content: FROM nvcr.io/nvidia/isaac-sim:4.5.0
  
  ARG DEBIAN_FRONTEND=noninteractive
  ENV TZ=Etc/UTC LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8 ROS_DISTRO=humble
  
  RUN apt-get update && apt-get install -y --no-install-recommends \
        locales curl gnupg lsb-release ca-certificates software-properties-common \
      && locale-gen en_US en_US.UTF-8 && update-locale LANG=en_US.UTF-8
  
  RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
        -o /usr/share/keyrings/ros-archive-keyring.gpg && \
      echo "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
  http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
        > /etc/apt/sources.list.d/ros2.list
  
  RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-humble-ros-base \
        ros-humble-robot-state-publisher \
        ros-humble-joint-state-publisher \
        ros-humble-xacro \
        python3-colcon-common-extensions \
        python3-rosdep \
        build-essential git \
      && rm -rf /var/lib/apt/lists/*
  
  RUN rosdep init || true && rosdep update || true
  
  RUN printf '%s\n' '. /opt/ros/humble/setup.bash || true' > /etc/profile.d/ros2.sh
  RUN echo '. /opt/ros/humble/setup.bash || true' >> /root/.bashrc
  
  WORKDIR /root
  SHELL ["/bin/bash","-lc"]
  