Hey folks! Some of you may have spotted my Lightning Talk during ROSWorld 2020 
The talk includes numerous tips and insights I’ve accrued since my first ROSCon talk from 2015. 
Given the stream resolution and content density, I figured folks would appreciate a high definition version, including closed captions for non-native speakers or for the deaf and hard of hearing:
As well as the PDF slides that include all the embedded reference hyperlinks:
ROSWorld2020 - ROS + Docker Pro Tips.pdf (3.4 MB)
I hope these patterns help save you just as much time as they do when developing Navigation2.
For a more extensive writeup, checkout the CI design docs I’ve been adding to Navigation2 here:
If you have any questions about this, I’d be happy to do a Q&A on it here.
Cheers,
Ruffin