rtabmap_ros/.devcontainer/noetic/devcontainer.json

{
    "build": {
      "dockerfile": "Dockerfile",
      "pull": true
    },
    "remoteUser": "vscode",
    "customizations": {
        "vscode": {
          "extensions": [
            "ms-vscode.cpptools-themes",
            "ms-vscode.cmake-tools", 
            "ms-vscode.cpptools-extension-pack",
            "ms-azuretools.vscode-docker",
            "ms-python.python"]
        }
      },
    "settings": {
      "python.autoComplete.extraPaths": [
        "/opt/ros/noetic/lib/python3/dist-packages"
      ],
      "terminal.integrated.defaultProfile.linux": "bash"
    },
    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/catkin_ws/src/rtabmap_ros,type=bind",
    "workspaceFolder": "/home/vscode/catkin_ws",
    "postCreateCommand": "cd /home/vscode/catkin_ws/src && catkin_init_workspace",
    "runArgs": ["--privileged",
                "--runtime=nvidia",
                "--env=DISPLAY",
                "--env=QT_X11_NO_MITSHM=1",
                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"]
}