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The instructions explicitly install dependencies not covered by rosdep keys in ROS packages, e.g. build-essential, cmake, and some tools. That is pretty similar to the ROS 1 instructions in the first section "Installing bootstrap dependencies".

In ROS 2 we additionally need to install a few pip packages just because the available Debian packages are too old.

Anything beyond that is coming in via rosdep - as in ROS 1.

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