/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

/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 python3 -m pip install -U paho-mqtt==1.6.1

/bin/bash -c mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/ros-planning/moveit2_tutorials.git -b humble &&
  cd moveit2_tutorials &&
  source ${ROS_ROOT}/setup.bash &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  rm ./*.deb

/bin/bash -c apt-get update &&
  apt-get install -y ros-humble-moveit-hybrid-planning

/bin/bash -c mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/ros-planning/moveit_task_constructor.git -b humble &&
  cd moveit_task_constructor &&
  source ${ROS_ROOT}/setup.bash &&
  cd msgs &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  rm ./*.deb &&
  cd rviz_marker_tools &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  rm ./*.deb &&
  cd core &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  rm ./*.deb &&
  cd capabilities &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  rm ./*.deb &&
  cd visualization &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  rm ./*.deb &&
  cd demo &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary DEB_BUILD_OPTIONS=nocheck &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  rm ./*.deb

/bin/bash -c mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/ros-planning/moveit_resources.git -b humble &&
  cd moveit_resources &&
  source ${ROS_ROOT}/setup.bash &&
  cd fanuc_description &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd .. &&
  apt-get install -y ./*.deb &&
  rm *.deb &&
  cd fanuc_moveit_config &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd .. &&
  apt-get install -y ./*.deb &&
  rm *.deb &&
  cd panda_description &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd .. &&
  apt-get install -y ./*.deb &&
  rm *.deb &&
  cd panda_moveit_config &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd .. &&
  apt-get install -y ./*.deb &&
  rm *.deb &&
  cd pr2_description &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd .. &&
  apt-get install -y ./*.deb &&
  rm *.deb &&
  cd moveit_resources &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd .. &&
  apt-get install -y ./*.deb &&
  rm *.deb

/bin/bash -c apt-get update &&
  apt-get install -y ros-humble-ament-cmake ros-humble-ament-cmake-gtest ros-humble-control-msgs ros-humble-controller-manager ros-humble-geometric-shapes ros-humble-gripper-controllers ros-humble-interactive-markers ros-humble-joint-state-broadcaster ros-humble-joint-state-publisher ros-humble-joint-trajectory-controller ros-humble-joy ros-humble-launch-param-builder ros-humble-moveit ros-humble-moveit-common ros-humble-moveit-configs-utils ros-humble-moveit-core ros-humble-moveit-msgs ros-humble-moveit-ros-perception ros-humble-moveit-ros-planning ros-humble-moveit-ros-planning-interface ros-humble-moveit-servo ros-humble-moveit-visual-tools ros-humble-pluginlib ros-humble-py-binding-tools ros-humble-robot-state-publisher ros-humble-ros2-control ros-humble-rviz-visual-tools ros-humble-rviz2 ros-humble-srdfdom ros-humble-tf2-eigen ros-humble-tf2-geometry-msgs ros-humble-tf2-ros ros-humble-topic-based-ros2-control ros-humble-ur-description ros-humble-ur-moveit-config ros-humble-ur-msgs ros-humble-xacro

/bin/bash -c 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[^j]+(?=jammy)')" &&
  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

patches/rclcpp-disable-tests.patch /tmp/