1 Installation

1.1 Refresh environment variables

source /opt/ros/foxy/setup.bash

1.2 Install rosdep to install system dependencies

sudo apt install python3-rosdep

1.3 Update

sudo rosdep init
rosdep update
sudo apt update
sudo apt dist-upgrade

1.4 Install and use mixins

sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin

colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml

colcon mixin update default

1.5 Install vcstool

sudo apt install python3-vcstool

1.6 Create a workspace and download the source code

mkdir -p ~/ws_moveit2/src
cd ~/ws_moveit2/src
git clone https://github.com/ros-planning/moveit2_tutorials.git -b foxy
vcs import < moveit2_tutorials/moveit2_tutorials.repos

1.7 Download the packages required for the build

rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

1.8 Building the Workspace

cd ~/ws_moveit2
colcon build --mixin release