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Install many ros packages and dependencies of ros packages that will be built from source, from apt:

sudo apt install ros-* catkin-lint cython3 libapriltag-dev libceres-dev libfmt-dev libfrei0r-ocaml-dev libgeographic-dev libgmock-dev libgoogle-glog-dev libgst-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libimage-view-dev liborocos-bfl-dev libpcl-ros-dev libqt5svg5-dev libqt5websockets5-dev libqt5x11extras5-dev libqwt-qt5-dev libsdl-image1.2-dev libspnav-dev liburdfdom-dev libuvc-dev libv4l-dev libyaml-cpp-dev python-is-python3 python3-setuptools python3-tf2-geometry-msgs python3-venv vim curl git jq
# 23.04 only:
# sudo apt install libgeographiclib-dev

Put this into ~/.bashrc so that vcs and catkin_tools can be found (TODO(lucasw) make them install to ~/.local/... instead like pip user installs?)

export DEST=$HOME/other/install
export PATH=$PATH:$DEST/bin

PYTHON_MAJOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f1`
PYTHON_MINOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f2`
export PYTHONPATH=$DEST/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/site-packages/

mkdir -p ~/other/src
cd ~/other/src
git clone git@github.com:lucasw/ros_from_src --branch debianize

export DEST=$HOME/other/install
export PATH=$PATH:$DEST/bin

vcs is very useful for managing a large set of git repos:

cd ~/other/src
# git clone git@github.com:dirk-thomas/vcstool.git
git clone https://github.com/dirk-thomas/vcstool.git
cd vcstool
python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed

osrf_pycommon is a dependency of catkin_tools

cd ~/other/src
# git clone git@github.com:osrf/osrf_pycommon
git clone https://github.com/osrf/osrf_pycommon
cd osrf_pycommon
python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed

catkin_tools is needed to catkin build (but if catkin_make is preferred then this and osrf_pycommon isn't necessary)

cd ~/other/src
# git clone git@github.com:lucasw/catkin_tools --branch sanitize_cmake_prefix_path
git clone https://github.com/lucasw/catkin_tools --branch sanitize_cmake_prefix_path
cd catkin_tools
python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed

Download a bunch of repos that are not available in 22.04 through apt, some with modifications to build in 22.04 (mostly to avoid boost::placeholders::_N and bind.hpp warnings and errors, and building with C++17 to avoid log4cxx 0.12 build errors):

mkdir -p ~/base_catkin_ws/src
cd ~/base_catkin_ws/src
ln -s ~/other/src/ros_from_src/ubuntu_2204/base_repos.yaml

# optional step needed if can't do git clone git@github... on this system
sed -i 's/git@github.com:/https:\/\/github.com\//' base_repos.yaml

vcs import --shallow < base_repos.yaml
# ignore repos that aren't yet building in 22.04
~/other/src/ros_from_src/ubuntu_2204/ignore.sh

(modify base_repos.yaml as desired to get fewer packages, if more packages are needed they may need alterations to build properly)

The following will take a while, if there are packages not desired it will be much faster to CATKIN_IGNORE or remove them unless they are dependencies of packages that are needed:

cd ~/base_catkin_ws
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated
catkin build
source devel/setup.bash

TODO(lucasw) see if rosdep install works

Optional

Run the above in docker instead:

cd ros_from_src/ubuntu_2204
docker build . -t ros_debian_2204