devcontainer.json

{
    "name": "ROS 2 Jazzy MoveIt + Gazebo Devcontainer",
    "privileged": true,
    "remoteUser": "vscode",
    "build": {
        "dockerfile": "Dockerfile",
        "args": {
            "USERNAME": "vscode"
        }
    },
    "workspaceFolder": "/home/ws",
    "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws,type=bind",
    "customizations": {
        "vscode": {
            "extensions": [
                "ms-vscode.cpptools",
                "twxs.cmake",
                "donjayamanne.python-extension-pack",
                "eamodio.gitlens",
                "ms-iot.vscode-ros"
            ]
        }
    },
    "features": {
        "ghcr.io/devcontainers/features/git:1": {}
    },
    "containerEnv": {
        "DISPLAY": "unix:0",
        "ROS_DOMAIN_ID": "42",
        "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST"
    },
    "runArgs": [
        // "--gpus=all" //  ← Uncomment for GPU rendering (Linux + NVIDIA only)
        "--net=host",
        "--pid=host",
        "--ipc=host",
        "-e", "DISPLAY=${env:DISPLAY}"
    ],
    "mounts": [
        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached"
    ],
    "postCreateCommand": "sudo rosdep update && sudo rosdep install --from-paths RobotArmPackages2/src --ignore-src -y"
}