diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 00000000..3eec0a03
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,17 @@
+
+FROM introlab3it/rtabmap:focal
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/catkin_ws/src && \
+    chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/catkin_ws
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> /home/${USERNAME}/.bashrc
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 13ff5c22..4990bced 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,12 +1,27 @@
 {
-    "image": "introlab3it/rtabmap_ros:noetic-latest",
+    "build": {
+      "dockerfile": "Dockerfile",
+      "pull": true
+    },
+    "remoteUser": "vscode",
     "customizations": {
         "vscode": {
-          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "vscjava.vscode-java-pack"]
+          "extensions": [
+            "ms-vscode.cpptools-themes",
+            "ms-vscode.cmake-tools", 
+            "ms-vscode.cpptools-extension-pack",
+            "ms-azuretools.vscode-docker",
+            "ms-python.python"]
         }
+      },
+    "settings": {
+      "python.autoComplete.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+      ],
+      "terminal.integrated.defaultProfile.linux": "bash"
     },
-    "workspaceMount": "source=${localWorkspaceFolder},target=/catkin_ws/src/rtabmap_ros,type=bind",
-    "workspaceFolder": "/catkin_ws",
-    "postAttachCommand": "echo 'Initialize catkin: source /opt/ros/noetic/setup.bash && cd /catkin_ws/src && catkin_init_workspace && cd /catkin_ws && catkin_make'",
-    "runArgs": ["--privileged"]
+    "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", "--network=host"]
 }