}/ros1_dependencies:rw \
   -v ${HOST_INSTALL_ROOT}/Python:/opt/jsk/${INSTALL_ROOT}/Python:rw \
-  ros1-unitree:${TARGET_MACHINE} \
+  ${IMAGE_NAME}:${TARGET_MACHINE} \
   bash -c "\
     set -xeuf -o pipefail && \
     cd /home/user/ros1_dependencies_sources && \
diff --git a/jsk_unitree_robot/cross/build_user.sh b/jsk_unitree_robot/cross/build_user.sh
index 956147f133..b692debab2 100755
--- a/jsk_unitree_robot/cross/build_user.sh
+++ b/jsk_unitree_robot/cross/build_user.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
@@ -39,20 +40,11 @@ done
 
 # check if /proc/sys/fs/binfmt_misc/qemu-* is updated
 # See https://github.com/k-okada/jsk_robot/issues/61
-docker run -it --rm ros1-unitree:${TARGET_MACHINE} bash -c 'exit' ||  docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
-
-case ${OSTYPE} in
-    linux*)
-        OPTIONS="-u $(id -u $USER)"
-        ;;
-    darwin*)
-        OPTIONS=""
-        ;;
-esac
+docker run -it --rm -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) ${IMAGE_NAME}:${TARGET_MACHINE} bash -c 'exit' ||  docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
 
 # run on docker
 docker run -it --rm \
-  ${OPTIONS} \
+  -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/Python:/opt/jsk/${INSTALL_ROOT}/Python:ro \
@@ -61,7 +53,7 @@ docker run -it --rm \
   -v ${HOST_INSTALL_ROOT}/system_setup.bash:/opt/jsk/${INSTALL_ROOT}/system_setup.bash:ro \
   -v ${PWD}/${SOURCE_ROOT}:/opt/jsk/User:rw \
   -v ${PWD}/rosinstall_generator_unreleased.py:/home/user/rosinstall_generator_unreleased.py:ro \
-  ros1-unitree:${TARGET_MACHINE} \
+  ${IMAGE_NAME}:${TARGET_MACHINE} \
   bash -c "\
     source /opt/jsk/System/system_setup.bash && \
     env && \
diff --git a/jsk_unitree_robot/cross/docker/Dockerfile_ros1 b/jsk_unitree_robot/cross/docker/Dockerfile_ros1
index 7de759b9d3..34dc52a88e 100644
--- a/jsk_unitree_robot/cross/docker/Dockerfile_ros1
+++ b/jsk_unitree_robot/cross/docker/Dockerfile_ros1
@@ -31,13 +31,12 @@ RUN git clone https://github.com/k-okada/rosinstall_generator /tmp/rosinstall_ge
 RUN pip install /tmp/rosinstall_generator
 RUN apt install -y python3-vcstool
 #
-# Setup Users
+# add tool for users
 #
-ARG UID=1000
 RUN apt-get install -y sudo
-RUN useradd --uid $UID -ms /bin/bash -G sudo user
-RUN newgrp
-RUN echo user:user | chpasswd
+ADD entrypoint.sh /
+RUN chmod +x /entrypoint.sh
+RUN cat /entrypoint.sh
 #
 # Remove packages is not found on 161
 #
@@ -45,5 +44,4 @@ RUN dpkg -r --force-depends cython gir1.2-gstreamer-1.0 libtinyxml-dev python-at
 #
 #
 #
-WORKDIR /home/user
-USER user
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/jsk_unitree_robot/cross/docker/entrypoint.sh b/jsk_unitree_robot/cross/docker/entrypoint.sh
new file mode 100644
index 0000000000..69824361e9
--- /dev/null
+++ b/jsk_unitree_robot/cross/docker/entrypoint.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+function fail {
+    printf '\033[31m%s\033[0m\n' "$1" >&2 ## Send message to stderr.
+    exit "${2-1}" ## Return a code specified by $2, or 1 by default.
+}
+[ -z "${HOST_UID}" ] && fail "ERROR: HOST_UID is requried, add '-e HOST_UID=$(id -u)' to your docker commandline option"
+[ -z "${HOST_GID}" ] && fail "ERROR: HOST_GID is requried, add '-e HOST_GID=$(id -g)' to your docker commandline option"
+
+# create user with same UID as the host user
+# -g The numerical value of the group's ID.
+groupadd -g $HOST_GID user
+# -u The numerical value of the user's ID.
+# -o Allow the creation of a user account with a duplicate (non-unique) UID.
+# -m Create the user's home directory if it does not exist.
+# -g The group name or number of the user's initial login group.
+# -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
+cd $HOME
+
+runuser -u user -- "$@"
diff --git a/jsk_unitree_robot/cross/prepare_requirements_ros1.sh b/jsk_unitree_robot/cross/prepare_requirements_ros1.sh
index 110d88651c..2aae00838c 100755
--- a/jsk_unitree_robot/cross/prepare_requirements_ros1.sh
+++ b/jsk_unitree_robot/cross/prepare_requirements_ros1.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"System
 INSTALL_ROOT=System
@@ -14,4 +15,4 @@ if [ -e /proc/sys/fs/binfmt_misc/qemu-aarch64 ] &&  [ ! "$(docker images -q mult
     docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
 fi
 
-docker buildx build $@ --progress plain -t ros1-unitree:${TARGET_MACHINE} --build-arg TARGET_MACHINE=${TARGET_MACHINE} --build-arg UID=$(id -u $USER) -f docker/Dockerfile_ros1 docker/ 2>&1 | tee ${TARGET_MACHINE}_prepare_requirements_ros1.log
+docker buildx build $@ --progress plain -t ${IMAGE_NAME}:${TARGET_MACHINE} --build-arg TARGET_MACHINE=${TARGET_MACHINE} --build-arg UID=$(id -u $USER) -f docker/Dockerfile_ros1 docker/ 2>&1 | tee ${TARGET_MACHINE}_prepare_requirements_ros1.log
diff --git a/jsk_unitree_robot/cross/run_user.sh b/jsk_unitree_robot/cross/run_user.sh
index b4c80ed932..2b6acbc48e 100755
--- a/jsk_unitree_robot/cross/run_user.sh
+++ b/jsk_unitree_robot/cross/run_user.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
@@ -7,19 +8,10 @@ SOURCE_ROOT=${TARGET_MACHINE}_User
 
 set -xeuf -o pipefail
 
-case ${OSTYPE} in
-    linux*)
-        OPTIONS="-u $(id -u $USER)"
-        ;;
-    darwin*)
-        OPTIONS=""
-        ;;
-esac
-
 #  -v ${PWD}/${TARGET_MACHINE}_ws_system:/home/user/${TARGET_MACHINE}_ws_system:rw \
 # run on docker
 docker run -it --rm \
-  ${OPTIONS} \
+  -e HOST_UID=$(id -u) -e HOST_GID=$(id -g) \
   -e INSTALL_ROOT=${INSTALL_ROOT} \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies:ro \
   -v ${HOST_INSTALL_ROOT}/Python:/opt/jsk/${INSTALL_ROOT}/Python:ro \
@@ -27,7 +19,7 @@ docker run -it --rm \
   -v ${HOST_INSTALL_ROOT}/ros1_dependencies_setup.bash:/opt/jsk/${INSTALL_ROOT}/ros1_dependencies_setup.bash:ro \
   -v ${HOST_INSTALL_ROOT}/system_setup.bash:/opt/jsk/${INSTALL_ROOT}/system_setup.bash:ro \
   -v ${PWD}/${SOURCE_ROOT}:/opt/jsk/User:rw \
-  ros1-unitree:${TARGET_MACHINE} \
+  ${IMAGE_NAME}:${TARGET_MACHINE} \
   bash -c "echo 'source /opt/jsk/User/user_setup.bash; env; cd /opt/jsk/User' > ~/.bashrc; exec \"\$0\""
 
 # https://stackoverflow.com/questions/59814742/docker-run-bash-init-file