diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index d5c233c..55bf264 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -8,8 +8,9 @@
 		// Update the 'dockerFile' property if you aren't using the standard 'Dockerfile' filename.
 		"dockerfile": "../Dockerfile"
 	},
-	"runArgs": ["--privileged"] // for real-time access
-
+	"runArgs": [
+		"--privileged" // for real-time access
+	],
 	// Features to add to the dev container. More info: https://containers.dev/features.
 	// "features": {},
 
@@ -20,8 +21,23 @@
 	// "postCreateCommand": "cat /etc/os-release",
 
 	// Configure tool-specific properties.
-	// "customizations": {},
-
+	"customizations": {
+		"vscode": {
+			"settings": {
+				"terminal.integrated.defaultProfile.linux": "bash",
+				"C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools"
+			},
+			"extensions": [
+				"ms-vscode.cpptools",
+				"ms-vscode.cpptools-extension-pack",
+				"ms-vscode.cmake-tools",
+				"ms-azuretools.vscode-docker",
+				"ms-vscode.cpptools-themes",
+				"ms-iot.vscode-ros"
+			]
+		}
+	}
+	
 	// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
 	// "remoteUser": "devcontainer"
-}
+}
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index c7f566e..e8a875f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -37,9 +37,6 @@
 out
 gen
 
-# VS Code project files
-.vscode/
-
 ### ROS2
 install/
 log/
@@ -77,4 +74,4 @@ AMENT_IGNORE
 venv310/
 
 # analysis output dir
-analysis/
\ No newline at end of file
+analysis/
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..0c656f3
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,18 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/ros/foxy/include/**"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/clang-18",
+            "cStandard": "c17",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-clang-x64",
+            "configurationProvider": "ms-vscode.cmake-tools"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file