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Instead of installing from apt, I built from source, building in ~/ros2_foxy according to the tutorial https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Development-Setup/

I solved the problem: the tutorial specifies that you need to run commands in a new terminal. I skimmed over those instructions. When I deleted my workspace (rm) and ran every block in its own SSH session, it worked no problem.

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