diff --git a/recipes-core/packagegroups/packagegroup-ros-world-dashing.inc b/recipes-core/packagegroups/packagegroup-ros-world-dashing.inc
index f7c7626..bb4e1d8 100644
--- a/recipes-core/packagegroups/packagegroup-ros-world-dashing.inc
+++ b/recipes-core/packagegroups/packagegroup-ros-world-dashing.inc
@@ -1,3 +1,169 @@
 # packagegroup-ros-world-dashing.inc
 #
 # Copyright (c) 2019 LG Electronics, Inc.
+
+# "rmw-fastrtps-dynamic-cpp" is mentioned in http://www.ros.org/reps/rep-2000.html, so make sure we always build it (it appears in
+# ROS_SUPERFLORE_GENERATED_TESTS, so it's not been added to ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES).
+RDEPENDS_${PN}_append = " rmw-fastrtps-dynamic-cpp"
+
+# Remove these explicitly until they are dropped from the ROS_EXEC_DEPENDS of ros-core, after which (most of them) will not be in
+# in ROS_SUPERFLORE_GENERATED_WORLD_PACKAGES because they only appear in ROS_TEST_DEPENDS.
+RDEPENDS_${PN}_remove = "ament-cmake"
+RDEPENDS_${PN}_remove = "ament-cmake-auto"
+RDEPENDS_${PN}_remove = "ament-cmake-gmock"
+RDEPENDS_${PN}_remove = "ament-cmake-gtest"
+RDEPENDS_${PN}_remove = "ament-cmake-pytest"
+RDEPENDS_${PN}_remove = "ament-cmake-ros"
+RDEPENDS_${PN}_remove = "ament-index-cpp"
+RDEPENDS_${PN}_remove = "ament-index-python"
+RDEPENDS_${PN}_remove = "ament-lint-auto"
+RDEPENDS_${PN}_remove = "ament-lint-common"
+
+# Drop until able to build python3-ctypes-native
+RDEPENDS_${PN}_remove = "ament-cmake-flake8"
+RDEPENDS_${PN}_remove = "ament-cmake-pep8"
+RDEPENDS_${PN}_remove = "ament-cmake-pyflakes"
+
+# Drop until "CMake Error at CMakeLists.txt:106 (string): string sub-command REPLACE requires at least four arguments." is fixed
+RDEPENDS_${PN}_remove = "micro-ros-agent"
+
+# Drop until "python3-pydot" fixed not to install same file as "python3-setuptools".
+RDEPENDS_${PN}_remove = "py-trees"
+
+# Can't build these until we figure out how to build clang-format without building all of clang.
+RDEPENDS_${PN}_remove = "ament-clang-format"
+RDEPENDS_${PN}_remove = "ament-cmake-clang-format"
+
+# Not used by "crystal"; this allows us to defer fixing log4cxx v0.10.0-13 until working on "melodic".
+RDEPENDS_${PN}_remove = "rcl-logging-log4cxx"
+
+# | CMake Error at .../cartographer/1.0.0-1-r0/recipe-sysroot/usr/lib/cmake/Ceres/CeresConfig.cmake:88 (message):
+# |   Failed to find Ceres - Missing requested Ceres components: [SuiteSparse]
+# |   (components requested: [SuiteSparse]).  Detected Ceres version: 1.14.0
+# |   installed in:
+# |   .../cartographer/1.0.0-1-r0/recipe-sysroot/usr
+# |   with components: [EigenSparse, SparseLinearAlgebraLibrary,
+# |   SchurSpecializations, OpenMP, Multithreading].
+RDEPENDS_${PN}_remove = "cartographer"
+
+# CMake Error at .../ml-classifiers/1.0.1-1-r0/recipe-sysroot/usr/share/rosidl_typesupport_c/cmake/get_used_typesupports.cmake:28 (message):
+#   No RMW implementations found
+# Call Stack (most recent call first):
+#   .../ml-classifiers/1.0.1-1-r0/recipe-sysroot/usr/share/rosidl_typesupport_cpp/cmake/rosidl_typesupport_cpp_generate_interfaces.cmake:83 (get_used_typesupports)
+#   .../ml-classifiers/1.0.1-1-r0/recipe-sysroot/usr/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:38 (include)
+#   .../ml-classifiers/1.0.1-1-r0/recipe-sysroot/usr/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:280 (ament_execute_extensions)
+#   CMakeLists.txt:86 (rosidl_generate_interfaces)
+RDEPENDS_${PN}_remove = "ml-classifiers"
+
+# do_configure() failed:
+# Log data follows:
+# DEBUG: Executing shell function do_configure
+# Traceback (most recent call last):
+#   File "setup.py", line 7, in <module>
+#     package = ElementTree.parse(here / 'package.xml')
+#   File "/mnt/disk2/YOCTO-ARTIFACTS/BUILD-1/tmp-glibc/work/cortexa7t2hf-neon-vfpv4-oe-linux-gnueabi/keystroke/0.3.0-1-r0/recipe-sysroot-native/usr/lib/python3.5/xml/etree/ElementTree.py", line 1195, in parse
+#     tree.parse(source, parser)
+#   File "/mnt/disk2/YOCTO-ARTIFACTS/BUILD-1/tmp-glibc/work/cortexa7t2hf-neon-vfpv4-oe-linux-gnueabi/keystroke/0.3.0-1-r0/recipe-sysroot-native/usr/lib/python3.5/xml/etree/ElementTree.py", line 585, in parse
+#     source = open(source, "rb")
+# TypeError: invalid file: PosixPath('package.xml')
+# WARNING: exit code 1 from a shell command.
+RDEPENDS_${PN}_remove = "keystroke"
+
+# do_compile() failed to build .a:
+# NOTE: VERBOSE=1 cmake --build .../fmi-adapter/0.1.4-1-r0/build --target all -- -j 24
+# ninja: error: 'FMILibraryProject-prefix/src/install/lib/libfmilib.a', needed by 'libfmi_adapter.so', missing and no known rule to make it
+# WARNING: exit code 1 from a shell command.
+# ERROR: Function failed: do_compile
+RDEPENDS_${PN}_remove = "fmi-adapter"
+RDEPENDS_${PN}_remove = "fmi-adapter-examples"
+
+
+# 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)}"
+
+# NB. gazebo-msgs is a dependency of non-Gazebo packages, so it doesn't appear here.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-gazebo', '', 'gazebo-rosdev', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-gazebo', '', 'gazebo-plugins', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-gazebo', '', 'gazebo-ros', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-gazebo', '', 'gazebo-ros-pkgs', d)}"
+
+# MRPT requires the "opengl" distro feature.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-mrpt opengl', '', 'mrpt2', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-mrpt opengl', '', 'wxpython', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-mrpt opengl', '', 'wxwidgets', d)}"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-realsense', '', 'librealsense2', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-realsense', '', 'realsense-camera-msgs', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-realsense', '', 'realsense-ros2-camera', d)}"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'python-qt-binding', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'qt-dotgraph', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'qt-gui', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'qt-gui-app', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'qt-gui-core', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'qt-gui-cpp', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-qt5', '', 'qt-gui-py-common', d)}"
+
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-action', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-console', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-graph', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-gui', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-gui-cpp', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-gui-py', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-image-view', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-msg', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-plot', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-publisher', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-py-common', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-py-console', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-service-caller', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-shell', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-srv', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-top', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rqt ros-qt5', '', 'rqt-topic', d)}"
+
+# RViz requires the "opengl" distro feature.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'object-analytics-rviz', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-assimp-vendor', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-common', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-default-plugins', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-ogre-vendor', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-rendering', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-rendering', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-rendering-tests', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz-visual-testing-framework', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-rviz opengl', '', 'rviz2', d)}"