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Manual Setup
The main resources to follow for installing are:
When installing the packages, we recommend the following directory structure and naming. Note that the 'ros' folder is just a container for all your ros2 workspaces (each workspace contains one or more packages). This means the 'essentials' folder is a workspace - it equals the 'ros2_foxy' workspace mentioned in installation guideline link above(!). The 'driving_swarm_infrastructure' folder is also a workspace. You can add other workspaces.
$HOME/ros # for everything ros2 related
$HOME/ros/essentials # for all code installed from source (with vcs import), the source should be checked out into the src directory of this workspace
$HOME/ros/driving_swarm_infrastructure # for the driving swarm infrastructure workspace
$HOME/ros/another_workspace # e.g. for your own code
You can find an up-to date .repos file in the driving_swarm_infrastructure repository.
In theory you can check out the driving swarm infrastructure package, then install the source-code dependencies with vcs import, then install all dependencies with rosdep install.