Absolute transition frequencies of the $2s\,^2{\rm{S}}_{1/2}$ $\rightarrow$ $2p\,^2{\rm{P}}_{1/2,3/2}$ transitions in Be$^+$ were measured with a frequency comb in stable and short-lived isotopes at ISOLDE (CERN) using collinear laser spectroscopy. Quasi-simultaneous measurements in copropagating and counterpropagating geometry were performed to become independent from acceleration voltage determinations for Doppler-shift corrections of the fast ion beam. Isotope shifts and fine structure splittings were obtained from the absolute transition frequencies with accuracies better than 1\,MHz and led to a precise determination of the nuclear charge radii of $^{7,10-12}$Be relative to the stable isotope $^9$Be. Moreover, an accurate determination of the $2p$ fine structure splitting allowed a test of high-precision bound-state QED calculations in the three-electron system. Here, we describe the laser spectroscopic method in detail, including several tests that were carried out to determine or estimate systematic uncertainties. Final values from two experimental runs at ISOLDE are presented and the results are discussed.
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