Add dev container

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