Add image and streaming from USB camera

Plus a little freshen up of the readme's

.devcontainer/Dockerfile

@@ -8,7 +8,7 @@ RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
 
 # Create the user
 RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
+    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME -s /bin/bash \
     #
     # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
     && apt-get update \
@@ -57,6 +57,21 @@ RUN python3 -m venv /opt/webui-venv \
         "uvicorn[standard]" \
         numpy
 
+# Docker CLI for accessing the host daemon via the mounted socket
+# docker-compose-plugin is only in Docker's official repo, not Ubuntu's.
+# .docker_gid is written by initializeCommand on the host before the build,
+# ensuring the in-container docker group GID matches the host socket GID.
+COPY .docker_gid /tmp/.docker_gid
+RUN apt-get update && apt-get install -y ca-certificates curl gnupg \
+    && install -m 0755 -d /etc/apt/keyrings \
+    && curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /etc/apt/keyrings/docker.gpg \
+    && chmod a+r /etc/apt/keyrings/docker.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" \
+       > /etc/apt/sources.list.d/docker.list \
+    && apt-get update && apt-get install -y docker-ce-cli docker-compose-plugin \
+    && groupadd -g "$(cat /tmp/.docker_gid)" docker \
+    && usermod -aG docker $USERNAME
+
 ENV SHELL /bin/bash
 
 # ********************************************************

.devcontainer/devcontainer.json

@@ -2,6 +2,7 @@
     "name": "ROS 2 Development Container",
     "privileged": true,
     "remoteUser": "matt",
+    "initializeCommand": "stat -c %g /var/run/docker.sock > .devcontainer/.docker_gid",
     "build": {
         "dockerfile": "Dockerfile",
         "args": {
@@ -38,7 +39,8 @@
     "mounts": [
        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
-       "source=${localEnv:HOME}/.gitconfig,target=/home/matt/.gitconfig,type=bind,consistency=cached,readonly"
+       "source=${localEnv:HOME}/.gitconfig,target=/home/matt/.gitconfig,type=bind,consistency=cached,readonly",
+       "source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind"
     ],
     "postCreateCommand": "sudo rosdep update && sudo rosdep install --from-paths lidar/src robot/src --ignore-src -y && sudo chown -R $(whoami) /home/ws/ && npm --prefix /home/ws/webui/frontend install"
 }