devcontainer.json

{
  "name": "ROS 2 Development Container",
  "privileged": true,
  "remoteUser": "pulak",
  "build": {
      "dockerfile": "Dockerfile",
      "args": {
          "USERNAME": "pulak"
      }
  },
  "workspaceFolder": "/home/ws",
  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws/src,type=bind",
  "customizations": {
      "vscode": {
          "extensions":[
              "ms-vscode.cpptools",
              "ms-vscode.cpptools-themes",
              "twxs.cmake",
              "donjayamanne.python-extension-pack",
              "eamodio.gitlens",
              "ms-iot.vscode-ros"
          ]
      }
  },
  "containerEnv": {
        "DISPLAY": "${localEnv:DISPLAY}",
      "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
      "ROS_DOMAIN_ID": "42"
  },
  "runArgs": [
      "--net=host",
      "-e", "DISPLAY=${env:DISPLAY}"
  ],
  "mounts": [
      "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
      "source=/home/pulak/.Xauthority,target=/home/ws/.Xauthority,type=bind,consistency=cached",
      "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
      "source=${localWorkspaceFolder}/../cache/humble/build,target=/home/ws/build,type=bind",
      "source=${localWorkspaceFolder}/../cache/humble/install,target=/home/ws/install,type=bind",
      "source=${localWorkspaceFolder}/../cache/humble/log,target=/home/ws/log,type=bind"
  ],
  "postCreateCommand": "sudo rosdep update && sudo rosdep install --rodistro humble --from-paths src -i -r -y && sudo chown -R $(whoami) /home/ws/"
}