Summary
package.xml declares <depend>nav2_bringup</depend>, but nav2_bringup is a heavy metapackage that pulls in Gazebo (ros-gz-sim, ros-gz-bridge) and turtlebot simulation packages (nav2-minimal-tb3-sim, nav2-minimal-tb4-sim).
This adds ~900 MB of unnecessary dependencies on deployment targets (e.g., boat computers) where Gazebo is not needed.
Question
Is nav2_bringup actually required, or would a more specific dependency (e.g., nav2_bt_navigator, nav2_controller, nav2_planner, etc.) suffice?
Context
Discovered during workspace bootstrap on gabby (BizzyBoat deployment computer). rosdep install across all layers pulled in the full Gazebo stack due to this dependency.
See also: rolker/unh_echoboats_project11#17
Authored-By: Claude Code Agent
Model: Claude Opus 4.6
Summary
package.xmldeclares<depend>nav2_bringup</depend>, butnav2_bringupis a heavy metapackage that pulls in Gazebo (ros-gz-sim,ros-gz-bridge) and turtlebot simulation packages (nav2-minimal-tb3-sim,nav2-minimal-tb4-sim).This adds ~900 MB of unnecessary dependencies on deployment targets (e.g., boat computers) where Gazebo is not needed.
Question
Is
nav2_bringupactually required, or would a more specific dependency (e.g.,nav2_bt_navigator,nav2_controller,nav2_planner, etc.) suffice?Context
Discovered during workspace bootstrap on gabby (BizzyBoat deployment computer).
rosdep installacross all layers pulled in the full Gazebo stack due to this dependency.See also: rolker/unh_echoboats_project11#17
Authored-By:
Claude Code AgentModel:
Claude Opus 4.6