[WIP] Remove unneccessary additional ROS 2 dependencies

[ghost]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	fixes #345
Primary OS tested on	Ubuntu
Robotic platform tested on	NA

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Description of contribution in a few bullet points

• Removes angles, behavior tree and gazebo ros pkgs from our extra dependencies. They all get pulled in by rosdep

[ghost]

It seems that rosdep is incompatible with the osrf/ros2:nightly image. When we get to the point where we call rosdep on the navigation2 repo, it now apt-get installs ros-crystal-gazebo-ros-pkgs, which is what we expect, but that cause apt to install many other ros-crystal packages that gazebo-ros-pkgs depends on, since apt knows nothing about the pre-installed ROS2 in the docker image. These packages get installed overtop of the pre-installed ROS2 and cause problems.

[ruffsl]

It seems that rosdep is incompatible with the osrf/ros2:nightly image.

Yea, I was going to chime in on that when I notice the PR, but saw this was still labeled a WIP. Given the nightly images archive installation is not itself a debian install, any released ros2 debian you attempt to install from the release repo inevitable ropes in the rest of the ros2 distro debs, to the detriment of the fat archive already extracted before.

Given that not all of your dependencies are shipped in the nightly fat archive, building the third-party dependencies from source was the compromise I went with to insure the CI could track the upstream nightly builds.

Is there a specific reason for this direction, or is this more about reducing the number of things to track while still keeping relatively in sync with upstream.

[ghost]

I was hoping to address issue #345. By removing those extra dependencies, we could be sure that we had no dependencies that weren't already released upstream. However that doesn't seem possible while also using the ROS 2 nightly build.

I was going to close this PR and give up on it, but figured I'd give it a day or two to mull over.

I'm thinking the best thing to do is leave the dependencies in that .repos file, as is, but on occasion do another build without the "fat archive" or the "navstack dependencies" and see if rosdep can really pull in everything we need.

[ruffsl]

I'm thinking the best thing to do is leave the dependencies in that .repos file, as is, but on occasion do another build without the "fat archive" or the "navstack dependencies" and see if rosdep can really pull in everything we need.

We could add a build arg in the Dockerfile just before FROM, and use that from a travis cron job to change the default field from osrf/ros2:nightly to ros:crystal. Although, I'm not sure the master branch of navigation2 would always normally build against the latest debian release.

[ghost]

Although, I'm not sure the master branch of navigation2 would always normally build against the latest debian release.

I expect you are right. Maybe this makes sense as a manual step before merging to a release branch.