While installing ros-lunar-desktop I was surprised to see it needing to pull in ros-lunar-gazebo-ros and therefore libgazebo8. These are being pulled in by this repository (only this one AFAICT).

From my perspective, the difference in "desktop" and "desktop-full" is that "desktop" has less dependencies, avoiding things like Stage, Gazebo, PCL, etc... This is particularly important on systems like macOS where building gazebo and PCL and stuff can be an undesired time sync.

So I'd propose that we either move these tutorials to "desktop-full" or split out the part of the tutorials that depend on gazebo_ros and gazebo_ros_control. I think those parts are useful and I would like to see them in at least "desktop-full", but I also would like to see a slightly slimmer set of dependencies for just plain "desktop".

Anyone have an opinion on what direction to take, or maybe other ideas for how to accomplish this?

@mikaelarguedas

One other use case I'll put forward for why this is important is that if Gazebo7 (used in Kinetic) and Gazebo8 (used in Lunar) cannot be installed at the same time (still working out if that is intended to be the case) then on a system with ros-kinetic-desktop-full (or more) installed cannot also install ros-lunar-desktop at the same time. That's really unfortunate from my perspective. I'd love to see ros-kinetic-desktop-full and ros-lunar-desktop-full side by side, but at least if desktop did not include a dependency on gazebo_ros it would enable the other case I described for now.