fixing issues with claude installation, and add automatic rosdep gathering

.devcontainer/Dockerfile

@@ -60,26 +60,37 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 # Install pre-commit
 RUN python3 -m pip install --no-cache-dir pre-commit==3.8.0
 
-# Install Node.js 20 LTS (required for Claude Code)
-SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-RUN curl -fsSL https://deb.nodesource.com/setup_20.x | bash - && \
-    apt-get install -y --no-install-recommends nodejs && \
-    rm -rf /var/lib/apt/lists/*
+# Set working dir (matches VSCode workspace)
+WORKDIR /deep_ros_ws
 
-# Install Claude Code CLI via npm
-# hadolint ignore=DL3016
-RUN npm install -g @anthropic-ai/claude-code
+# ===============================================
+# Gather Dependencies
+# ===============================================
+FROM dev-tools AS source
 
-# Initialize rosdep
-RUN rosdep init || true
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+RUN --mount=type=bind,source=.,target=/tmp/src \
+    apt-get -qq update && rosdep update && \
+    rosdep install --from-paths /tmp/src --ignore-src -r -s \
+        | (grep 'apt-get install' || true) \
+        | awk '{print $3}' \
+        | sort  > /tmp/colcon_install_list
 
-# Set working dir (matches VSCode workspace)
-WORKDIR /deep_ros_ws
+# ===============================================
+# Install Dependencies
+# ===============================================
+FROM dev-tools AS dependencies
+
+# Install Rosdep requirements
+COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
+RUN apt-get update && \
+    xargs -a /tmp/colcon_install_list apt-get install -qq -y --no-install-recommends && \
+    rm -rf /var/lib/apt/lists/*
 
 # ===============================================
 # Add User Configuration
 # ===============================================
-FROM dev-tools as user-conf
+FROM dependencies AS user-conf
 ARG USERNAME
 ARG USER_GID
 ARG USER_UID
@@ -102,5 +113,9 @@ RUN groupadd --gid ${USER_GID} ${USERNAME} \
 # Set the default user. Omit if you want to keep the default as root.
 USER $USERNAME
 
+# Install Claude Code natively
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+RUN curl -fsSL https://claude.ai/install.sh | bash
+
 # Source ROS in user's bashrc
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc

.devcontainer/generate_devcontainer.sh

@@ -71,6 +71,7 @@ cat > .devcontainer/devcontainer.json << EOF
   "name": "$CONTAINER_NAME",
   "build": {
     "dockerfile": "Dockerfile",
+    "context": "..",
     "args": {
       $BUILD_ARGS
     }

DEVELOPING.md

@@ -13,10 +13,10 @@ This project includes VS Code dev container configurations for easy ROS2 develop
 
 1. **Choose ROS distribution**:
    - Press `Ctrl+Shift+P` and run "Tasks: Run Task"
-   - Select "Switch ROS Distro"
-   - Choose from: `humble`, `iron`, `jazzy`, or `rolling`
+   - Select "Setup Devcontainer (CPU Only)" or "Setup Devcontainer (GPU)" and follow prompts
 
 2. **Rebuild and open in container**:
+   - Press `Ctrl+Shift+P` and run "Dev Containers: Rebuild and Reopen in Container" or the other variants
    - The container will automatically rebuild and reopen with your selected ROS version
 
 ### Container Features
@@ -28,26 +28,4 @@ This project includes VS Code dev container configurations for easy ROS2 develop
 
 ### Common Commands
 
-Inside the container:
-
-```bash
-# Update apt
-sudo apt update
-
-# Update rosdep
-rosdep update
-
-# Install dependencies
-rosdep install --from-paths src --ignore-src -r -y
-
-# Build packages
-colcon build
-
-# Source workspace
-source install/setup.bash
-```
-
-### Troubleshooting
-
-- If the container fails to build, check that Docker is running
-- To rebuild from scratch: "Dev Containers: Rebuild Container"
+Inside the container, you can do ros2 commands, colcon commands, rosdep, etc.