devcontainer.json

// https://github.com/athackst/vscode_ros2_workspace
// See https://aka.ms/vscode-remote/devcontainer.json for format details.
{
    // Use "dockerFile tag to build container using Dockerfile, or image tag to build using prebuilt image
    // "dockerFile": "Dockerfile",
    "image": "westonrobot/limo_ros:humble_22082023",
    "build": {
        "args": {
            "WORKSPACE": "${containerWorkspaceFolder}"
        }
    },
    "remoteUser": "ros",
    "runArgs": [
        "--network=host",
        "-v=/dev:/dev",
        "--privileged",
        "--runtime=nvidia",
        "--device-cgroup-rule" "a *:* rmw",
        "--cap-add=SYS_PTRACE",
        "--security-opt=seccomp:unconfined",
        "--security-opt=apparmor:unconfined",
        "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
        "--gpus=all"
    ],
    "containerEnv": {
        "DISPLAY": "${localEnv:DISPLAY}",
        "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
    },
    // Set *default* container specific settings.json values on container create.
    "settings": {
        "terminal.integrated.profiles.linux": {
            "bash": {
                "path": "bash"
            },
        },
        "terminal.integrated.defaultProfile.linux": "bash"
    },
    // VSCode Extensions
    "extensions": [
        "dotjoshjohnson.xml",
        "zachflower.uncrustify",
        "ms-azuretools.vscode-docker",
        "ms-iot.vscode-ros",
        "ms-python.python",
        "ms-vscode.cpptools",
        "redhat.vscode-yaml",
        "smilerobotics.urdf",
        "streetsidesoftware.code-spell-checker",
        "twxs.cmake",
        "yzhang.markdown-all-in-one"
    ]
}