/bin/bash -c mkdir -p ${ISAAC_ROS_WS} &&
  cd ${ISAAC_ROS_WS} &&
  wget https://urm.nvidia.com/artifactory/sw-isaac-sdk-generic-local/dependencies/internal/data/prebuilt_assets/isaac_ros_assets_perceptor_jp61_agx_orin.tar.gz &&
  tar -xzf isaac_ros_assets_perceptor_jp61_agx_orin.tar.gz &&
  rm isaac_ros_assets_perceptor_jp61_agx_orin.tar.gz

/bin/bash -c apt-get update &&
  apt-get install -y ros-humble-nova-carter-bringup ros-humble-nova-developer-kit-bringup

ISAAC_ROS_ACCEPT_EULA=1

ISAAC_ROS_WS=/workspaces/isaac_ros-dev/ros_ws

/bin/bash -c apt-get update &&
  apt-get install -y ros-humble-twist-mux ros-humble-joy-linux ros-humble-teleop-twist-joy ros-humble-nav2* ros-humble-nav2-bringup ros-humble-geographic-msgs &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  apt-get install -y bc libpcl-dev libpcap-dev libboost-dev libgeographic-dev iproute2 &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

TARGETPLATFORM=linux/amd64 MCAP_VERSION=v0.0.51 /bin/bash -c mkdir -p /opt/nvidia/isaac_ros_dev_base &&
  dpkg-query -W | sort > /opt/nvidia/isaac_ros_dev_base/ros2_humble-end-packages.csv

TARGETPLATFORM=linux/amd64 MCAP_VERSION=v0.0.51 /bin/bash -c echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" | sudo tee --append /etc/bash.bashrc

TARGETPLATFORM=linux/amd64 MCAP_VERSION=v0.0.51 /bin/bash -c echo "source /opt/ros/${ROS_DISTRO}/setup.bash" | sudo tee --append /etc/bash.bashrc

TARGETPLATFORM=linux/amd64 MCAP_VERSION=v0.0.51 /bin/bash -c mkdir -p /opt/ros/humble &&
  cd /opt/ros/humble &&
  git clone https://github.com/andrewbest-tri/vcstool.git -b andrewbest/delay &&
  echo 'source /opt/ros/humble/vcstool/setup.sh' | tee --append /etc/bash.bashrc