diff --git a/.devcontainer/README.rst b/.devcontainer/README.rst
new file mode 100644
index 000000000..6afe46c8d
--- /dev/null
+++ b/.devcontainer/README.rst
@@ -0,0 +1,78 @@
+Development Container for ROS2 Rust
+====================================
+
+This repository includes a pre-configured development container setup, designed to facilitate working on ROS2 Rust projects. The setup is managed using Visual Studio Code's DevContainers feature.
+
+.. contents:: Table of Contents
+   :depth: 3
+   :local:
+
+File Description
+----------------
+
+The provided ``devcontainer.json`` file specifies the configuration for running a containerized development environment with the following features:
+
+- **Image Configuration**: Uses the Docker image ``ros2_rust_dev:latest``.
+- **Build Settings**:
+    - Context: Specifies the root directory of the project (``..``).
+    - Dockerfile: Uses the Dockerfile located at ``../docker/Dockerfile``.
+    - Build Args: Includes runtime environment variables such as ``XDG_RUNTIME_DIR``.
+- **Workspace**:
+    - Mounts the folder ``/home/cuser/workspace`` as the development workspace.
+- **Container Runtime**:
+    - Enables ``--network=host`` for network sharing.
+    - Grants privileged access using ``--privileged``.
+- **Environment Variables**:
+    - ``DISPLAY`` and ``TERM`` are forwarded from the host to the container to support GUI applications and terminal colors.
+- **User Settings**:
+    - The development container runs as the user ``cuser``.
+    - Configures the shell to use ``/bin/bash`` for a familiar and customizable command-line experience.
+
+Setting Up and Running the DevContainer in VS Code
+--------------------------------------------------
+
+To use this development container in Visual Studio Code, follow these steps:
+
+Prerequisites
+~~~~~~~~~~~~~
+
+1. **Install VS Code**: Download and install `Visual Studio Code <https://code.visualstudio.com/>`__.
+
+2. **Install Required Extensions:**
+    - `Remote Containers <https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers>`__
+3. **Install Docker:** Ensure Docker is installed and running on your system. You can download Docker from `here <https://www.docker.com/>`__.
+
+
+Steps to Launch the DevContainer
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+1. **Clone the Repository**: Clone your project repository to your local machine.
+
+.. code-block:: bash
+
+   $ git clone git@github.com:ros2-rust/ros2_rust.git
+   $ cd ros2_rust
+
+
+
+2. **Open in VS Code**: Open the repository folder in VS Code.
+
+.. code-block:: bash
+
+   $ code .
+
+3. **Open the Command Palette**: Press ``Ctrl+Shift+P`` (Windows/Linux) or ``Cmd+Shift+P`` (macOS) to open the Command Palette.
+4. **Reopen in Container**: Search for and select **"Dev Containers: Reopen in Container"**. VS Code will build and start the development container based on the configuration in ``devcontainer.json``.
+5. **Start Coding**: Once the container is running, your workspace is ready for development. You can open terminals, run commands, and debug your ROS2 Rust projects seamlessly within the containerized environment.
+
+Notes
+~~~~~
+
+- **Container Network**: The ``--network=host`` option is enabled to allow network sharing between the host and container.
+- **Privilege**: The ``--privileged`` flag is enabled, which may be required for specific ROS2 features but should be used cautiously.
+- If you encounter permission issues with X11, ensure the host system is configured to allow access in the vscode:
+
+.. code-block:: bash
+
+   $ xhost local:root
+   $ code &
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 000000000..53f002fff
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,27 @@
+
+{
+    "name": "ros2_rust_dev:latest",
+    "build": {
+    "context": "..",
+    "dockerfile": "../docker/Dockerfile",
+    "args": {
+      "XDG_RUNTIME_DIR": "${localEnv:XDG_RUNTIME_DIR}"
+    }
+    },
+    "workspaceFolder": "/home/cuser/workspace",
+    "runArgs": [
+    "--network=host",
+    "--privileged"
+    ],
+    "containerEnv": {
+      "DISPLAY": "${localEnv:DISPLAY}",
+      "TERM": "xterm-256color"
+    },
+
+    "remoteUser": "cuser",
+    "containerEnv": {
+      // Convenience, for shell colors, aliases, etc
+      "SHELL": "/bin/bash"
+      }
+      
+}
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index ede9821ea..db9a33606 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,7 +1,23 @@
 ARG ROS_DISTRO=humble
-FROM ros:$ROS_DISTRO as base
+FROM ros:$ROS_DISTRO AS base
 ARG DEBIAN_FRONTEND=noninteractive
 
+ARG CONTAINER_USER="cuser"
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create a user in the container to operate as unprivileged
+RUN groupadd --gid $USER_GID $CONTAINER_USER \
+    && useradd --uid $USER_UID --gid $USER_GID -m $CONTAINER_USER \
+    && mkdir -p /home/$CONTAINER_USER
+RUN apt-get update \
+    && apt-get install -y sudo \
+    && rm -rf /var/lib/apt/lists/* \
+    && echo $CONTAINER_USER ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$CONTAINER_USER \
+    && chmod 0440 /etc/sudoers.d/$CONTAINER_USER
+
+SHELL ["/bin/bash", "--login", "-c"]
+
 # Install dependencies
 RUN apt-get update && apt-get install -y \
     curl \
@@ -11,14 +27,18 @@ RUN apt-get update && apt-get install -y \
     python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
+
 # Install Rust
+USER $CONTAINER_USER
+WORKDIR /home/${CONTAINER_USER}
 RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.75.0 -y
 ENV PATH=/root/.cargo/bin:$PATH
 
+
 RUN pip install --upgrade pytest 
 
 # Install the colcon-cargo and colcon-ros-cargo plugins
 RUN pip install git+https://github.com/colcon/colcon-cargo.git git+https://github.com/colcon/colcon-ros-cargo.git
 
-RUN mkdir -p /workspace && echo "Did you forget to mount the repository into the Docker container?" > /workspace/HELLO.txt
-WORKDIR /workspace
+RUN mkdir -p ~/workspace && echo "Did you forget to mount the repository into the Docker container?" > ~/workspace/HELLO.txt
+WORKDIR /home/${CONTAINER_USER}/workspace
diff --git a/README.md b/README.md
index cee8a9b8e..e5914ffb9 100644
--- a/README.md
+++ b/README.md
@@ -40,7 +40,7 @@ sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev
 pip install git+https://github.com/colcon/colcon-cargo.git
 pip install git+https://github.com/colcon/colcon-ros-cargo.git
 
-mkdir -p workspace/src && cd workspace
+mkdir -p ~/workspace/src && cd ~/workspace
 git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
 vcs import src < src/ros2_rust/ros2_rust_humble.repos
 . /opt/ros/humble/setup.sh
diff --git a/docker/README.rst b/docker/README.rst
new file mode 100644
index 000000000..b424a0825
--- /dev/null
+++ b/docker/README.rst
@@ -0,0 +1,91 @@
+ROS2 Rust Docker Environment
+=========================================================
+
+This folder contains scripts to build, start, and interact with a Docker container for a ROS2 Rust environment.
+
+.. contents:: Table of Contents
+   :depth: 3
+   :local:
+
+Prerequisites
+-------------
+
+Ensure you have the following installed on your system:
+
+-  `Docker <https://docs.docker.com/engine/install/>`__
+- Permissions to run Docker commands (sudo may be required on some systems). 
+
+
+
+Files in the Folder
+-------------------
+
+- `build.sh <./build.sh>`_: Builds the Docker image.
+- `start.sh <./start.sh>`_: Starts the Docker container.
+- `shell.sh <./shell.sh>`_: Accesses the running container
+
+
+Steps to Use
+------------
+
+1. Build the Docker Image
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Run the ``build.sh`` script to build the Docker image:
+
+.. code-block:: bash
+
+   $ ./build.sh
+
+This script:
+
+- Builds a Docker image named ``ros2_rust:latest``.
+- Uses ``BUILDKIT`` for efficient caching and builds.
+
+
+2. Start the Docker Container
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Run the ``start.sh`` script to start the container:
+
+.. code-block:: bash
+
+   $ ./start.sh
+
+This script:
+
+- Checks if a container based on the ros2_rust image exists and removes it if necessary.
+- Starts a new container named ros2_rust with the following settings:
+      - **Interactive mode** (``-it``).
+      - **User ID Mapping**: Maps the current user (ID ``1000``) to the container user cuser. 
+      - **Privileges**: Grants ``sudo`` group membership and system capabilities (e.g., sys_nice).
+      - **Networking**: Uses the host's network stack.
+      - **X11 Forwarding**: Allows graphical applications to be displayed on the host system.
+
+
+3. Access the Running Container
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Run the ``shell.sh`` script to open an interactive shell in the running container:
+
+.. code-block:: bash
+
+   $ ./shell.sh
+
+This script:
+
+- Opens a Bash shell as the user ``cuser``.
+- Sets the working directory to ``/home/cuser/workspace``.
+
+
+4. Install ros2 rust packages
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Follow the `README.md <../README.md>`_ file to install the overall packages needed to start working with ROS2 and Rust.
+
+
+Notes
+-----
+- If you encounter permission issues with X11, ensure the host system is configured to allow access in each terminal:
+
+.. code-block:: bash
+
+   $ xhost local:root
\ No newline at end of file
diff --git a/docker/build.sh b/docker/build.sh
new file mode 100755
index 000000000..ab8ae94f4
--- /dev/null
+++ b/docker/build.sh
@@ -0,0 +1,6 @@
+echo -e "Building ros2_rust:lastest image"
+name=ros2_rust
+DOCKER_BUILDKIT=1 \
+docker build --pull --rm -f ../Dockerfile \
+--build-arg BUILDKIT_INLINE_CACHE=1 \
+--tag $name:latest .
\ No newline at end of file
diff --git a/docker/shell.sh b/docker/shell.sh
new file mode 100755
index 000000000..fd6fa928e
--- /dev/null
+++ b/docker/shell.sh
@@ -0,0 +1,2 @@
+NAME=ros2_rust
+exec docker exec -it $NAME sudo -u cuser -i /bin/bash -c "cd ~/workspace && exec /bin/bash"
\ No newline at end of file
diff --git a/docker/start.sh b/docker/start.sh
new file mode 100755
index 000000000..e6a8f0d17
--- /dev/null
+++ b/docker/start.sh
@@ -0,0 +1,29 @@
+CUSER_ID="1000"
+CONTAINER_USER="cuser"
+
+IMAGE_NAME=ros2_rust
+
+# Check if there are any containers created from the image
+CONTAINERS=$(docker ps -a --filter "ancestor=$IMAGE_NAME" -q)
+
+if [ -n "$CONTAINERS" ]; then
+  echo "Image has been used to start a container. Removing it."
+  docker stop $IMAGE_NAME
+  docker rm -f $IMAGE_NAME
+else
+  echo "Image has not been started. Skipping removal."
+fi
+
+echo -e "Starting up ros2_rust container \n >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>"
+
+docker run -it --privileged \
+    --user=${CUSER_ID}:${CUSER_ID}\
+    --group-add sudo \
+    --env="DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --workdir="/home/${CONTAINER_USER}/workspace" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    --net=host \
+    --cap-add=sys_nice \
+    --name=$IMAGE_NAME \
+    $IMAGE_NAME \
\ No newline at end of file