TARGETPLATFORM=linux/arm64 /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/arm64 /bin/bash -c echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" | sudo tee --append /etc/bash.bashrc

TARGETPLATFORM=linux/arm64 /bin/bash -c echo "source /opt/ros/${ROS_DISTRO}/setup.bash" | sudo tee --append /etc/bash.bashrc

TARGETPLATFORM=linux/arm64 /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

TARGETPLATFORM=linux/arm64 /bin/bash -c if [ "$TARGETPLATFORM" = "linux/amd64" ]; then wget https://github.com/foxglove/mcap/releases/download/releases%2Fmcap-cli%2Fv0.0.47/mcap-linux-amd64 &&
  chmod +x mcap-linux-amd64 &&
  mv mcap-linux-amd64 /opt/ros/humble/bin/mcap; elif [ "$TARGETPLATFORM" = "linux/arm64" ]; then wget https://github.com/foxglove/mcap/releases/download/releases%2Fmcap-cli%2Fv0.0.47/mcap-linux-arm64 &&
  chmod +x mcap-linux-arm64 &&
  mv mcap-linux-arm64 /opt/ros/humble/bin/mcap; else echo "Unknown architecture, can't install MCAP CLI" &&
  exit -1; fi

TARGETPLATFORM=linux/arm64

/bin/bash -c sudo sed -i '917i #ifdef GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL' /usr/src/googletest/googletest/include/gtest/internal/gtest-internal.h &&
  sudo sed -i '920i #endif' /usr/src/googletest/googletest/include/gtest/internal/gtest-internal.h &&
  sudo sed -i '2392i #if defined(GTEST_INTERNAL_CPLUSPLUS_LANG) && \\\n    GTEST_INTERNAL_CPLUSPLUS_LANG < 201703L\n#define GTEST_INTERNAL_NEED_REDUNDANT_CONSTEXPR_DECL 1\n#endif' /usr/src/googletest/googletest/include/gtest/internal/gtest-port.h

/bin/bash -c cd /tmp &&
  source ${ROS_ROOT}/setup.bash &&
  dpkg-deb --build ros-humble-cuda-python-placeholder &&
  apt-get install -y ./ros-humble-cuda-python-placeholder.deb &&
  rm -f ./ros-humble-cuda-python-placeholder.deb

rosdep/ros-humble-cuda-python-placeholder /tmp/ros-humble-cuda-python-placeholder

/bin/bash -c python3 -m pip install cuda-python