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The smallest set of packages you need depends on your use case. You can use the rosinstall_generator to generate a list of repos which you need by specifying your direct dependencies (e.g. rclcpp, rosidl_default_generators). The tool will make sure that all recursive dependencies are being fetched too.

You will need to set the ROSDISTRO_INDEX_URL environment variable as mentioned here to pick up ROS 2 distros (rather than ROS 1 distros).