—

scripts/hotplug-realsense.sh /opt/realsense/hotplug-realsense.sh

/bin/bash -c mkdir -p /opt/realsense/

/bin/bash -c chmod +x /opt/realsense/build-librealsense.sh &&
  /opt/realsense/build-librealsense.sh

/bin/bash -c chmod +x /opt/realsense/install-realsense-dependencies.sh &&
  /opt/realsense/install-realsense-dependencies.sh

scripts/install-realsense-dependencies.sh /opt/realsense/install-realsense-dependencies.sh

scripts/build-librealsense.sh /opt/realsense/build-librealsense.sh

/bin/bash -c apt-get update &&
  apt-get install -y libavdevice-dev libavformat-dev libavcodec-dev libavutil-dev libswscale-dev libx264-dev python3-venv &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  apt-get install -y ros-humble-camera-info-manager ros-humble-rosbag2 ros-humble-rosbag2-compression-zstd ros-humble-rosbag2-cpp ros-humble-rosbag2-py ros-humble-rosbridge-suite ros-humble-rqt-graph ros-humble-rqt-reconfigure ros-humble-rviz-common ros-humble-rviz-default-plugins &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  export RCLCPP_VERSION="release/humble/rclcpp/$(apt-cache madison ros-humble-rclcpp | grep -m1 -oP 'ros-humble-rclcpp \| \K[^f]+(?=focal)')" &&
  echo ${RCLCPP_VERSION} &&
  git clone https://github.com/ros2-gbp/rclcpp-release.git &&
  cd rclcpp-release &&
  git checkout ${RCLCPP_VERSION} &&
  patch -i /tmp/rclcpp-disable-tests.patch &&
  unset RCLCPP_VERSION &&
  git config user.email "builder@nvidia.com" &&
  git config user.name "NVIDIA Builder" &&
  git remote add rclcpp https://github.com/ros2/rclcpp.git &&
  git fetch rclcpp &&
  git cherry-pick 232262c02a1265830c7785b7547bd51e1124fcd8 &&
  source ${ROS_ROOT}/setup.bash &&
  cd ../ &&
  rosdep install -i -r --from-paths rclcpp-release/ --rosdistro humble -y &&
  cd rclcpp-release &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd ../ &&
  apt-get install -y --allow-downgrades ./*.deb &&
  echo "rclcpp https://github.com/ros2/rclcpp/commit/232262c02a1265830c7785b7547bd51e1124fcd8" >> ${ROS_ROOT}/VERSION &&
  cd ../ &&
  rm -Rf src build log &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean