diff --git a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
index 3cba0d0..84ff064 100644
--- a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
+++ b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
@@ -10,6 +10,36 @@ RDEPENDS_${PN}_remove = "rcl-logging-log4cxx"
 # OE won't let us build ffmpeg unless LICENSE_FLAGS_WHITELIST contains "commerical".
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('LICENSE_FLAGS_WHITELIST', 'commercial', '', 'ffmpeg', d)}"
 
+# behaviortree-cpp-v3 and navigation2 are mutually exclusive because several of its packages depend on behaviortree-cpp.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'behaviortree-cpp', 'behaviortree-cpp-v3', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'costmap-queue', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-controller', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-core', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-critics', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-msgs', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-plugins', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav-2d-msgs', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav-2d-utils', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-amcl', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-bringup', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-bt-navigator', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-common', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-costmap-2d', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-dwb-controller', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-dynamic-params', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-map-server', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-mission-executor', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-motion-primitives', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-msgs', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-navfn-planner', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-robot', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-simple-navigator', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-tasks', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-util', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-voxel-grid', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-world-model', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'navigation2', '', d)}"
+
 # desktop RDEPENDS on rviz packages.
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-desktop ros-rviz', '', 'desktop', d)}"