{
    "name": "ROS 2 Development Container",
    "privileged": true,
    "remoteUser": "matt",
    "build": {
        "dockerfile": "Dockerfile",
        "args": {
            "USERNAME": "matt"
        }
    },
    "workspaceFolder": "/home/ws",
    "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws,type=bind",
    "customizations": {
        "vscode": {
            "extensions": [
                "twxs.cmake",
                "donjayamanne.python-extension-pack",
                "eamodio.gitlens",
                "ms-iot.vscode-ros",
                "morningfrog.urdf-visualizer",
                "anthropic.claude-code",
                "redhat.vscode-xml"
            ]
        }
    },
    "containerEnv": {
        "DISPLAY": "unix:0",
        "ROS_DOMAIN_ID": "0",
        // "FASTDDS_BUILTIN_TRANSPORTS": "LARGE_DATA?max_msg_size=1MB&sockets_size=1MB&non_blocking=true&tcp_negotiation_timeout=50"
        "FASTDDS_BUILTIN_TRANSPORTS": "LARGE_DATA"
    },
    "runArgs": [
        "--net=host",
        "--pid=host",
        "--ipc=host",
        "-e",
        "DISPLAY=${env:DISPLAY}"
    ],
    "mounts": [
        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached"
    ],
    "postCreateCommand": "sudo apt update && sudo rosdep update && sudo rosdep install -y --from-paths src --ignore-src -y && sudo chown -R $(whoami) /home/ws/"
}