/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

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

/bin/bash -c apt-get update &&
  mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/ros-perception/image_pipeline.git &&
  cd image_pipeline &&
  git checkout 55bf2a38c327b829c3da444f963a6c66bfe0598f &&
  git config user.email "builder@nvidia.com" &&
  git config user.name "NVIDIA Builder" &&
  git remote add fork https://github.com/schornakj/image_pipeline.git &&
  git fetch fork &&
  git cherry-pick 969d6c763df99b42844742946f7a70c605a72a15 &&
  source ${ROS_ROOT}/setup.bash &&
  cd image_proc &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd ../ &&
  apt-get install -y --allow-downgrades ./*.deb &&
  echo "image_pipeline (image_proc) https://github.com/ros-perception/image_pipeline/pull/786/commits/969d6c763df99b42844742946f7a70c605a72a15 on 55bf2a38" >> ${ROS_ROOT}/VERSION &&
  cd ../ &&
  rm -Rf src build log &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/ipa320/vda5050_msgs.git vda5050_root &&
  cd vda5050_root &&
  git checkout ros2 &&
  cd .. &&
  mv vda5050_root/vda5050_msgs/ vda5050_msgs &&
  rm -rf vda5050_root &&
  source ${ROS_ROOT}/setup.bash &&
  cd vda5050_msgs &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  cd ../ &&
  rm -Rf src build log &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  mkdir -p ${ROS_ROOT}/src &&
  cd ${ROS_ROOT}/src &&
  git clone https://github.com/osrf/negotiated &&
  cd negotiated &&
  git checkout master &&
  source ${ROS_ROOT}/setup.bash &&
  cd negotiated_interfaces &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  rm ./*.deb &&
  cd negotiated &&
  bloom-generate rosdebian &&
  fakeroot debian/rules binary &&
  cd ../ &&
  apt-get install -y ./*.deb &&
  rm ./*.deb &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c rosdep init &&
  mkdir -p /etc/ros/rosdep/sources.list.d/ &&
  curl -o /etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml https://isaac.download.nvidia.com/isaac-ros/extra_rosdeps.yaml &&
  echo "yaml file:///etc/ros/rosdep/sources.list.d/nvidia-isaac.yaml" | tee /etc/ros/rosdep/sources.list.d/00-nvidia-isaac.list &&
  rosdep update

/bin/bash -c apt-get update &&
  apt-get install -y build-essential devscripts dh-make quilt fakeroot &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  apt-get install -y ros-humble-ros-base ros-humble-angles ros-humble-apriltag ros-humble-behaviortree-cpp-v3 ros-humble-bondcpp ros-humble-camera-calibration-parsers ros-humble-camera-info-manager ros-humble-compressed-image-transport ros-humble-compressed-depth-image-transport ros-humble-cv-bridge ros-humble-demo-nodes-cpp ros-humble-demo-nodes-py ros-humble-diagnostic-updater ros-humble-example-interfaces ros-humble-foxglove-bridge ros-humble-image-geometry ros-humble-image-pipeline ros-humble-image-transport ros-humble-image-transport-plugins ros-humble-launch-xml ros-humble-launch-yaml ros-humble-launch-testing ros-humble-launch-testing-ament-cmake ros-humble-nav2-bringup ros-humble-nav2-msgs ros-humble-nav2-mppi-controller ros-humble-navigation2 ros-humble-ompl ros-humble-resource-retriever ros-humble-rqt-graph ros-humble-rqt-reconfigure ros-humble-rqt-image-view ros-humble-rviz2 ros-humble-rviz-common ros-humble-rviz-default-plugins ros-humble-sensor-msgs ros-humble-slam-toolbox ros-humble-v4l2-camera ros-humble-vision-opencv ros-humble-vision-msgs &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean

/bin/bash -c apt-get update &&
  apt-get install -y curl gnupg locales lsb-release python3-bloom libxtensor-dev &&
  rm -rf /var/lib/apt/lists/* &&
  apt-get clean