Further improvements for docker Dev environment

1. Add sudo support for the user
2. Add setup.bash to bashrc
3. Add cpp-tools-extension-pack vscode extension
4. Switch to host networking mode

.devcontainer/devcontainer.json

@@ -9,9 +9,11 @@
         "ms-azuretools.vscode-docker",
         "ms-python.python",
         "ms-vscode.cpptools",
+        "ms-vscode.cpptools-extension-pack",
         "ms-iot.vscode-ros"
       ]
     }
   },
-  "remoteUser": "dev"
+  "remoteUser": "dev",
+  "postCreateCommand": "echo 'source /opt/ros/noetic/setup.bash' >> ~/.bashrc"
 }

devenv/Dockerfile

@@ -9,8 +9,10 @@ RUN groupadd -g ${MY_GID} -o ${MY_USER}
 # Create a new user, assign it to the group, and set its shell to bash
 RUN useradd -m -u ${MY_UID} -g ${MY_GID} -o -s /bin/bash ${MY_USER} && yes ${MY_USER} | passwd ${MY_USER}
 
+RUN echo $MY_USER ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$MY_USER \
+    && chmod 0440 /etc/sudoers.d/$MY_USER
+
 RUN apt-get update && apt-get install -y zsh git sudo ssh gdb rsync
-RUN echo "$MY_USER ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
 
 RUN ( \
     echo 'LogLevel DEBUG2'; \
@@ -22,6 +24,8 @@ RUN ( \
   && mkdir /run/sshd
 RUN bash -c "ssh-keygen -A"
 
+RUN echo "$MY_USER ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
 # Update rosdep package manager for ROS
 RUN rosdep update --rosdistro $ROS_DISTRO