diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 4bcf6f5..e344725 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -42,3 +42,4 @@ COPY entrypoint.sh /
 RUN chmod +x /entrypoint.sh
 
 ENTRYPOINT ["/entrypoint.sh"]
+CMD ["/bin/bash"]
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 531d797..087ac67 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -5,6 +5,8 @@
     "dockerfile": "Dockerfile"
   },
   "runArgs": ["-v", ".:/workspace"],
+  "overrideCommand": true,
+  "postStartCommand": ". /entrypoint.sh",
   "customizations": {
     "vscode": {
       "extensions": [
diff --git a/.devcontainer/entrypoint.sh b/.devcontainer/entrypoint.sh
index 4664f3f..09f362f 100644
--- a/.devcontainer/entrypoint.sh
+++ b/.devcontainer/entrypoint.sh
@@ -1,6 +1,9 @@
 #!/bin/bash
 
 # Build the package mounted in the container
+echo "Building workspace with colcon"
 . /opt/ros/humble/setup.sh && . /ros_deps/install/setup.sh && colcon build
 echo "source /workspace/install/setup.sh" >> /root/.bashrc
-/bin/bash
\ No newline at end of file
+
+# Run the CMD (either the default from the Dockerfile or the one provided as docker run argument)
+exec "$@"