nav2_core;nav2_costmap_2d;nav2_msgs;nav_2d_utils;tf2;tf2_ros;tf2_sensor_msgs;tf2_geometry_msgs;stardust_nav2_base_class;stardust_nav2_protocol;stardust_protocol;stardust_nav2_protobuf;pcl_conversions;builtin_interfaces;pcl_ros;nav2_map_server;ament_cmake_gtest;ament_lint_auto;ament_lint_common