All very good points, @davetcoleman! Thanks for the input.
I also like the `navigation2` repository's layout. I think it's very clean and I prefer the same packages-at-the-top-level approach. However, one of problems we have is the sheer number of packages. While that number may go down (I hope), we are probably still going to have a lot. `navigation2` has 20 packages. [We have 131](
https://discourse.ros.org/t/source-code-layout-revision/8191/2).
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