diff --git a/debian/create_debians.sh b/debian/create_debians.sh
index f5c98babf2..427c3c3631 100755
--- a/debian/create_debians.sh
+++ b/debian/create_debians.sh
@@ -53,7 +53,15 @@ PACKAGE_LIST=(
             navigation2/nav2_amcl \
             navigation2/nav2_planner \
             navigation2/nav2_navfn_planner \
-            navigation2/nav2_controller
+            navigation2/nav2_dwb_controller/nav_2d_msgs \
+            navigation2/nav2_dwb_controller/nav_2d_utils \
+            navigation2/nav2_controller \
+            navigation2/nav2_dwb_controller/dwb_msgs    \
+            navigation2/nav2_dwb_controller/dwb_core    \
+            navigation2/nav2_dwb_controller/dwb_plugins    \
+            navigation2/nav2_dwb_controller/costmap_queue    \
+            navigation2/nav2_dwb_controller/dwb_critics    \
+            navigation2/nav2_dwb_controller/nav2_dwb_controller
 )
 
 for PACKAGE in ${PACKAGE_LIST[@]}; do
@@ -76,4 +84,4 @@ for PACKAGE in ${PACKAGE_LIST[@]}; do
 
 done
 
-echo "Complete!"
+echo "Complete!"
\ No newline at end of file
diff --git a/minimal_repos.txt b/minimal_repos.txt
index c69320f64b..bf4bab3c42 100644
--- a/minimal_repos.txt
+++ b/minimal_repos.txt
@@ -13,4 +13,5 @@ nav2_amcl
 nav2_rviz_plugins
 nav2_navfn_planner
 geographic_msgs
-nav2_controller
\ No newline at end of file
+nav2_controller
+nav2_dwb_controller
\ No newline at end of file
diff --git a/nav2_minimal.dockerfile b/nav2_minimal.dockerfile
index 16eeebed53..baa0eac506 100644
--- a/nav2_minimal.dockerfile
+++ b/nav2_minimal.dockerfile
@@ -27,16 +27,16 @@ COPY ./ src/navigation2
 # copy manifests for caching
 WORKDIR /opt
 RUN find ./ -name "package.xml" | \
-      xargs cp --parents -t /tmp
+  xargs cp --parents -t /tmp
 
 # multi-stage for building
 FROM $FROM_IMAGE AS build
 
 # install CI dependencies
 RUN apt-get update && apt-get install -q -y \
-      ccache \
-      lcov \
-    && rm -rf /var/lib/apt/lists/*
+  ccache \
+  lcov \
+  && rm -rf /var/lib/apt/lists/*
 
 # copy underlay manifests
 ENV UNDERLAY_WS /opt/underlay_ws
@@ -45,10 +45,10 @@ WORKDIR $UNDERLAY_WS
 
 # install underlay dependencies
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    apt-get update && rosdep install -q -y \
-      --from-paths src \
-      --ignore-src \
-    && rm -rf /var/lib/apt/lists/*
+  apt-get update && rosdep install -q -y \
+  --from-paths src \
+  --ignore-src \
+  && rm -rf /var/lib/apt/lists/*
 
 # copy underlay source
 COPY --from=cache $UNDERLAY_WS ./
@@ -57,15 +57,15 @@ COPY --from=cache $UNDERLAY_WS ./
 ARG UNDERLAY_MIXINS="release ccache"
 ARG FAIL_ON_BUILD_FAILURE=True
 RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    colcon build \
-      --symlink-install \
-      --mixin \
-        $UNDERLAY_MIXINS \
-      --event-handlers console_direct+ \
-    || touch build_failed && \
-    if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
-      exit 1; \
-    fi
+  colcon build \
+  --symlink-install \
+  --mixin \
+  $UNDERLAY_MIXINS \
+  --event-handlers console_direct+ \
+  || touch build_failed && \
+  if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
+  exit 1; \
+  fi
 
 # copy overlay manifests
 ENV OVERLAY_WS /opt/overlay_ws
@@ -73,13 +73,14 @@ COPY --from=cache /tmp/overlay_ws $OVERLAY_WS
 
 WORKDIR $OVERLAY_WS
 COPY ./minimal_repos.txt ./
+COPY ./nav2_pkgs.txt ./
 
 # install overlay dependencies
 RUN . $UNDERLAY_WS/install/setup.sh && \
-    apt-get update && rosdep install -q -y \
-      --from-paths $(awk '$0="src/navigation2/"$0' ./minimal_repos.txt) \
-      --ignore-src \
-    && rm -rf /var/lib/apt/lists/*
+  apt-get update && rosdep install -q -y \
+  --from-paths $(awk '$0="src/navigation2/"$0' ./minimal_repos.txt) \ 
+  --ignore-src \
+  && rm -rf /var/lib/apt/lists/*
 
 # copy overlay source
 COPY --from=cache $OVERLAY_WS ./
@@ -87,15 +88,15 @@ COPY --from=cache $OVERLAY_WS ./
 # build overlay source
 ARG OVERLAY_MIXINS="release ccache"
 RUN . $UNDERLAY_WS/install/setup.sh && \
-    colcon build \
-      --symlink-install \
-      --mixin \
-        $OVERLAY_MIXINS \
-      --packages-select $(cat ./minimal_repos.txt) nav_2d_msgs nav_2d_utils \
-    || touch build_failed && \
-    if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
-      exit 1; \
-    fi
+  colcon build \
+  --symlink-install \
+  --mixin \
+  $OVERLAY_MIXINS \
+  --packages-select $(cat ./nav2_pkgs.txt) $(cat ./minimal_repos.txt) \
+  || touch build_failed && \
+  if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
+  exit 1; \
+  fi
 
 # source overlay from entrypoint
 # RUN sed --in-place \
diff --git a/nav2_pkgs.txt b/nav2_pkgs.txt
new file mode 100644
index 0000000000..116b11b2d3
--- /dev/null
+++ b/nav2_pkgs.txt
@@ -0,0 +1,7 @@
+dwb_msgs
+dwb_core
+dwb_plugins
+costmap_queue
+dwb_critics
+nav_2d_msgs
+nav_2d_utils
\ No newline at end of file