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The directory /opt/ros/foxy comes from installing Foxy from Debian packages. If, instead, you installed Foxy from the fat archive, then sourcing the setup.bash file from the extracted location is all you should have to do. I.e. you don't have to source /opt/ros/foxy/setup.bash, instead source ~/ros2_foxy/ros2-linux/setup.bash is equivalent.

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