devcontainer.json

{
    "name": "ROS 2 Development Container",
    "privileged": true,
    "remoteUser": "${localEnv:USERNAME}",
    "build": {
        "dockerfile": "Dockerfile",
        "args": {
            "USERNAME": "${localEnv:USERNAME}"
        }
    },
    "features": {
        "ghcr.io/itsmechlark/features/act:1": {},
        "ghcr.io/devcontainers/features/docker-in-docker:2": {}
    },
    "workspaceFolder": "/home/ws",
    "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws,type=bind",
    "customizations": {
        "vscode": {
            "extensions":[
                "ms-vscode.cpptools",
                "ms-azuretools.vscode-docker",
                "ms-vscode.cpptools-extension-pack",
                "twxs.cmake",
                "donjayamanne.python-extension-pack",
                "eamodio.gitlens",
                "ms-iot.vscode-ros",
                "GitHub.vscode-github-actions"
            ]
        }
    },
    "containerEnv": {
        "DISPLAY": "unix:0",
        "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
        "ROS_DOMAIN_ID": "42"
    },
    "runArgs": [
        "--net=host",
        "--ipc=host",
        "--pid=host",
        "-e", "DISPLAY=${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",
        "source=${localWorkspaceFolder}/cache/iron-ros-base-jammy/build,target=/home/ws/build,type=bind",
        "source=${localWorkspaceFolder}/cache/iron-ros-base-jammy/install,target=/home/ws/install,type=bind",
        "source=${localWorkspaceFolder}/cache/iron-ros-base-jammy/log,target=/home/ws/log,type=bind"
    ],
    "postCreateCommand": "sudo apt update && rosdep update && rosdep install --from-paths src --ignore-src -y && sudo chown -R ${localEnv:USERNAME} /home/ws/",
	"initializeCommand": "echo Initialize...."
}