diff --git a/README.md b/README.md
index d389dcc..a581b07 100644
--- a/README.md
+++ b/README.md
@@ -16,6 +16,7 @@ ROS 2 robot platform based on the Yahboom Raspbot V2. Multiple services run as D
 | [webrtc_streamer/](webrtc_streamer/README.md) | WebRTC browser stream server |
 | [webui/](webui/README.md) | Browser-based robot controller |
 | [ansible/](ansible/README.md) | Provisioning playbook for the Raspberry Pi |
+| [teleop/](teleop/README.md) | Keyboard and joystick teleoperation container |
 
 ---
 
@@ -108,6 +109,32 @@ docker compose logs -f   # follow logs
 docker compose down      # stop and remove containers
 ```
 
+### Dev container
+
+An interactive ROS desktop environment (`osrf/ros:kilted-desktop-full`) is provided for development, visualisation, and ad-hoc `ros2` commands. It shares the host network so it participates in the same DDS domain as the robot.
+
+Allow X11 forwarding from Docker (required once per session):
+
+```bash
+xhost +local:docker
+```
+
+Then launch the container:
+
+```bash
+docker compose -f docker-compose.dev.yml run --rm dev
+```
+
+The container drops you into a bash shell with the ROS underlay sourced. Set `FASTDDS_INTERFACE` in your `.env` (or inline) to bind DDS traffic to the correct network interface when connecting over Wi-Fi:
+
+```bash
+FASTDDS_INTERFACE=wlp195s0 docker compose -f docker-compose.dev.yml run --rm dev
+```
+
+See [teleop/README.md](teleop/README.md#working-out-the-network-interface-to-bind-to) for instructions on identifying the correct interface name.
+
+---
+
 ### Environment variables
 
 Create a `.env` file alongside `docker-compose.yml` to override defaults:
@@ -135,13 +162,15 @@ WIFI_SSID=MyNetwork
 ```
 .
 ├── docker-compose.yml
+├── docker-compose.dev.yml  # Interactive dev/visualisation container
 ├── docker-entrypoint.sh
-├── robot/                  # Motor controller, pan/tilt, ultrasonic
+├── raspbot_v2/             # ROS 2 packages (control, description, hardware interface)
 ├── lidar/                  # RPLIDAR A1
 ├── oled/                   # OLED display dashboard
 ├── wifi/                   # Wi-Fi hotspot fallback
 ├── camera_publisher/       # V4L2 camera → ROS 2 topic
 ├── webrtc_streamer/        # WebRTC browser stream
 ├── webui/                  # Browser-based controller UI
+├── teleop/                 # Keyboard and joystick teleoperation
 └── ansible/                # Raspberry Pi provisioning
 ```
diff --git a/docker-compose.dev.yml b/docker-compose.dev.yml
new file mode 100644
index 0000000..704bad9
--- /dev/null
+++ b/docker-compose.dev.yml
@@ -0,0 +1,32 @@
+# Dev container — interactive ROS desktop environment.
+# Launch with: docker compose -f docker-compose.dev.yml run --rm dev
+#
+# Requires X11 forwarding to be allowed on the host:
+#   xhost +local:docker
+
+services:
+  dev:
+    image: osrf/ros:kilted-desktop-full
+    network_mode: host
+    ipc: host
+    stdin_open: true
+    tty: true
+    environment:
+      - DISPLAY
+      - QT_X11_NO_MITSHM=1
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
+      - FASTDDS_BUILTIN_TRANSPORTS=LARGE_DATA
+      # Restrict DDS traffic to a single network interface (same profile as teleop).
+      # Note: the XML profile sets useBuiltinTransports=false, which overrides
+      # FASTDDS_BUILTIN_TRANSPORTS above. Remove the two lines below if you need
+      # large-data transport (e.g. for local camera streaming without interface binding).
+      - FASTDDS_DEFAULT_PROFILES_FILE=/fastdds_wifi.xml
+      - FASTDDS_INTERFACE=${FASTDDS_INTERFACE:-wlan0}
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./teleop/src/fastdds_wifi.xml:/fastdds_wifi.xml:ro
+    cap_add:
+      - SYS_PTRACE
+    devices:
+      - /dev/dri:/dev/dri
+    privileged: true