Add dev container

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
 ```