/bin/bash -c apt-get update &&
  mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/RobotWebTools/rosbridge_suite.git &&
  cd rosbridge_suite &&
  git checkout ros2 &&
  cd .. &&
  source ${ROS_ROOT}/setup.bash &&
  cd ${ROS_ROOT} &&
  rosdep install -y -r --ignore-src --from-paths src --rosdistro ${ROS_DISTRO} &&
  colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to rosbridge_library &&
  rm -Rf src logs build &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/ipa320/vda5050_msgs.git vda5050_root &&
  cd vda5050_root &&
  git checkout ros2 &&
  cd .. &&
  mv vda5050_root/vda5050_msgs/ vda5050_msgs &&
  rm -rf vda5050_root &&
  source ${ROS_ROOT}/setup.bash &&
  cd ${ROS_ROOT} &&
  colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to vda5050_msgs &&
  rm -Rf src logs build &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/ros-planning/navigation2.git &&
  cd navigation2 &&
  git checkout ec49c2772a0926c86ca83a4933c664744712e2e9 &&
  cd .. &&
  git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git &&
  cd BehaviorTree.CPP &&
  git checkout a363bdcae88350bc748598a7d2950e300859469c &&
  cd .. &&
  source ${ROS_ROOT}/setup.bash &&
  cd ${ROS_ROOT} &&
  rosdep install -y -r --ignore-src --from-paths src --rosdistro ${ROS_DISTRO} &&
  colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to-regex nav2* --packages-ignore nav2_system_tests &&
  rm -Rf src logs build &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/osrf/negotiated &&
  cd negotiated &&
  git checkout master &&
  cd .. &&
  source ${ROS_ROOT}/setup.bash &&
  cd ${ROS_ROOT} &&
  rosdep install -y -r --ignore-src --from-paths src --rosdistro ${ROS_DISTRO} &&
  colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to-regex negotiated* &&
  rm -Rf src logs build &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  apt-get install -y libgeographic-dev

/bin/bash -c #(nop) ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

/bin/bash -c echo "source /opt/ros/${ROS_DISTRO}/install/setup.bash ; export ROS_DISTRO=${ROS_DISTRO}" > /opt/ros/${ROS_DISTRO}/setup.bash

/bin/bash -c cd ${ROS_ROOT} &&
  cat ros2.${ROS_DISTRO}.ros_base.rosinstall &&
  vcs import src < ros2.${ROS_DISTRO}.ros_base.rosinstall &&
  apt-get update &&
  rosdep init &&
  rosdep update &&
  rosdep install -y --ignore-src --from-paths src --rosdistro ${ROS_DISTRO} --skip-keys "fastcdr rti-connext-dds-6.0.1 rti-connext-dds-5.3.1 urdfdom_headers libopencv-dev libopencv-contrib-dev libopencv-imgproc-dev python-opencv python3-opencv" &&
  rm -Rf /var/lib/apt/lists/* &&
  apt-get clean &&
  cd ${ROS_ROOT} &&
  colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo --packages-up-to behaviortree_cpp_v3 &&
  colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo &&
  rm -Rf src build log

/bin/bash -c cd ${ROS_ROOT} &&
  sed -i "/rmw_fastrtps-release.git/{n; s/\(.*\)\/.*/\1\/6.2.1-2/}" ros2.${ROS_DISTRO}.ros_base.rosinstall

/bin/bash -c mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT} &&
  rosinstall_generator --deps --rosdistro ${ROS_DISTRO} ros_base angles apriltag behaviortree_cpp_v3 bondcpp camera_calibration_parsers camera_info_manager compressed_image_transport compressed_depth_image_transport cv_bridge demo_nodes_cpp demo_nodes_py diagnostic_updater example_interfaces image_geometry image_pipeline image_transport image_transport_plugins launch_xml launch_yaml launch_testing launch_testing_ament_cmake nav2_msgs ompl resource_retriever rosbridge_suite rqt_image_view rviz2 sensor_msgs slam_toolbox v4l2_camera vision_opencv vision_msgs > ros2.${ROS_DISTRO}.ros_base.rosinstall