/bin/bash -c apt-get update &&
  source ${ROS_ROOT}/setup.bash &&
  cd ${ROS_ROOT} &&
  rosdep init &&
  rosdep update &&
  rosdep install -y -r --from-path install/share --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

/bin/bash -c python3 -m pip install -U flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures pytest setuptools==65.7.0

/bin/bash -c apt-get update &&
  apt-get install -y build-essential git python3-colcon-common-extensions python3-pip python3-pybind11 python3-pytest-cov python3-rosdep python3-rosinstall-generator python3-vcstool wget &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  apt-get install -y curl gnupg lsb-release &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

RMW_IMPLEMENTATION=rmw_fastrtps_cpp

/bin/bash -c echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

/bin/bash -c curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

/bin/bash -c echo "Warning: Using the PYTHONWARNINGS environment variable to silence setup.py and easy_install deprecation warnings caused by colcon"

PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources

ROS_ROOT=/opt/ros/humble