diff --git a/scripts/setup_ros2_desktop.sh b/scripts/setup_ros2_desktop.sh
index 5c9984e..7743aa5 100755
--- a/scripts/setup_ros2_desktop.sh
+++ b/scripts/setup_ros2_desktop.sh
@@ -8,7 +8,11 @@ export DEBIAN_FRONTEND=noninteractive
 
 PROGRESS() { echo "PROGRESS:$1:$2"; }
 
-PROGRESS 0 "Setting up locale..."
+PROGRESS 0 "Checking dpkg state..."
+echo "Checking dpkg state..."
+sudo dpkg --configure -a
+
+PROGRESS 5 "Setting up locale..."
 echo "Setting up locale..."
 sudo apt-get update -q
 sudo apt-get install -y -q locales
@@ -16,38 +20,38 @@ sudo locale-gen en_US en_US.UTF-8
 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 export LANG=en_US.UTF-8
 
-PROGRESS 8 "Adding universe repository..."
+PROGRESS 12 "Adding universe repository..."
 echo "Adding universe repository..."
 sudo apt-get install -y -q software-properties-common
 sudo add-apt-repository -y universe
 
-PROGRESS 16 "Adding ROS2 GPG key..."
+PROGRESS 20 "Adding ROS2 GPG key..."
 echo "Adding ROS2 GPG key..."
 sudo apt-get update -q
 sudo apt-get install -y -q curl
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
     -o /usr/share/keyrings/ros-archive-keyring.gpg
 
-PROGRESS 22 "Configuring ROS2 apt repository..."
+PROGRESS 26 "Configuring ROS2 apt repository..."
 echo "Configuring ROS2 apt repository..."
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
 http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "$UBUNTU_CODENAME") main" \
     | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-PROGRESS 28 "Updating package lists..."
+PROGRESS 32 "Updating package lists..."
 echo "Updating package lists..."
 sudo apt-get update -q
 sudo apt-get upgrade -y -q
 
-PROGRESS 35 "Installing ros-jazzy-desktop (this may take a while)..."
+PROGRESS 38 "Installing ros-jazzy-desktop (this may take a while)..."
 echo "Installing ros-jazzy-desktop..."
 sudo apt-get install -y ros-jazzy-desktop
 
-PROGRESS 75 "Installing ROS2 dev tools..."
+PROGRESS 78 "Installing ROS2 dev tools..."
 echo "Installing ROS2 dev tools..."
 sudo apt-get install -y ros-dev-tools
 
-PROGRESS 88 "Initializing rosdep..."
+PROGRESS 90 "Initializing rosdep..."
 echo "Initializing rosdep..."
 sudo rosdep init 2>/dev/null || true
 rosdep update
diff --git a/scripts/setup_ros2_ros_base.sh b/scripts/setup_ros2_ros_base.sh
index d481886..a12efbc 100755
--- a/scripts/setup_ros2_ros_base.sh
+++ b/scripts/setup_ros2_ros_base.sh
@@ -8,7 +8,11 @@ export DEBIAN_FRONTEND=noninteractive
 
 PROGRESS() { echo "PROGRESS:$1:$2"; }
 
-PROGRESS 0 "Setting up locale..."
+PROGRESS 0 "Checking dpkg state..."
+echo "Checking dpkg state..."
+sudo dpkg --configure -a
+
+PROGRESS 5 "Setting up locale..."
 echo "Setting up locale..."
 sudo apt-get update -q
 sudo apt-get install -y -q locales
@@ -16,38 +20,38 @@ sudo locale-gen en_US en_US.UTF-8
 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 export LANG=en_US.UTF-8
 
-PROGRESS 8 "Adding universe repository..."
+PROGRESS 12 "Adding universe repository..."
 echo "Adding universe repository..."
 sudo apt-get install -y -q software-properties-common
 sudo add-apt-repository -y universe
 
-PROGRESS 16 "Adding ROS2 GPG key..."
+PROGRESS 20 "Adding ROS2 GPG key..."
 echo "Adding ROS2 GPG key..."
 sudo apt-get update -q
 sudo apt-get install -y -q curl
 sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
     -o /usr/share/keyrings/ros-archive-keyring.gpg
 
-PROGRESS 22 "Configuring ROS2 apt repository..."
+PROGRESS 26 "Configuring ROS2 apt repository..."
 echo "Configuring ROS2 apt repository..."
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
 http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo "$UBUNTU_CODENAME") main" \
     | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-PROGRESS 28 "Updating package lists..."
+PROGRESS 32 "Updating package lists..."
 echo "Updating package lists..."
 sudo apt-get update -q
 sudo apt-get upgrade -y -q
 
-PROGRESS 35 "Installing ros-jazzy-ros-base (this may take a while)..."
+PROGRESS 38 "Installing ros-jazzy-ros-base (this may take a while)..."
 echo "Installing ros-jazzy-ros-base..."
 sudo apt-get install -y ros-jazzy-ros-base
 
-PROGRESS 75 "Installing ROS2 dev tools..."
+PROGRESS 78 "Installing ROS2 dev tools..."
 echo "Installing ROS2 dev tools..."
 sudo apt-get install -y ros-dev-tools
 
-PROGRESS 88 "Initializing rosdep..."
+PROGRESS 90 "Initializing rosdep..."
 echo "Initializing rosdep..."
 sudo rosdep init 2>/dev/null || true
 rosdep update