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I'd recommend reading through:

• for general design info on ROS2's build tools: https://design.ros2.org/articles/build_tool.html
• for a quick summary/guide to using the build tools: https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html
• for details on colcon: https://colcon.readthedocs.io/en/released/
• for details on package.xml: https://www.ros.org/reps/rep-0149.html

For your question, please look at #217475 where @gvdhoorn gives a good comparison between package.xml and CMakeLists.txt.

I'd recommend reading through:

• for general design info on ROS2's build tools: https://design.ros2.org/articles/build_tool.html
• for a quick summary/guide to using the build tools: https://docs.ros.org/en/foxy/Tutorials/Colcon-Tutorial.html
• for details on colcon: https://colcon.readthedocs.io/en/released/
• for details on package.xml: https://www.ros.org/reps/rep-0149.html

For your last question, please look at #217475 where @gvdhoorn gives a good comparison between package.xml and CMakeLists.txt.