Error while creating ROS bridge in Isaac SIM

I am currently trying to integrate Isaac SIM and Isaac ROS.
Isaac ROS is running on Jetson Orin AGX, whereas Isaac Sim on x86_64 windows system with Nvidia GeForce 4060 GPU.

I am trying to create ROS2 bridge and I am following the steps mentioned in the official documentation: ROS & ROS 2 Installation — Omniverse IsaacSim latest documentation
I am currently on this step 4:

where I am running setup.bat, but I am getting error while running it:
ModuleNotFoundError: No module named ‘urllib’
I have tried pip install urllib, but it is not working.
Can you please help me figure out this error?

Also going through the afformentioned documentation, the steps to create the ROS2 bridge are a little confusing and lengthy at the same time, is there any simpler way to integrate Isaac Sim with ROS when both are present on different systems?