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Welcome! Thanks for your interest in contributing to ROS 2.

These instructions: https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Development-Setup/#get-ros-2-code

Will use the vcs tool to automate the cloning of a bunch of git repos to the ~/ros2_foxy/src directory. Specifically, these ones: https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos

It's the same normal open-source process on GitHub, just that vcs is doing one more step of automation because there are so many repos that it would be painful to clone them all one-by-one using git on the command line.

Whenever you want to change something in any of those git clones created by vcs, you can fork the respective upstream repository into your own GitHub account, and push your local changes into your personal fork, as normal, and create PR's back to upstream.