autoproj update autoproj build
autoproj switch-config branch=toolchain-2.3 autoproj update autoproj build
You may replace the branch=toolchain-2.3 with any branch number going forward or backward in releases. We have: master, stable, toolchain-2....
If you'd like to reconfigure some of the package options, you can do so by writing
autoproj update --reconfigure
autoproj build
Warning: this will erase your current configuration (ie CMake) in case you had modified it manually !
A comprehensive autoproj manual can be found here