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_jazzy-end-packages.csv

TARGETPLATFORM=linux/arm64 /bin/bash -c ldconfig -p | grep -E 'opencv_imgcodecs|opencv_core' ||
  true

TARGETPLATFORM=linux/arm64 /bin/bash -c set -eux; target=$(ls -1 /usr/local/lib/libopencv_imgcodecs.so.* 2>/dev/null | grep -E 'libopencv_imgcodecs\.so\.[0-9]+' | sort -V | tail -n1 ||
  true); if [ -n "${target:-}" ] &&
  [ ! -e /usr/local/lib/libopencv_imgcodecs.so.406 ]; then ln -s "$(basename "$target")" /usr/local/lib/libopencv_imgcodecs.so.406; fi; ldconfig

/tmp/libopencv_imgcodecs.so* /usr/local/lib/

TARGETPLATFORM=linux/arm64 /bin/bash -c set -eux; for p in /usr/local/lib/libopencv_imgcodecs.so.406 /usr/local/lib/libopencv_imgcodecs.so /usr/local/lib/libopencv_imgcodecs.so.* /usr/lib/libopencv_imgcodecs.so.406 /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.406 /usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.406; do if [ -e "$p" ]; then rm -f "$p"; fi; done

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/jazzy &&
  cd /opt/ros/jazzy &&
  git clone https://github.com/andrewbest-tri/vcstool.git -b andrewbest/delay &&
  echo 'source /opt/ros/jazzy/vcstool/setup.sh' | tee --append /etc/bash.bashrc

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

TARGETPLATFORM=linux/arm64