Follow these steps to install the ROS tools:

1. You need to install the following dependencies and tools using the package manager using the following command:

$ sudo apt update && sudo apt install -y build-essential cmake git python3-colcon-common-extensions python3-lark-parser python3-pip python-rosdep python3-vcstool wget

2. Using pip3, install the packages for testing using the following command:

$ python3 -m pip install -U argcomplete flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures pytest pytest-cov pytest-runner setuptools

3. Install the FAST-RTPS dependencies using the following command:

$ sudo apt install --no-install-recommends -y libasio-dev libtinyxml2-dev

Now that all of the dependencies and tools are installed, let's move on to creating and building our workspace.