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The list of apt packages installed in the Docker image is here: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/tools/ade_image/apt-packages

Some additional repositories are used and are listed here: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/blob/master/autoware.auto.foxy.repos

Finally, many dependencies are installed with rosdep which you can list with command rosdep keys --from-paths --ignore-src src | sort -u -f.

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