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All ROS 2 install-from-source instructions use the colcon build option -symlink-install.

The tutorials mention the option explicitly:

  • https://index.ros.org/doc/ros2/Tutorials/Workspace/Creating-A-Workspace/#build-the-workspace-with-colcon
  • https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/#build-the-workspace

Also see the colcon docs about the command line option: https://colcon.readthedocs.io/en/released/reference/verb/build.html#build-verb-symlink-install-arg