Description

The goal is to more closely match the packages installed:

• When following the official build instructions: https://docs.ros.org/en/rolling/Installation/Alternatives/Ubuntu-Development-Setup.html
  • Packages like mypy end up being installed by rosdep, which uses system packages
• On ci.ros2.org
  • Common dependencies like mypy are manually installed using system packages

Related Issues

Otherwise, when using setup-ros, we might get a newer version of a package from pip. This can lead to issues like ros2/ros2_tracing#27, where tests fail with setup-ros but not with ci.ros2.org

Completion Criteria

** What needs to be true before we can call this "Done"? Bullet lists are appropriate. **

Implementation Notes / Suggestions

Compare with ci.ros2.org, e.g.: https://ci.ros2.org/job/ci_linux/17993/consoleFull#console-section-4

Testing Notes / Suggestions

Nothing new or different to test.