[HanielUlises]

Each release tag now builds Debian packages for ROS 2 Humble and attaches them, with the apt index, to the tag's GitHub release. The release then works as an apt repository:

echo "deb [trusted=yes] https://github.com/ePlanSys/eplansys/releases/download/v0.3.0 ./" |
  sudo tee /etc/apt/sources.list.d/eplansys.list
sudo apt update && sudo apt install ros-humble-eplansys ros-humble-eplansys-demo

packaging/build-debs.sh runs bloom-generate over the workspace in topological order and installs each package before building the next.

• PlanSys2 fork: released under the upstream names at 3.0.0, so apt prefers it over Humble's 2.0.9.
• cascade_lifecycle: built from the pinned rolling-devel checkout (2.0.6), because plansys2_executor links a target Humble's 1.1.0 doesn't export. popf comes from upstream.
• plank: a plain CMake project, so packaging/plank.package.xml supplies its package.xml at packaging time. The grounder gets exec_depend plank the same way. Development builds are unchanged, since rosdep can't resolve plank in a source workspace.

Checked locally: all 29 packages build in ros:humble. In a fresh container, the install above resolves to the forked packages, puts plank and epistemic_planner on PATH, and the two-site survey reaches its goal with parallel dispatch.

The README and the installation page describe the install. The installation page no longer says the executor side builds only on Rolling.