diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
index e6db6f85e..06c8da65c 100644
--- a/docker/Dockerfile.base
+++ b/docker/Dockerfile.base
@@ -13,37 +13,37 @@ RUN useradd -d /memristor -m \
     echo "memristor ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
 
 # Essentials
-RUN apt-get update && apt-get install -y -o Dpkg::Options::="--force-overwrite" \
-        ros-humble-navigation2 \
-        ros-humble-nav2-bringup \
-        ros-humble-rviz2 \
-        ros-humble-teleop-twist-keyboard \
-        ros-humble-dynamixel-sdk \
-        ros-humble-can-msgs \
-        ros-humble-ruckig \
-        ros-humble-laser-filters \
-        ros-humble-domain-bridge \
-        ros-humble-rmw-cyclonedds-cpp \
-        ros-humble-ros2-control \
-        ros-humble-ros2-controllers \
-        ros-humble-rqt-common-plugins \
-        ros-humble-webots-ros2 \
-        ros-humble-dynamixel-workbench-toolbox \ 
-        ros-humble-behaviortree-cpp \
-        libopencv-dev \
-        python3-pip \
-        python3-pil \
-        alsa \
-        libxshmfence1 \
-        libgtk-3-dev \
-        git \
-        git-lfs \
-        curl \
-        wget \
-        vim \
-        rsync \
-        dialog \
-        fish
+RUN apt-get update && apt-get install --no-install-recommends -y -o Dpkg::Options::="--force-overwrite" \
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-rviz2 \
+    ros-humble-teleop-twist-keyboard \
+    ros-humble-dynamixel-sdk \
+    ros-humble-can-msgs \
+    ros-humble-ruckig \
+    ros-humble-laser-filters \
+    ros-humble-domain-bridge \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-ros2-control \
+    ros-humble-ros2-controllers \
+    ros-humble-rqt-common-plugins \
+    ros-humble-webots-ros2 \
+    ros-humble-dynamixel-workbench-toolbox \ 
+    ros-humble-behaviortree-cpp \
+    libopencv-dev \
+    python3-pip \
+    python3-pil \
+    alsa \
+    libxshmfence1 \
+    libgtk-3-dev \
+    git \
+    git-lfs \
+    curl \
+    wget \
+    vim \
+    rsync \
+    dialog \
+    fish 
 
 
 
@@ -57,7 +57,19 @@ RUN su memristor -c 'code --install-extension eamodio.gitlens' && \
     su memristor -c 'code --install-extension ms-python.python' && \
     su memristor -c 'code --install-extension ms-vscode.cpptools-extension-pack' && \
     su memristor -c 'code --install-extension usernamehw.errorlens' && \
-    su memristor -c 'code --install-extension redhat.vscode-xml'
+    su memristor -c 'code --install-extension redhat.vscode-xml' && \
+    su memristor -c 'code --install-extension ms-iot.vscode-ros' 
+
+
+
+# VS Code server
+RUN su memristor -c 'curl -fsSL https://code-server.dev/install.sh | sh' && \
+    su memristor -c 'code-server --install-extension eamodio.gitlens' && \
+    su memristor -c 'code-server --install-extension ms-python.python' && \
+    su memristor -c 'code-server --install-extension ms-vscode.cpptools-extension-pack' && \
+    su memristor -c 'code-server --install-extension usernamehw.errorlens' && \
+    su memristor -c 'code-server --install-extension redhat.vscode-xml' && \
+    su memristor -c 'code-server --install-extension ms-iot.vscode-ros' 
 
 # Webots
 RUN curl -L -o /tmp/webots.deb \
@@ -77,6 +89,7 @@ RUN wget -O /tmp/diff_drive_controller.deb http://snapshots.ros.org/humble/2022-
 COPY ./config/bashrc /tmp/bashrc
 COPY ./config/fish/. /memristor/.config/fish/
 COPY ./config/starship.toml /memristor/.config/starship.toml
+COPY ./config/vscode-server/config.yaml /memristor/.config/code-server/config.yaml
 COPY ./config/vscode/. /memristor/ros2_ws/.vscode/
 COPY ./config/Cyberobotics/. /memristor/.config/Cyberbotics/
 COPY --chmod=755 ./config/setup.sh /usr/bin/
@@ -88,3 +101,5 @@ RUN cat /tmp/bashrc >> /memristor/.bashrc && \
 
 USER memristor
 WORKDIR /memristor/ros2_ws
+
+EXPOSE 31415
diff --git a/docker/Makefile b/docker/Makefile
index 17bd32c0f..599d8d2e2 100644
--- a/docker/Makefile
+++ b/docker/Makefile
@@ -7,7 +7,7 @@ IMAGE=ghcr.io/memristor/mep3
 
 .PHONY: all
 
-all: destroy build run setup exec pull
+all: destroy test-nvidia run setup-default exec start-code-server
 
 vnc:
 	$(eval FLAVOR=vnc)
@@ -15,6 +15,7 @@ vnc:
 	@true
 
 run:
+	@${MAKE} -s test-nvidia
 	@docker run \
 		--net=host \
 		--ipc=host \
@@ -31,6 +32,27 @@ run:
 		-v ${PROJECT_DIR}:/memristor/ros2_ws/src/mep3:rw \
 		-d -it ${IMAGE}
 
+test-nvidia:	
+	$(eval NC=\033[1;0m)
+	$(eval RED=\033[1;31m)
+	$(eval GREEN=\033[1;32m)
+
+	@lspci | grep -qi nvidia && base64 --decode massage | unxz || true
+	
+	@docker run --rm \
+		-e NVIDIA_DRIVER_CAPABILITIES=all ${NVIDIA_GPU} \
+		-e DISPLAY=${DISPLAY} \
+		${IMAGE} | grep -qi 'nvidia' && \
+	printf '%b\n' "${RED}Detected NVIDIA GPU in system, but missing packets, look up NVIDIA GPU section in README!\n${NC}" || \
+	printf '%b\n' "${GREEN}Everything set up!${NC}"
+
+start-code-server:
+	@docker exec -d -it mep3-${FLAVOR} bash -c 'pgrep code-server || code-server /memristor/ros2_ws/src/mep3' && \
+	xdg-open 'localhost:31415?folder=/memristor/ros2_ws/src/mep3'
+
+stop-code-server:
+	@docker exec -it mep3-${FLAVOR} pkill -f code-server
+
 exec:
 	@docker exec -it mep3-${FLAVOR} bash
 
@@ -38,7 +60,12 @@ destroy:
 	@docker container kill mep3-${FLAVOR} || true
 	@docker container rm -f mep3-${FLAVOR} || true
 
-setup:
-	@docker exec -it mep3-${FLAVOR} /usr/bin/setup.sh
+setup-default:
+	@docker exec -it mep3-${FLAVOR} sh -c '/usr/bin/setup.sh --all' 
+	@echo 'Restarting mep3-${FLAVOR} container...'
+	@docker restart mep3-${FLAVOR}
+
+setup-interactive:
+	@docker exec -it mep3-${FLAVOR} sh -c '/usr/bin/setup.sh --all --interactive' 
 	@echo 'Restarting mep3-${FLAVOR} container...'
 	@docker restart mep3-${FLAVOR}
diff --git a/docker/README.md b/docker/README.md
index 8c8029548..a1327d1a4 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -25,7 +25,10 @@
 
 5) _Optional:_ run container setup script
     ```sh
-    make setup
+    make setup-default
+
+    # If you prefer to manually configure setup, you can just do make setup and go through the prompts
+    make setup-interactive
     ```
 6) Acces the environment from any terminal window
     ```sh
@@ -33,6 +36,18 @@
     ```
     Graphical applications started inside this terminal will use your existing Xorg session to display.
 
+
+## Code Server
+If you prefer to use browser based VS Code, you can start it in the container and then access it locally through your browser at `localhost:31415`
+    
+```sh
+# This will start the VS code server with your mep3 repo
+make start-code-server
+
+# To stop the VS code server
+make stop-code-server
+```
+
 ## Remote development environment (VNC)
 
 
@@ -48,3 +63,7 @@ and set `DISPLAY` environment variable on step 4 to its value (eg `:0`).
 ```sh
 export DISPLAY=:0
 ```
+
+## NVIDIA GPU
+If you happen to have NVIDIA GPUs that you wish to use within these development environments, make sure
+to have NVIDIA Container Toolkit installed on your system. More info, specific to your distribution [here](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html).
diff --git a/docker/config/setup.sh b/docker/config/setup.sh
index 000c34670..e701390a3 100755
--- a/docker/config/setup.sh
+++ b/docker/config/setup.sh
@@ -1,76 +1,208 @@
 #!/usr/bin/env bash
 
-if [ -z "${VENDOR}" ]; then
-    dialog --title 'mep3 setup' --default-item '2' --menu 'Setup script vendor:' 0 0 0 1 'Docker image' 2 'Active git branch' 2>/tmp/answer
-    if grep -q '^2$' /tmp/answer; then
-        VENDOR=1 exec /memristor/ros2_ws/src/mep3/docker/config/setup.sh
-        exit
-    fi
-else
-    commit="$(cd /memristor/ros2_ws/src/mep3 && git rev-parse --short HEAD)"
-    dialog --msgbox "Using staging setup script (${commit})" 5 42
-fi
+_help=false
+_configure_proxy=false
+_vnc=false
+_first_time_ros_setup=false
+_enhanced_shell_prompt=false
+_shell_shortcuts=false
+_all=false
+interactive=false
 
-if dialog --title 'mep3 config' --defaultno --yesno 'Enable UNS proxy'  5 30; then
-    sed '/# Setup_proxy/d' -i /memristor/.bashrc
-    sudo sed '/# Setup_proxy/d' -i /etc/apt/apt.conf
-    echo "source /memristor/ros2_ws/src/mep3/docker/config/proxy.sh &>/dev/null # Setup_proxy" >> /memristor/.bashrc
-    source /memristor/ros2_ws/src/mep3/docker/config/proxy.sh
-    echo 'Acquire::http::Proxy "http://ftn.proxy:8080"; # Setup_proxy' | sudo tee -a /etc/apt/apt.conf
-    echo 'Acquire::https::Proxy "https://ftn.proxy:8080"; # Setup_proxy' | sudo tee -a /etc/apt/apt.conf
-else
-    sed '/# Setup_proxy/d' -i /memristor/.bashrc
-    sudo sed '/# Setup_proxy/d' -i /etc/apt/apt.conf
-fi
+usage() {
+	echo "Usage: $0 [--help] [--configure-proxy] [--vnc] [--first-time-ros-setup] [--enhanced-shell-prompt] [--shell-shortcuts] [--interactive]"
+	echo "--help print help and exit"
+	echo "--interactive do everything interactively"
+	echo "--no-default do not use default setup configurations"
+	echo "--configure-proxy configures proxy for use in ftn network"
+	echo "--vnc configures VNC server in the container for outside remote DE use"
+	echo "--first-time-ros-setup configures ros for the first time setup"
+	echo "--enhanced-shell-prompt enables starship enhanced shell prompt"
+	echo "--shell-shortcuts enables shell shortcuts for easier tools use"
+	exit
+}
 
-if dialog --title 'mep3 config' --yesno 'Run first time ROS setup' 5 30; then
-    clear
-    sudo -E rosdep init
-    sudo -E apt-get install -y python3-vcstool
-    rosdep --rosdistro "${ROS_DISTRO}" update
-    cd /memristor/ros2_ws && yes | rosdep --rosdistro "${ROS_DISTRO}" install -r --from-paths src --ignore-src
-fi
+default_configure_proxy() {
+	sed '/# Setup_proxy/d' -i /memristor/.bashrc
+	sudo sed '/# Setup_proxy/d' -i /etc/apt/apt.conf
+}
 
-if dialog --title 'mep3 config' --yesno 'Enable enhanced shell prompt' 5 38; then
-    sed '/# Setup_prompt/d' -i /memristor/.config/fish/config.fish
-    echo 'starship init fish | source # Setup_prompt' >> /memristor/.config/fish/config.fish
-    eval "curl -sS https://starship.rs/install.sh | sh -s -- --yes"
-else
-    sed '/# Setup_prompt/d' -i /memristor/.config/fish/config.fish
-fi
+configure_proxy() {
+	if $interactive; then
+		# FTN proxy is actually enabled here
+		if dialog --title 'mep3 config' --defaultno --yesno 'Enable UNS proxy' 5 30; then
+			sed '/# Setup_proxy/d' -i /memristor/.bashrc
+			sudo sed '/# Setup_proxy/d' -i /etc/apt/apt.conf
+			echo "source /memristor/ros2_ws/src/mep3/docker/config/proxy.sh &>/dev/null # Setup_proxy" >>/memristor/.bashrc
+			source /memristor/ros2_ws/src/mep3/docker/config/proxy.sh
+			echo 'Acquire::http::Proxy "http://ftn.proxy:8080"; # Setup_proxy' | sudo tee -a /etc/apt/apt.conf
+			echo 'Acquire::https::Proxy "https://ftn.proxy:8080"; # Setup_proxy' | sudo tee -a /etc/apt/apt.conf
+			return
+		fi
+	fi
+	default_configure_proxy
+}
 
-if dialog --title 'mep3 config' --yesno 'Enable shell shortcuts' 5 30; then
-    sed '/# Setup_shortcuts/d' -i /memristor/.config/fish/config.fish
-    echo "source /memristor/ros2_ws/src/mep3/docker/config/fish/shortcuts.fish &>/dev/null # Setup_shortcuts" >> /memristor/.config/fish/config.fish
-    echo "source /memristor/ros2_ws/src/mep3/docker/config/fish/git.fish &>/dev/null # Setup_shortcuts" >> /memristor/.config/fish/config.fish
-    dialog --msgbox 'Type "h" into terminal to list all mep3 shortcuts' 5 53
-else
-    sed '/# Setup_shortcuts/d' -i /memristor/.config/fish/config.fish
-fi
+default_first_time_ros_setup() {
+	clear
+	sudo -E rosdep init
+	sudo -E apt-get install -y python3-vcstool
+	rosdep --rosdistro "${ROS_DISTRO}" update
+	cd /memristor/ros2_ws && yes | rosdep --rosdistro "${ROS_DISTRO}" install -r --from-paths src --ignore-src
+}
 
-if test -f /opt/TurboVNC/bin/vncserver; then
-    if dialog --title 'mep3 config' --yesno 'Enable VNC' 5 30; then
-        VNC_CMD='/usr/bin/vnc.sh &>/dev/null'
-            if dialog --title 'mep3 config' --yesno 'Enable GPU acceleration' 5 30; then
-            VNC_CMD="VGL=-vgl ${VNC_CMD}"
-        fi
-        if dialog --title 'mep3 config' --inputbox 'Enter host X11 display server location' 8 30 "$DISPLAY" 2>/tmp/answer; then
-            VNC_CMD=" DISPLAY=$(cat /tmp/answer) ${VNC_CMD}"
-        fi
-        if dialog --title 'mep3 config' --inputbox 'Enter VNC server port' 8 30 5910 2>/tmp/answer; then
-            VNC_CMD=" PORT_VNC=$(cat /tmp/answer) ${VNC_CMD}"
-        fi
-        if dialog --title 'mep3 config' --inputbox 'Enter noVNC webserver port' 8 30 6810 2>/tmp/answer; then
-            VNC_CMD=" PORT_WEB=$(cat /tmp/answer) ${VNC_CMD}"
-        fi
-        sed '/# Setup_VNC/d' -i /memristor/.bashrc
-        echo "$VNC_CMD # Setup_VNC" >> /memristor/.bashrc
-    else
-        sed '/# Setup_VNC/d' -i /memristor/.bashrc
-    fi
-fi
+first_time_ros_setup() {
+	if $interactive; then
+		if dialog --title 'mep3 config' --yesno 'Run first time ROS setup' 5 30; then
+			default_first_time_ros_setup
+			return
+		fi
+	fi
+	default_first_time_ros_setup
+}
+
+default_enhanced_shell_prompt() {
+	sed '/# Setup_prompt/d' -i /memristor/.config/fish/config.fish
+	echo 'starship init fish | source # Setup_prompt' >>/memristor/.config/fish/config.fish
+	eval "curl -sS https://starship.rs/install.sh | sh -s -- --yes"
+}
+
+enhanced_shell_prompt() {
+	if $interactive; then
+		if dialog --title 'mep3 config' --yesno 'Enable enhanced shell prompt' 5 38; then
+			default_enhanced_shell_prompt
+			return
+		else
+			sed '/# Setup_prompt/d' -i /memristor/.config/fish/config.fish
+		fi
+	fi
+	default_enhanced_shell_prompt
+}
 
-sed '/# Setup_shell/d' -i /memristor/.bashrc
-echo 'echo "$-" | grep i -q && exec fish # Setup_shell' >> /memristor/.bashrc
+default_shell_shortcuts() {
+	sed '/# Setup_shortcuts/d' -i /memristor/.config/fish/config.fish
+	echo "source /memristor/ros2_ws/src/mep3/docker/config/fish/shortcuts.fish &>/dev/null # Setup_shortcuts" >>/memristor/.config/fish/config.fish
+	echo "source /memristor/ros2_ws/src/mep3/docker/config/fish/git.fish &>/dev/null # Setup_shortcuts" >>/memristor/.config/fish/config.fish
+}
 
-clear
+shell_shortcuts() {
+	if $interactive; then
+		if dialog --title 'mep3 config' --yesno 'Enable shell shortcuts' 5 30; then
+			default_shell_shortcuts
+			return
+		else
+			sed '/# Setup_shortcuts/d' -i /memristor/.config/fish/config.fish
+		fi
+	fi
+	default_shell_shortcuts
+}
+
+interactive_vnc() {
+	if dialog --title 'mep3 config' --yesno 'Enable VNC' 5 30; then
+		VNC_CMD='/usr/bin/vnc.sh &>/dev/null'
+		if dialog --title 'mep3 config' --yesno 'Enable GPU acceleration' 5 30; then
+			VNC_CMD="VGL=-vgl ${VNC_CMD}"
+		fi
+		if dialog --title 'mep3 config' --inputbox 'Enter host X11 display server location' 8 30 "$DISPLAY" 2>/tmp/answer; then
+			VNC_CMD=" DISPLAY=$(cat /tmp/answer) ${VNC_CMD}"
+		fi
+		if dialog --title 'mep3 config' --inputbox 'Enter VNC server port' 8 30 5910 2>/tmp/answer; then
+			VNC_CMD=" PORT_VNC=$(cat /tmp/answer) ${VNC_CMD}"
+		fi
+		if dialog --title 'mep3 config' --inputbox 'Enter noVNC webserver port' 8 30 6810 2>/tmp/answer; then
+			VNC_CMD=" PORT_WEB=$(cat /tmp/answer) ${VNC_CMD}"
+		fi
+		sed '/# Setup_VNC/d' -i /memristor/.bashrc
+		echo "$VNC_CMD # Setup_VNC" >>/memristor/.bashrc
+	else
+		sed '/# Setup_VNC/d' -i /memristor/.bashrc
+	fi
+}
+
+default_vnc() {
+	VNC_CMD='/usr/bin/vnc.sh &>/dev/null'
+	VNC_CMD="VGL=-vgl DISPLAY=$DISPLAY PORT_VNC=5910 PORT_WEB=6810 ${VNC_CMD}"
+	sed '/# Setup_VNC/d' -i /memristor/.bashrc
+	echo "$VNC_CMD # Setup_VNC" >>/memristor/.bashrc
+}
+
+vnc() {
+	if test -f /opt/TurboVNC/bin/vncserver; then
+		echo "TurboVNC is not installed"
+		exit 1
+	fi
+	if $interactive; then
+		interactive_vnc
+		return
+	fi
+	default_vnc
+}
+
+finalize() {
+	sed '/# Setup_shell/d' -i /memristor/.bashrc
+	echo 'echo "$-" | grep i -q && exec fish # Setup_shell' >>/memristor/.bashrc
+
+	clear
+}
+
+while [ "$#" -gt 0 ]; do
+	case "$1" in
+	--configure-proxy)
+		_configure_proxy=true
+		;;
+	--vnc)
+		_vnc=true
+		;;
+	--first-time-ros-setup)
+		_first_time_ros_setup=true
+		;;
+	--enhanced-shell-prompt)
+		_enhanced_shell_prompt=true
+		;;
+	--shell-shortcuts)
+		_shell_shortcuts=true
+		;;
+	--interactive)
+		interactive=true
+		;;
+	--help)
+		_help=true
+		;;
+	--all)
+		_all=true
+		;;
+	*)
+		usage
+		;;
+	esac
+	shift
+done
+
+if $_help; then
+	usage
+fi
+
+if $_all; then
+	configure_proxy
+	first_time_ros_setup
+	enhanced_shell_prompt
+	shell_shortcuts
+	vnc
+else
+	if $_configure_proxy; then
+		configure_proxy
+	fi
+	if $_first_time_ros_setup; then
+		first_time_ros_setup
+	fi
+	if $_enhanced_shell_prompt; then
+		enhanced_shell_prompt
+	fi
+	if $_shell_shortcuts; then
+		shell_shortcuts
+	fi
+	if $_vnc; then
+		vnc
+	fi
+fi
+finalize
diff --git a/docker/config/vscode-server/config.yaml b/docker/config/vscode-server/config.yaml
new file mode 100644
index 000000000..f422467e1
--- /dev/null
+++ b/docker/config/vscode-server/config.yaml
@@ -0,0 +1,3 @@
+bind-addr: 0.0.0.0:31415
+auth: none
+cert: false
diff --git a/docker/massage b/docker/massage
new file mode 100644
index 000000000..2fa1e29c0
--- /dev/null
+++ b/docker/massage
@@ -0,0 +1,21 @@
+/Td6WFoAAATm1rRGAgAhARYAAAB0L+Wj4AhtBDhdACSICuaTlpBbGyQavVQi+uHevPuEtoNXgL1+
+4e7IDmpqCeHPKzFS2eYdY9NljF/D4ZQXNVpS0Oa2C3E0YUhUjOM574MAJ2EgtuVprBjSnhokyeTH
+Vt534cSgR6u3VDYfevstpfhtEr7j07IjN4Re64x0zqlEiMM9mo3B92pwRSU/nnMbtVuf+pt9f4pi
+UZpvVeDB873OISw/lDCCu2b+eewEAN5BLsv/OoL8XIPWzDSQdh4UiOlDYgfuoRevwbiYsfeKcUmq
+RKYqN/U18XYk7FDOqyprzye1kJpZSIXee9AZ0ux/sthDKDewW7+FoYCNzbD/C23xRtCIlejwEVEB
+lOtR9EN6W46XTbHrWJPORo8n4uxEDheo4J8XdlKxYRmxb8yQRbCinw7cbjVs9qvx6uAPIXMnVJ1G
+RZTp+RhWW7NlX4YQSC7cgVkc4rB9M4I3z9NScna8wPjsQw7W+ApFeDAvwSNlKWsCB3aC4QYJ9Opb
+v6JYLiTo0+ndRs44KYI4CJgbokGpcYXFyvS6LrqC02uGeXp66UehtQZ2wRgUBIMZ1hZzkQKLcda9
+HZ0xNazpN8YDZptOywO2xw9Jdkiai3OlzpKr8hNeEo/vIh9yRAQr/qrxykYfzD3LleLF+PUL6Uqb
+O2urVGb6bPO8nJLhG4rghD/krfYwyBp4LUYSEJwM0e/1gLPqh69k/RdDJss9voDvFtYuF4KgwP1i
+kWNmtgJsYdHDclcNdjZY04hg/uHm3jyHKb8UciI62hvpzkZLQVYgZH1z1aAfq5Ib9B+yhXThRpB5
+5tHwtZXA6QqFUh3C8Is7na7fzlNn5ApI4QWSWJF/IOD7lAHbhva0uyMkO9YHazHiH7JrD4d+fiCF
+8b1RiV1xNkxNPbzifOsWhj8kp0VFTsO282OdEc0s/TmpB3ygU07BZJohPRx0as1puk7OhUA/QFKI
+pyBSkPrzQ3ethVFWbn+XQv18Lvh9RqhL3u4+8ocszz4ElA4uiNSaT8LkANv+HFgPxc+GHlJ+dmcX
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