diff --git a/.devcontainer/kilted/Dockerfile b/.devcontainer/kilted/Dockerfile
new file mode 100644
index 0000000..706e9ae
--- /dev/null
+++ b/.devcontainer/kilted/Dockerfile
@@ -0,0 +1,26 @@
+FROM ros:kilted-ros-base
+
+# Add vscode user with same UID and GID as your host system
+# (copied from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user)
+ARG USERNAME=ubuntu
+RUN apt-get update \
+    && apt-get install -y sudo \
+    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    && chmod 0440 /etc/sudoers.d/$USERNAME
+# Switch from root to user
+USER $USERNAME
+
+# Add user to video group to allow access to webcam
+RUN sudo usermod --append --groups video $USERNAME
+
+# Update all packages
+RUN sudo apt update && sudo apt upgrade -y
+
+# Install Git
+RUN sudo apt install -y git
+
+# Rosdep update
+RUN rosdep update
+
+# Source the ROS setup file
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
diff --git a/.devcontainer/kilted/devcontainer.json b/.devcontainer/kilted/devcontainer.json
new file mode 100644
index 0000000..891ee3e
--- /dev/null
+++ b/.devcontainer/kilted/devcontainer.json
@@ -0,0 +1,19 @@
+{
+  "name": "kilted",
+  "dockerFile": "Dockerfile",
+  "runArgs": [
+    "--privileged",
+    "--network=host"
+  ],
+  "workspaceMount": "source=${localWorkspaceFolder},target=/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/${localWorkspaceFolderBasename}",
+  "mounts": [],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools",
+        "eamodio.gitlens"
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/.github/workflows/ros-build-test.yaml b/.github/workflows/ros-build-test.yaml
index 8c72437..ef4eb6a 100644
--- a/.github/workflows/ros-build-test.yaml
+++ b/.github/workflows/ros-build-test.yaml
@@ -12,7 +12,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros-version: [humble, iron, jazzy]
+        ros-version: [humble, iron, jazzy, kilted]
     
     steps:
       - name: Check out code