From ea9c2305720830027d7be990b472b6f1553bcdd3 Mon Sep 17 00:00:00 2001
From: biancabnd <bianca@unmanned.life>
Date: Thu, 4 Aug 2022 16:41:08 +0200
Subject: [PATCH 1/2] Add nav2_dwb_controller package

---
 minimal_repos.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

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

From e31c0c270bc1dff7683b4015066bf99bd8405c24 Mon Sep 17 00:00:00 2001
From: biancabnd <bianca@unmanned.life>
Date: Wed, 10 Aug 2022 08:36:34 +0200
Subject: [PATCH 2/2] Add nav2_dwb_controller and its dependencies

---
 debian/create_debians.sh | 12 ++++++--
 nav2_minimal.dockerfile  | 61 ++++++++++++++++++++--------------------
 nav2_pkgs.txt            |  7 +++++
 3 files changed, 48 insertions(+), 32 deletions(-)
 create mode 100644 nav2_pkgs.txt

diff --git a/debian/create_debians.sh b/debian/create_debians.sh
index 726d4d9cec..27f997f09a 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/nav2_minimal.dockerfile b/nav2_minimal.dockerfile
index 9616e754a7..c57903b8f2 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