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The best way to get code that's indexed is to leverage the tool rosinstall_generator documented here

In general git repositories don't support checking out specific subtrees so we generally don't do partial checkouts, but if you really need to to that you can put COLCON_IGNORE files in checked out packages that you want to skip before you build. There are some other ignore logic available from colcon too.

The output of rosinstall_generator is then typically piped to vcstool https://github.com/dirk-thomas/vcstool

The name is based on the previous downstrema tool rosinstall.