diff --git a/.devcontainer/README.md b/.devcontainer/README.md
new file mode 100644
index 000000000..8945893df
--- /dev/null
+++ b/.devcontainer/README.md
@@ -0,0 +1,15 @@
+# How to use Dev container
+
+- Install Docker and the 'Devcontainer' extension in VSCode
+
+- Clone the repository and open the folder in VSCode
+
+- Use `Ctrl/Cmd + Shift + P` to open the command palette
+
+- Select 'Dev containers: Rebuild and Reopen in Container' Option
+
+- Wait for the container to finish setting up
+
+- Type this command into the terminal `roslaunch pycram ik_and_description.launch` to start roscore
+
+  - Note: Bullet world needs a display to be connected; the render mode needs to be set to direct when running on GitHub codespaces or on WindowOS; Otherwise, the kernel will crash
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 000000000..b5c5b59a6
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,23 @@
+{
+  "name": "PyCRAM vscode devcontainer",
+  "image": "pycram/pycram:dev",
+  "features": {
+    "ghcr.io/devcontainers/features/git:1": {},
+    "ghcr.io/devcontainers/features/sshd:1": {}
+  },
+  "postStartCommand": {
+    "pip": "pip3 install ipykernel pyjpt",
+    "git": "git config --global --add safe.directory '*'",
+    "source setup": "./.devcontainer/script.sh"
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "ms-python.vscode-pylance",
+        "ms-toolsai.jupyter",
+        "esbenp.prettier-vscode"
+      ]
+    }
+  }
+}
diff --git a/.devcontainer/script.sh b/.devcontainer/script.sh
new file mode 100644
index 000000000..d45f309ac
--- /dev/null
+++ b/.devcontainer/script.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+set -e
+
+source /opt/ros/overlay_ws/devel/setup.bash
+
+exec "$@"
\ No newline at end of file