content: ARG BASE_IMAGE=nvcr.io/nvidia/pytorch:21.10-py3
  
  FROM ${BASE_IMAGE}
  
  # Prevent anything requiring user input
  ENV DEBIAN_FRONTEND=noninteractive
  ENV TERM=linux
  
  ENV TZ=America
  RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
  
  # Basic packages
  RUN apt-get -y update \
      && apt-get -y install \
        python3-pip \
        sudo \
        vim \
        wget \
        curl \
        software-properties-common \
        doxygen \
      && rm -rf /var/lib/apt/lists/*
  
  # Install ROS noetic (desktop full)
  RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
  
  RUN apt-get -y update \
      && apt-get -y install ros-noetic-desktop-full \
      && rm -rf /var/lib/apt/lists/*  
  
  # Auxillary ROS installs
  RUN apt-get -y update \
      && apt-get -y install \ 
        python3-rosdep \
        python3-rosinstall \
        python3-rosinstall-generator \
        python3-wstool \
        build-essential \
        python3-catkin-tools \
        ros-noetic-ros-numpy \
        ros-noetic-derived-object-msgs \
        ros-noetic-ackermann-msgs \
        ros-noetic-hector-trajectory-server \
      && rm -rf /var/lib/apt/lists/*  
  
  # Extra misc installs
  RUN apt-get -y update \
      && sudo apt-get -y install \ 
        libomp-dev \
        mesa-utils \
        apt-utils \
      && rm -rf /var/lib/apt/lists/*  
  
  # Cloner-specific installs
  COPY requirements.txt /tmp/requirements.txt
  RUN python3 -m pip install -r /tmp/requirements.txt \
       && pip3 install --user git+https://github.com/DanielPollithy/pypcd.git \
       && pip3 install --upgrade typing-extensions \
       && pip install evo --upgrade --no-binary evo \
       && rm /tmp/requirements.txt
  
  # Install tiny-cuda-nn
  RUN ldconfig && pip3 install git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch || \
     (echo "Note: Unable find Cuda. See the README Build Section for details on fixing" && false)
  
  RUN ldconfig && pip3 install "git+https://github.com/facebookresearch/pytorch3d.git@v0.7.2"
  
  