[WIP] Remove unneccessary additional ROS 2 dependencies

.circleci/config.yml

@@ -41,9 +41,10 @@ references:
             awk '$1 ~ /^resolution\:/' | \
             awk -F'[][]' '{print $2}' | \
             tr -d \, | xargs -n1 | sort -u | xargs)
-          dpkg -s $dependencies | \
+          if [ -n "$dependencies" ]; then dpkg -s $dependencies | \
             sha256sum | \
-            awk '{print "upstream dependencies "$1}' >> $ROS_WS/checksum.txt
+            awk '{print "upstream dependencies "$1}' >> $ROS_WS/checksum.txt ; \
+          fi
   restore_upstream_cache: &restore_upstream_cache
     restore_cache:
       name: Restore Upstream Cache

Dockerfile

@@ -56,6 +56,7 @@ RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
 
 # install navigation2 package dependencies
 WORKDIR $NAV2_WS
+RUN rm $NAV2_WS/src/navigation2/nav2_system_tests/COLCON_IGNORE
 RUN . $ROS_WS/install/setup.sh && \
     apt-get update && \
     rosdep install -q -y \
@@ -66,7 +67,6 @@ RUN . $ROS_WS/install/setup.sh && \
     && rm -rf /var/lib/apt/lists/*
 
 # build navigation2 package source
-RUN rm $NAV2_WS/src/navigation2/nav2_system_tests/COLCON_IGNORE
 RUN . $ROS_WS/install/setup.sh && \
     colcon build \
       --symlink-install \

tools/ros2_dependencies.repos

@@ -1,13 +1,2 @@
 repositories:
-  BehaviorTree.CPP:
-    type: git
-    url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
-    version: ros2
-  angles:
-    type: git
-    url: https://github.com/ros/angles.git
-    version: ros2
-  gazebo_ros_pkgs:
-    type: git
-    url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
-    version: 3.0.0
+