diff --git a/.devcontainer/build.sh b/.devcontainer/build.sh
new file mode 100755
index 0000000..ebdf864
--- /dev/null
+++ b/.devcontainer/build.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+# This script is meant to be executed within the "postCreateCommand" field in
+# .devcontainer/devcontainer.json, i.e., it expects the devcontainer config to install
+# necessary folders with source code beforehand.
+
+set -eo pipefail
+set -x
+
+cd "${HOME}"/catkin_ws/src
+./mushr/mushr_utils/install/mushr_install.bash --trivial-only
+mushr_noetic run 'cd catkin_ws && catkin build'
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 0000000..c231c5c
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,15 @@
+{
+	"image": "osrf/ros:noetic-desktop-full",
+	"features": {
+		"ghcr.io/devcontainers/features/common-utils:2": {
+			"username": "vscode",
+			"userUid": "1000",
+			"userGid": "1000"
+		},
+		"ghcr.io/devcontainers/features/docker-in-docker:2": {}
+	},
+	"remoteUser": "vscode",
+	"workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/catkin_ws/src/mushr,type=bind",
+	"workspaceFolder": "/home/vscode/catkin_ws",
+	"postCreateCommand": "sudo chown -R vscode:vscode . && ln -s ${containerWorkspaceFolder}/src/mushr/.vscode ${containerWorkspaceFolder} && ./src/mushr/.devcontainer/build.sh"
+}
diff --git a/.devcontainer/smoke_test.sh b/.devcontainer/smoke_test.sh
new file mode 100755
index 0000000..1769ac5
--- /dev/null
+++ b/.devcontainer/smoke_test.sh
@@ -0,0 +1,23 @@
+#!/bin/bash
+set -e
+
+mushr_noetic run 'source ~/.bashrc && roslaunch mushr_sim teleop.launch' > /tmp/output_roslaunch &
+sleep 5
+if tail -n 1 /tmp/output_roslaunch | grep -q "Rosbridge WebSocket server started at ws://0.0.0.0:9090"; then
+    echo "✅ roslaunch-teleop-test passed"
+else
+    cat /tmp/output_roslaunch  # print output for debugging purposes
+    echo "❌ roslaunch-teleop-test failed"
+    exit 1;
+fi
+
+docker run --rm -p "8080:8080" ghcr.io/foxglove/studio:latest &
+sleep 10;
+if curl -sSf http://localhost:8080 >/dev/null; then
+    echo "✅ start-foxglove-studio passed"
+else
+    echo "❌ start-foxglove-studio failed"
+    exit 1;
+fi
+
+exit 0;
\ No newline at end of file
diff --git a/.github/workflows/devcontainer-test.sh b/.github/workflows/devcontainer-test.sh
new file mode 100755
index 0000000..a04022c
--- /dev/null
+++ b/.github/workflows/devcontainer-test.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -e
+
+SRC_DIR="$(pwd)"
+
+echo "Running Smoke Test"
+
+# Build
+export DOCKER_BUILDKIT=1
+echo "(*) Installing @devcontainer/cli"
+npm install -g @devcontainers/cli
+
+echo "Building Dev Container"
+ID_LABEL="test-container=mushr"
+devcontainer up --id-label ${ID_LABEL} --workspace-folder "${SRC_DIR}"
+
+# Test
+devcontainer exec --workspace-folder "${SRC_DIR}" --id-label ${ID_LABEL} /bin/sh -c './src/mushr/.devcontainer/smoke_test.sh'
+
+# Clean up
+docker rm -f $(docker container ls -f "label=${ID_LABEL}" -q)
diff --git a/.github/workflows/test-pr.yaml b/.github/workflows/test-pr.yaml
new file mode 100644
index 0000000..2cb966d
--- /dev/null
+++ b/.github/workflows/test-pr.yaml
@@ -0,0 +1,16 @@
+name: "CI"
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout main
+        id: checkout_release
+        uses: actions/checkout@v3
+      - name: Devcontainer container smoke test
+        id: test_devcontainer
+        shell: bash
+        run: ./.github/workflows/devcontainer-test.sh
\ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
new file mode 100644
index 0000000..3e0f4f0
--- /dev/null
+++ b/.vscode/tasks.json
@@ -0,0 +1,16 @@
+{
+    "tasks": [
+        {
+            "label": "Roslaunch teleop.launch",
+            "type": "shell",
+            "command": "mushr_noetic run 'source ~/.bashrc && roslaunch mushr_sim teleop.launch'",
+            "problemMatcher": []
+        },
+        {
+            "label": "Start Foxglove Studio server",
+            "type": "shell",
+            "command": "docker run --rm -p \"8080:8080\" ghcr.io/foxglove/studio:latest",
+            "problemMatcher": []
+        }
+    ]
+}
\ No newline at end of file
diff --git a/mushr_utils/install/mushr_install.bash b/mushr_utils/install/mushr_install.bash
index c5e4f08..7b8bf8d 100755
--- a/mushr_utils/install/mushr_install.bash
+++ b/mushr_utils/install/mushr_install.bash
@@ -1,6 +1,15 @@
 #!/bin/bash
 pushd `dirname $0`
 
+# Parse args
+TRIVIAL_ONLY=0
+for arg in "$@"; do
+    if [ "$arg" == "--trivial-only" ]; then
+        TRIVIAL_ONLY=1
+        break
+    fi
+done
+
 # Detect OS 
 export MUSHR_OS_TYPE="$(uname -s)"
 
@@ -12,8 +21,12 @@ fi
 export MUSHR_INSTALL_PATH=$(pwd)
 
 # Real robot or on a laptop?
-read -p "Are you installing on robot and need all the sensor drivers? (y/n) " -r
-echo
+if [[ $TRIVIAL_ONLY == 0 ]]; then
+  read -p "Are you installing on robot and need all the sensor drivers? (y/n) " -r
+  echo
+else
+  REPLY="n"
+fi
 if [[ $REPLY =~ ^[Yy]$ ]]; then
     export MUSHR_REAL_ROBOT=1
     export MUSHR_COMPOSE_FILE=docker-compose-robot.yml
@@ -23,8 +36,12 @@ else
 fi
 
 # Build from scratch 
-read -p "Build from scratch? (Not recommended, takes much longer than pulling ready-made image) (y/n) " -r
-echo
+if [[ $TRIVIAL_ONLY == 0 ]]; then
+  read -p "Build from scratch? (Not recommended, takes much longer than pulling ready-made image) (y/n) " -r
+  echo
+else
+  REPLY="n"
+fi
 export BUILD_FROM_SCRATCH=0
 if [[ $REPLY =~ ^[Yy]$ ]]; then
   export BUILD_FROM_SCRATCH=1
@@ -102,15 +119,21 @@ cd $MUSHR_WS_PATH/catkin_ws/src/ && vcs import < mushr/base-repos.yaml && vcs im
 
 # Make custom mushr_noetic script
 cat <<- EOF > ${MUSHR_INSTALL_PATH}/mushr_noetic
+#!/bin/bash
 export MUSHR_INSTALL_PATH=${MUSHR_INSTALL_PATH}
 export MUSHR_REAL_ROBOT=${MUSHR_REAL_ROBOT}
 export MUSHR_WS_PATH=${MUSHR_WS_PATH}
 export MUSHR_COMPOSE_FILE=${MUSHR_COMPOSE_FILE}
 export MUSHR_OS_TYPE=${MUSHR_OS_TYPE}
-if [ \$# == 0 ] || [ \$1 == "run" ];
+if [[ \$# == 0 ]] || [[ \$1 == "run" ]];
 then
-  docker-compose -f \$MUSHR_INSTALL_PATH/\$MUSHR_COMPOSE_FILE run -p 	9090:9090 mushr_noetic bash
-elif [ \$1 == "build" ];
+  if [[ \$# == 2 ]];
+  then
+    docker-compose -f \$MUSHR_INSTALL_PATH/\$MUSHR_COMPOSE_FILE run -p 	9090:9090 mushr_noetic bash -ic "\${2}"
+  else
+    docker-compose -f \$MUSHR_INSTALL_PATH/\$MUSHR_COMPOSE_FILE run -p 	9090:9090 mushr_noetic bash
+  fi
+elif [[ \$1 == "build" ]];
 then
   docker-compose -f $MUSHR_INSTALL_PATH/$MUSHR_COMPOSE_FILE build --no-cache mushr_noetic
 else