I encountered those errors when installing Isaac in docker, which is running on the Nano.
docker: dustynv_ros: galactic-ros-base-l4t-r32.5.0
build/temp.linux-aarch64-3.6/scratch/vers.c:4:10: fatal error: zmq.h: No such file or directory
libzmq3-dev is installed, but an error is reported also.
$ apt-file seach zmq.h
[Errno 2] No such file or directory: ‘./configure’: ‘./configure’
ModuleNotFoundError: No module named ‘packaging’
Command “python setup.py egg_info” failed with error code 1 in /tmp/pip-build-rfo18tda/pyzmq/
environment: line 25: /.local/bin/jupyter: No such file or directory