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Hello,
Normally you don't need to rebuild the code if you are using ade unless you are doing development on it, you can just run the demos without it.
For the error you are getting, you can follow these from the Troubleshooting section: https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/installation-no-ade.html#autotoc_md68
In case where ros-foxy-autoware-auto-msgs is installed on the system, colcon uses it instead of the one in the AutowareAuto/src/external/ folder. This may cause errors. To prevent this, please remove the package by:
sudo apt purge -y ros-foxy-autoware-auto-msgs
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