I agree from my own painful experience, which makes the OP more impressive. I once tried to get the navigation stack running on a raspberry pi based robot to te

I agree from my own painful experience, which makes the OP more impressive. I once tried to get the navigation stack running on a raspberry pi based robot to test out a gps driver, and was shocked that I had to include massive libraries for lidar and point clouds that I had no intention of using to get anything to build. In the end everything ran but the nav stack ate up so many resources that my robot wasn’t able to move reliably.