rclcpp;rclcpp_lifecycle;std_msgs;geometry_msgs;nav2_costmap_2d;pluginlib;visualization_msgs;nav2_msgs;nav_msgs;tf2_ros;nav2_util;nav2_core;angles;libnanoflann-dev;nlohmann-json-dev;ament_lint_common;ament_lint_auto;ament_cmake_gtest;ament_cmake_pytest;launch;launch_testing