diff --git a/navigation2/Dockerfile b/navigation2/Dockerfile
index c61e0d8..d1066e0 100644
--- a/navigation2/Dockerfile
+++ b/navigation2/Dockerfile
@@ -45,29 +45,90 @@ ENV NAV2_DEPS_WS=${HOME_DIR}/nav2_deps_ws
 # Get the Navigation2 source code
 RUN mkdir -p ${NAVIGATION2_WS}/src
 WORKDIR ${NAVIGATION2_WS}/src
+
 ARG NAV2_BRANCH=humble
-RUN sudo git clone --branch $NAV2_BRANCH https://github.com/ros-planning/navigation2.git
+#ARG NAV2_BRANCH=jazzy #does not work on humble based spaceROS
+RUN sudo git clone --branch $NAV2_BRANCH https://github.com/ros-navigation/navigation2.git
+
+# to exclude gazebo_ros_pkgs->gazebo(classic) from depenencies
+RUN sudo rm -rf navigation2/nav2_system_tests
 
 # Get keys for Nav2 dependencies
 WORKDIR ${NAVIGATION2_WS}/
 SHELL ["/bin/bash", "-c"]
-RUN source ${SPACEROS_DIR}/install/setup.bash && sudo apt update && rosdep keys --from-paths src --ignore-src --rosdistro humble -y > ${NAVIGATION2_WS}/nav2_dep_keys.txt
+
+RUN source ${SPACEROS_DIR}/install/setup.bash && \
+    sudo apt update && \
+    rosdep keys -y \
+      --from-paths src \
+      --ignore-src     \
+      --skip-keys "nav2_system_tests" \
+      --rosdistro ${ROS_DISTRO} > ${NAVIGATION2_WS}/nav2_dep_keys.txt
+
+# this is the keys that will be installed
+#angles
+#behaviortree_cpp_v3
+#benchmark
+#bond
+#bondcpp
+#cv_bridge
+#diagnostic_updater
+#eigen
+#graphicsmagick
+#image_transport
+#laser_geometry
+#libboost-program-options
+#libboost-program-options-dev
+#libceres-dev
+#libomp-dev
+#libqt5-core
+#libqt5-gui
+#libqt5-opengl
+#libqt5-widgets
+#map_msgs
+#nlohmann-json-dev
+#ompl
+#python3-pytest
+#python3-yaml
+#qtbase5-dev
+#resource_retriever
+#!!rviz_common
+#!!rviz_default_plugins -- this brings ignition-math6 for whatever reason. and required for nav2_rviz_plugins which is not optional
+#!!rviz_ogre_vendor
+#!!rviz_rendering
+#slam_toolbox
+#xsimd
+#xtensor
+#yaml_cpp_vendor
+
+
 
 # Get rosinstall_generator
-RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+RUN sudo apt-get update -y && \
+    sudo apt-get install -y python3-rosinstall-generator
 
 # Clone Space ROS sources temporarily as input to rosinstall_generator
-RUN mkdir ${SPACEROS_DIR}/src \
-  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
+RUN mkdir ${SPACEROS_DIR}/src && \
+    vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
 
 # Generate repos file for nav2 dependencies, exclude packages from Space ROS src
 RUN rosinstall_generator \
-  --rosdistro ${ROSDISTRO} \
+  --rosdistro ${ROS_DISTRO} \
   --deps \
-  --exclude-path ${SPACEROS_DIR}/src -- \
+  --exclude-path ${SPACEROS_DIR}/src \
   -- $(cat ${NAVIGATION2_WS}/nav2_dep_keys.txt) \
   > ${NAVIGATION2_WS}/nav2_deps.repos
 
+# throws this during execution, which is fine:
+#The following unreleased packages/stacks will be ignored: --, benchmark, eigen, graphicsmagick, libboost-program-options, libboost-program-options-dev, libceres-dev, libomp-dev, libqt5-core, libqt5-gui, libqt5-opengl, libqt5-widgets, nlohmann-json-dev, python3-pytest, python3-yaml, qtbase5-dev, xsimd, xtensor
+#The following unreleased '--exclude' packages/stacks will be ignored: ament_cmake_cobra, ament_cmake_ikos, ament_cobra, ament_ikos, cobra_vendor, process_sarif, rosidl_typesupport_introspection_tests, test_launch_ros, test_launch_testing, test_osrf_testing_tools_cpp, test_rmw_implementation, test_tf2, test_tracetools, test_tracetools_launch
+
+# nav2_deps.repos includes:
+#ignition_cmake2_vendor
+#ignition_math6_vendor
+# some nav2 pkgs. will remove after rosdep below
+
+
 # Remove unneeded src files now that repos are generated
 RUN rm -rf ${SPACEROS_DIR}/src
 
@@ -79,28 +140,114 @@ RUN sudo vcs import src < ${NAVIGATION2_WS}/nav2_deps.repos
 # Update the ownership of the source files
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${NAV2_DEPS_WS}
 
+
 # Install nav2_deps_ws dependencies
 SHELL ["/bin/bash", "-c"]
-RUN source ${SPACEROS_DIR}/install/setup.bash && sudo apt update && rosdep install --from-paths src --ignore-src --rosdistro humble -y \
-      --skip-keys "composition demo_nodes_py ikos lifecycle rmw_connextdds rmw_fastrtps_dynamic_cpp rmw_fastrtps_cpp \
-                   rosidl_typesupport_fastrtps_c rosidl_typesupport_fastrtps_cpp urdfdom_headers"
+
+RUN source ${SPACEROS_DIR}/install/setup.bash && \
+    sudo apt update && \
+    rosdep install -y -s \
+      --from-paths src \
+      --ignore-src \
+      --rosdistro ${ROS_DISTRO} \
+      --skip-keys "composition demo_nodes_py ikos \
+                   lifecycle rmw_connextdds \
+                   rmw_fastrtps_dynamic_cpp rmw_fastrtps_cpp \
+                   rosidl_typesupport_fastrtps_c rosidl_typesupport_fastrtps_cpp \
+                   urdfdom_headers \
+                   " > rosdep-commands-nav2-deps.sh && \
+    chmod u+x rosdep-commands-nav2-deps.sh && \
+    ./rosdep-commands-nav2-deps.sh
+
+# remove nav2 pkgs from deps. 
+# do it after rosdep otherwise rosdep will bring them as ros-nav2*!
+RUN sudo rm -rf src/navigation2
+
+# this is what this rosdep would do, for documentation purposes
+#  sudo -H apt-get install -y doxygen
+#  sudo -H apt-get install -y graphicsmagick-libmagick-dev-compat
+#  sudo -H apt-get install -y libassimp-dev
+#  sudo -H apt-get install -y libboost-all-dev
+#  sudo -H apt-get install -y libboost-coroutine1.74.0
+#  sudo -H apt-get install -y libboost-coroutine-dev
+#  sudo -H apt-get install -y libboost-program-options1.74.0
+#  sudo -H apt-get install -y libboost-program-options-dev
+#  sudo -H apt-get install -y libboost-python1.74.0
+#  sudo -H apt-get install -y libboost-python-dev
+#  sudo -H apt-get install -y libceres-dev
+#  sudo -H apt-get install -y libcurl4-openssl-dev
+#  sudo -H apt-get install -y libflann-dev
+#  sudo -H apt-get install -y libfreetype6-dev
+#  sudo -H apt-get install -y libgl1-mesa-dev
+#  sudo -H apt-get install -y libglu1-mesa-dev
+#  sudo -H apt-get install -y libgraphicsmagick++1-dev
+#  sudo -H apt-get install -y libignition-cmake2-dev # cannot remove as a dependency for rvizXXX that is a proper dependency of nav2
+#  sudo -H apt-get install -y libignition-math6-dev  # cannot remove as a dependency for rvizXXX that is a proper dependency of nav2
+#  sudo -H apt-get install -y liblapack-dev
+#  sudo -H apt-get install -y libode-dev
+#  sudo -H apt-get install -y libopencv-dev
+#  sudo -H apt-get install -y libqt5core5a
+#  sudo -H apt-get install -y libqt5gui5
+#  sudo -H apt-get install -y libqt5opengl5
+#  sudo -H apt-get install -y libqt5svg5
+#  sudo -H apt-get install -y libqt5svg5-dev
+#  sudo -H apt-get install -y libqt5widgets5
+#  sudo -H apt-get install -y libsuitesparse-dev
+#  sudo -H apt-get install -y libx11-dev
+#  sudo -H apt-get install -y libxaw7-dev
+#  sudo -H apt-get install -y libxrandr-dev
+#  sudo -H apt-get install -y libyaml-cpp-dev
+#  sudo -H apt-get install -y libzmq3-dev
+#  sudo -H apt-get install -y python3-opencv
+#  sudo -H apt-get install -y qtbase5-dev
+#  sudo -H apt-get install -y uuid-dev
+
+
 
 # Build dependencies
-RUN source ${SPACEROS_DIR}/install/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+RUN source ${SPACEROS_DIR}/install/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+
+
+
 
 # Install remaining nav2 dependencies (not in rosdistro)
 WORKDIR ${NAVIGATION2_WS}
 SHELL ["/bin/bash", "-c"]
-RUN source ${NAV2_DEPS_WS}/install/setup.bash && sudo apt update && rosdep install --from-paths src --ignore-src --rosdistro humble -y \
-      --skip-keys "composition demo_nodes_py ikos lifecycle rmw_connextdds rmw_fastrtps_dynamic_cpp rmw_fastrtps_cpp \
-                   rosidl_typesupport_fastrtps_c rosidl_typesupport_fastrtps_cpp urdfdom_headers"
+RUN source ${NAV2_DEPS_WS}/install/setup.bash && \
+    sudo apt update && \
+    rosdep install -y -s \
+      --from-paths src \
+      --ignore-src \
+      --rosdistro ${ROS_DISTRO} \
+      --skip-keys "composition demo_nodes_py ikos \
+                   lifecycle rmw_connextdds \
+                   rmw_fastrtps_dynamic_cpp rmw_fastrtps_cpp \
+                   rosidl_typesupport_fastrtps_c rosidl_typesupport_fastrtps_cpp \
+                   urdfdom_headers \
+                   " > rosdep-commands-nav2.sh && \
+    chmod u+x rosdep-commands-nav2.sh && \
+    ./rosdep-commands-nav2.sh
+
+# this is what this rosdep would do, for documentation purposes
+#  sudo -H apt-get install -y libomp-dev
+#  sudo -H apt-get install -y libxtensor-dev
+#  sudo -H apt-get install -y nlohmann-json3-dev
+#  sudo -H apt-get install -y ros-humble-ompl   # this is ok, it does not bring entire ros-* 
+# afterwards dpkg lists ros-humble-ompl and ros-humble-ros-workspace
+# dpkg also shows the following: libignition-cmake2-dev libignition-math6 libignition-math6-dev
+
+
 
 # Build Navigation2
 SHELL ["/bin/bash", "-c"]
-RUN source ${NAV2_DEPS_WS}/install/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+RUN source ${NAV2_DEPS_WS}/install/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+
 
 # Install rviz2 to send goals to Nav2
-RUN sudo apt update && sudo apt install -y ros-humble-rviz2
+# this is not a good way to do this. will be done from source later
+#RUN sudo apt update && sudo apt install -y ros-humble-rviz2
 
 # Set up the entrypoint
 COPY ./entrypoint.sh /