Import ros2 source package with version info

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You can create your own .repos file (to e.g. modify version fields)

You don't have to. Just checkout one of the release tags instead of a branch.

If you don't want to use a specific tag, the latest release would be available on the $ROS_DISTRO-release branches. humble-release for Humble fi.

UPDATE: As in comment section, this answer may not offer a straight-forward resolution to the OP's problem. Yet, in a hope that it gives some generic detail about vcstool's usage that may not be well documented, I keep it posted.

There is no version specified for each package.

There ARE versions specified. In the ament/ament_cmake example you posted, it's humble.

The "version" terminology in vcstool may be indeed a bit undocumented IINM. This field can take branch / tag of the vcs tool of the choice (e.g. git) of each repo.

So in the ament/ament_cmake example again, "humble" seems to be the name of a branch "version" on that repo, which means, yes it'll fetch the latest on that branch.

You can create your own .repos file (to e.g. modify version fields) and supply it to vcs import command by e.g.

vcs import src < ./foo/baa.repos