diff --git a/.devcontainer/.env b/.devcontainer/.env
deleted file mode 100644
index 4feacc6..0000000
--- a/.devcontainer/.env
+++ /dev/null
@@ -1,4 +0,0 @@
-USER=eddy
-USER_UID=1000
-USER_GID=1000
-ROS_DISTRO=humble
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index ca2d95c..3c51393 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,6 +1,41 @@
-# Multi-version ROS2 development container
+# Multi-stage ROS2 development container (CPU/GPU compatible)
 ARG ROS_DISTRO=humble
-FROM ros:${ROS_DISTRO}-ros-base
+ARG CUDA_VERSION=12.4.0
+ARG UBUNTU_VERSION=22.04
+
+# ===============================================
+# CPU Base - Standard ROS2 image
+# ===============================================
+FROM ros:${ROS_DISTRO}-ros-base as cpu-base
+
+# ===============================================
+# GPU Base - CUDA with manual ROS2 install
+# ===============================================
+FROM nvidia/cuda:${CUDA_VERSION}-runtime-ubuntu${UBUNTU_VERSION} as gpu-base
+ARG ROS_DISTRO
+
+# Install ROS2 manually since we're not using the ros: base image
+# Set non-interactive to avoid geographic area prompts
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl \
+    gnupg2 \
+    lsb-release \
+    tzdata \
+    && ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime \
+    && dpkg-reconfigure --frontend noninteractive tzdata \
+    && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "$UBUNTU_CODENAME") main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+    && apt-get update && apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-ros-base \
+    && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=interactive
+
+# ===============================================
+# Install Common Development Tools from Either Base
+# ===============================================
+FROM ${TARGETARCH:-cpu}-base as dev-tools
 
 # Install development tools not in base image
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -8,6 +43,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     python3-colcon-common-extensions \
     python3-rosdep \
     openssh-client \
+    git \
     curl \
     && rm -rf /var/lib/apt/lists/*
 
@@ -21,7 +57,8 @@ RUN curl -fsSL https://deb.nodesource.com/setup_20.x | bash - && \
     rm -rf /var/lib/apt/lists/*
 
 # Install Claude Code CLI via npm
-RUN npm install -g @anthropic-ai/claude-code@1.0.0
+# hadolint ignore=DL3016
+RUN npm install -g @anthropic-ai/claude-code
 
 # Initialize rosdep
 RUN rosdep init || true
@@ -29,9 +66,14 @@ RUN rosdep init || true
 # Set working dir (matches VSCode workspace)
 WORKDIR /deep_ros_ws
 
-# Cater image to user
+# ===============================================
+# Add User Configuration
+# ===============================================
+FROM dev-tools as user-conf
 ARG USERNAME
+ARG ROS_DISTRO
 
+# Cater image to user
 SHELL ["/bin/bash", "-c"]
 COPY .env /tmp/.env
 # hadolint ignore=SC2086
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
deleted file mode 100644
index aca1cee..0000000
--- a/.devcontainer/devcontainer.json
+++ /dev/null
@@ -1,34 +0,0 @@
-{
-  "name": "deep_ros-dev",
-  "build": {
-    "dockerfile": "Dockerfile",
-    "args": {
-      "ROS_DISTRO": "${localEnv:ROS_DISTRO:humble}",
-      "USERNAME": "${localEnv:USER}"
-    }
-  },
-  "containerEnv": {
-    "ROS_DISTRO": "${localEnv:ROS_DISTRO:humble}",
-    "SSH_AUTH_SOCK": "/ssh-agent"
-  },
-  "mounts": [
-    "source=${localEnv:SSH_AUTH_SOCK},target=/ssh-agent,type=bind",
-  ],
-  "customizations": {
-    "vscode": {
-      "extensions": [
-        "ms-vscode.cpptools",
-        "ms-vscode.cmake-tools",
-        "ms-python.python",
-        "redhat.vscode-xml",
-        "anthropics.claude-for-vscode"
-      ]
-    }
-  },
-  "workspaceFolder": "/deep_ros_ws",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/deep_ros_ws,type=bind",
-  "containerName": "deep-ros-devcontainer",
-  "runArgs": [
-    "--hostname=deep-devcontainer"
-  ]
-}
diff --git a/.devcontainer/gen_env.sh b/.devcontainer/gen_env.sh
deleted file mode 100755
index 3cfa03c..0000000
--- a/.devcontainer/gen_env.sh
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/bin/bash
-
-# Copyright (c) 2025-present WATonomous. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-set -e
-
-# Check if ROS_DISTRO was provided as argument
-if [ $# -eq 0 ]; then
-    echo "Usage: $0 <ros_distro>"
-    exit 1
-fi
-
-ROS_DISTRO="$1"
-ENV_FILE=".devcontainer/.env"
-
-echo "Generating $ENV_FILE ..."
-{
-    echo "USER=$(whoami)"
-    echo "USER_UID=$(id -u)"
-    echo "USER_GID=$(id -g)"
-    echo "ROS_DISTRO=$ROS_DISTRO"
-} >> "$ENV_FILE"
-
-echo "Done. Contents:"
-cat "$ENV_FILE"
diff --git a/.devcontainer/generate_devcontainer.sh b/.devcontainer/generate_devcontainer.sh
new file mode 100755
index 0000000..8920232
--- /dev/null
+++ b/.devcontainer/generate_devcontainer.sh
@@ -0,0 +1,102 @@
+#!/bin/bash
+
+# Copyright (c) 2025-present WATonomous. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# generate_devcontainer.sh
+# Usage:
+#   ./generate_devcontainer.sh <ros_distro> <container_type> [cuda_version] [ubuntu_version]
+
+set -e
+
+ROS_DISTRO=${1:-humble}
+CONTAINER_TYPE=${2:-cpu}
+CUDA_VERSION=${3:-12.4.0}
+UBUNTU_VERSION=${4:-22.04}
+USERNAME=${USER:-vscode}
+
+echo "Generating devcontainer configuration..."
+echo "ROS Distribution: $ROS_DISTRO"
+echo "Container Type: $CONTAINER_TYPE"
+
+if [ "$CONTAINER_TYPE" = "gpu" ]; then
+    echo "CUDA Version: $CUDA_VERSION"
+    echo "Ubuntu Version: $UBUNTU_VERSION"
+fi
+
+# Generate container name and build args based on type
+if [ "$CONTAINER_TYPE" = "gpu" ]; then
+    CONTAINER_NAME="ROS2 Development Container (GPU)"
+    BUILD_ARGS='"ROS_DISTRO": "'$ROS_DISTRO'",
+      "USERNAME": "'$USERNAME'",
+      "TARGETARCH": "gpu",
+      "CUDA_VERSION": "'$CUDA_VERSION'",
+      "UBUNTU_VERSION": "'$UBUNTU_VERSION'",
+      "USER_UID": "'$(id -u)'",
+      "USER_GID": "'$(id -g)'"'
+    RUN_ARGS='"--network=host",
+    "--gpus=all"'
+else
+    CONTAINER_NAME="ROS2 Development Container (CPU)"
+    BUILD_ARGS='"ROS_DISTRO": "'$ROS_DISTRO'",
+      "USERNAME": "'$USERNAME'",
+      "TARGETARCH": "cpu",
+      "USER_UID": "'$(id -u)'",
+      "USER_GID": "'$(id -g)'"'
+    RUN_ARGS='"--network=host"'
+fi
+
+# Generate the devcontainer.json with shared structure
+cat > .devcontainer/devcontainer.json << EOF
+{
+  "name": "$CONTAINER_NAME",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "args": {
+      $BUILD_ARGS
+    }
+  },
+  "runArgs": [
+    $RUN_ARGS
+  ],
+  "mounts": [
+    "source=\${localWorkspaceFolder},target=/deep_ros_ws,type=bind,consistency=cached"
+  ],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools",
+        "ms-python.python",
+        "ms-vscode.cmake-tools",
+        "redhat.vscode-yaml",
+        "ms-iot.vscode-ros"
+      ],
+      "settings": {
+        "python.defaultInterpreterPath": "/usr/bin/python3",
+        "terminal.integrated.shell.linux": "/bin/bash"
+      }
+    }
+  },
+  "remoteUser": "$USERNAME"
+}
+EOF
+
+echo "Devcontainer configuration generated successfully!"
+echo "Files created:"
+echo "  - .devcontainer/devcontainer.json"
+echo ""
+echo "Environment variables set for this session"
+echo ""
+echo "You can now:"
+echo "  1. Open the command palette (Ctrl+Shift+P)"
+echo "  2. Run 'Dev Containers: Rebuild and Reopen in Container'"
diff --git a/.gitignore b/.gitignore
index f12d9be..24d1d9e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,12 @@
-.claude/
+# ROS2 build artifacts
 build/
 install/
 log/
+
+# Autogenerated devcontainer files
+.devcontainer/devcontainer.json
+.devcontainer/.env
+
+# Claude helpers
+.claude/
+CLAUDE.md
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..c7a3e2b
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,30 @@
+{
+  "configurations": [
+    {
+      "name": "ROS2 Humble",
+      "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+      "includePath": [
+        "${workspaceFolder}/**",
+        "${workspaceFolder}/onnx_example_node/include/**",
+        "${workspaceFolder}/onnx_example_node/third_party/onnxruntime-linux-x64-1.16.3/include/**",
+        "${workspaceFolder}/deep_core/include/**",
+        "${workspaceFolder}/deep_backends/**/include/**",
+        "/opt/ros/humble/include/**"
+      ],
+      "defines": [],
+      "compilerPath": "/usr/bin/g++",
+      "cStandard": "c99",
+      "cppStandard": "c++17",
+      "intelliSenseMode": "linux-gcc-x64",
+      "browse": {
+        "path": [
+          "${workspaceFolder}",
+          "/opt/ros/humble/include"
+        ],
+        "limitSymbolsToIncludedHeaders": true,
+        "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db"
+      }
+    }
+  ],
+  "version": 4
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..9affefe
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,84 @@
+{
+  "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
+  "C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
+  "C_Cpp.intelliSenseEngine": "default",
+  "C_Cpp.errorSquiggles": "enabled",
+  "C_Cpp.autocomplete": "default",
+  "files.associations": {
+    "*.hpp": "cpp",
+    "*.h": "cpp",
+    "cctype": "cpp",
+    "clocale": "cpp",
+    "cmath": "cpp",
+    "csignal": "cpp",
+    "cstdarg": "cpp",
+    "cstddef": "cpp",
+    "cstdio": "cpp",
+    "cstdlib": "cpp",
+    "cstring": "cpp",
+    "ctime": "cpp",
+    "cwchar": "cpp",
+    "cwctype": "cpp",
+    "array": "cpp",
+    "atomic": "cpp",
+    "strstream": "cpp",
+    "bit": "cpp",
+    "*.tcc": "cpp",
+    "bitset": "cpp",
+    "chrono": "cpp",
+    "compare": "cpp",
+    "concepts": "cpp",
+    "condition_variable": "cpp",
+    "cstdint": "cpp",
+    "deque": "cpp",
+    "list": "cpp",
+    "map": "cpp",
+    "set": "cpp",
+    "string": "cpp",
+    "unordered_map": "cpp",
+    "unordered_set": "cpp",
+    "vector": "cpp",
+    "exception": "cpp",
+    "algorithm": "cpp",
+    "functional": "cpp",
+    "iterator": "cpp",
+    "memory": "cpp",
+    "memory_resource": "cpp",
+    "numeric": "cpp",
+    "optional": "cpp",
+    "random": "cpp",
+    "ratio": "cpp",
+    "regex": "cpp",
+    "string_view": "cpp",
+    "system_error": "cpp",
+    "tuple": "cpp",
+    "type_traits": "cpp",
+    "utility": "cpp",
+    "fstream": "cpp",
+    "future": "cpp",
+    "initializer_list": "cpp",
+    "iomanip": "cpp",
+    "iosfwd": "cpp",
+    "iostream": "cpp",
+    "istream": "cpp",
+    "limits": "cpp",
+    "mutex": "cpp",
+    "new": "cpp",
+    "numbers": "cpp",
+    "ostream": "cpp",
+    "semaphore": "cpp",
+    "shared_mutex": "cpp",
+    "sstream": "cpp",
+    "stdexcept": "cpp",
+    "stop_token": "cpp",
+    "streambuf": "cpp",
+    "thread": "cpp",
+    "cinttypes": "cpp",
+    "typeindex": "cpp",
+    "typeinfo": "cpp",
+    "variant": "cpp"
+  },
+  "cmake.configureOnOpen": false,
+  "cmake.buildDirectory": "${workspaceFolder}/build",
+  "ros.distro": "humble"
+}
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 61fed9c..d256d03 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -2,11 +2,44 @@
   "version": "2.0.0",
   "tasks": [
     {
-      "label": "Setup Devcontainer",
+      "label": "Setup Devcontainer (CPU Only)",
       "type": "shell",
-      "command": "./.devcontainer/gen_env.sh ${input:rosDistro}",
+      "command": "./.devcontainer/generate_devcontainer.sh",
+      "args": [
+        "${input:rosDistro}",
+        "cpu"
+      ],
+      "problemMatcher": [],
+      "group": "build",
+      "presentation": {
+        "echo": true,
+        "reveal": "always",
+        "focus": false,
+        "panel": "shared",
+        "showReuseMessage": true,
+        "clear": false
+      }
+    },
+    {
+      "label": "Setup Devcontainer (GPU)",
+      "type": "shell",
+      "command": "./.devcontainer/generate_devcontainer.sh",
+      "args": [
+        "${input:rosDistro}",
+        "gpu",
+        "${input:cudaVersion}",
+        "${input:ubuntuVersion}"
+      ],
       "problemMatcher": [],
-      "group": "build"
+      "group": "build",
+      "presentation": {
+        "echo": true,
+        "reveal": "always",
+        "focus": false,
+        "panel": "shared",
+        "showReuseMessage": true,
+        "clear": false
+      }
     }
   ],
   "inputs": [
@@ -21,6 +54,55 @@
         "rolling"
       ],
       "default": "humble"
+    },
+    {
+      "id": "containerType",
+      "type": "pickString",
+      "description": "Select container type",
+      "options": [
+        {
+          "label": "CPU Only",
+          "value": "cpu"
+        },
+        {
+          "label": "GPU Enabled (NVIDIA)",
+          "value": "gpu"
+        }
+      ],
+      "default": "cpu"
+    },
+    {
+      "id": "cudaVersion",
+      "type": "pickString",
+      "description": "Select CUDA version",
+      "options": [
+        "12.6.2",
+        "12.4.0",
+        "12.2.2",
+        "12.1.1",
+        "11.8.0"
+      ],
+      "default": "12.4.0"
+    },
+    {
+      "id": "ubuntuVersion",
+      "type": "pickString",
+      "description": "Select Ubuntu version",
+      "options": [
+        {
+          "label": "Ubuntu 24.04 (Noble)",
+          "value": "24.04"
+        },
+        {
+          "label": "Ubuntu 22.04 (Jammy)",
+          "value": "22.04"
+        },
+        {
+          "label": "Ubuntu 20.04 (Focal)",
+          "value": "20.04"
+        }
+      ],
+      "default": "22.04"
     }
   ]
 }