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I was able to reduce my build time of the navigation stack by 75% by simply disabling the following targets in the costmap_2d CMakelists.txt

#add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
#add_dependencies(costmap_2d_markers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#target_link_libraries(costmap_2d_markers
#    costmap_2d
#    )

#add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp)
#add_dependencies(costmap_2d_cloud ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#target_link_libraries(costmap_2d_cloud
#    costmap_2d
#    )

...

install( TARGETS
#    costmap_2d_markers
#    costmap_2d_cloud
    costmap_2d_node
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)