devcontainer.json

{
  "name": "NVIDIA Dev Container",
  "dockerFile": "Dockerfile",
  "context": "../..",
  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ubuntu/ws_blue/src/blue,type=bind",
  "workspaceFolder": "/home/ubuntu/ws_blue/src/blue",
  "remoteUser": "ubuntu",
  "runArgs": [
    "--network=host",
    "--cap-add=SYS_PTRACE",
    "--security-opt=seccomp:unconfined",
    "--security-opt=apparmor:unconfined",
    "--volume=/dev:/dev",
    "--privileged",
    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
    "--volume=/mnt/wslg:/mnt/wslg",
    "--gpus=all"
  ],
  "containerEnv": {
    "DISPLAY": "${localEnv:DISPLAY}",
    "WAYLAND_DISPLAY": "${localEnv:WAYLAND_DISPLAY}",
    "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}",
    "PULSE_SERVER": "${localEnv:PULSE_SERVER}",
    "LIBGL_ALWAYS_SOFTWARE": "1",
    "QT_X11_NO_MITSHM": "1"
  },
  "customizations": {
    "vscode": {
      "extensions": [
        "ms-azuretools.vscode-docker",
        "ms-python.python",
        "njpwerner.autodocstring",
        "redhat.vscode-xml",
        "redhat.vscode-yaml",
        "smilerobotics.urdf",
        "esbenp.prettier-vscode",
        "charliermarsh.ruff",
        "josetr.cmake-language-support-vscode",
        "unifiedjs.vscode-mdx"
      ]
    }
  }
}