{
    "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/jazzy/lib/python3/dist-packages"
      ],
      "terminal.integrated.defaultProfile.linux": "bash"
    },
    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind",
    "workspaceFolder": "/home/vscode/ros2_ws",
    "postCreateCommand": "echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'",
    "hostRequirements": {
        "gpu": "optional"
    },
    "runArgs": ["--privileged",
                "--network=host",
                "--gpus=all",
                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
                "--env=DISPLAY",
                "--env=QT_X11_NO_MITSHM=1",
                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
    "containerEnv": {
        "NVIDIA_VISIBLE_DEVICES": "all"
    }
}