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diff --git a/PKGBUILD b/PKGBUILD
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+# Maintainer: Timon Engelke <aur@timonengelke.de>
+pkgdesc="ROS - This package provides implementations of the Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane."
+url='http://wiki.ros.org/base_local_planner'
+
+pkgname='ros-melodic-base-local-planner'
+pkgver='1.16.2'
+_pkgver_patch=0
+arch=('any')
+pkgrel=1
+license=('BSD')
+
+ros_makedepends=(ros-melodic-nav-core
+  ros-melodic-dynamic-reconfigure
+  ros-melodic-pcl-ros
+  ros-melodic-roscpp
+  ros-melodic-geometry-msgs
+  ros-melodic-std-msgs
+  ros-melodic-rospy
+  ros-melodic-costmap-2d
+  ros-melodic-message-generation
+  ros-melodic-rosconsole
+  ros-melodic-pcl-conversions
+  ros-melodic-voxel-grid
+  ros-melodic-visualization-msgs
+  ros-melodic-catkin
+  ros-melodic-angles
+  ros-melodic-cmake-modules
+  ros-melodic-tf
+  ros-melodic-nav-msgs
+  ros-melodic-pluginlib)
+makedepends=('cmake' 'ros-build-tools'
+  ${ros_makedepends[@]}
+  eigen3)
+
+ros_depends=(ros-melodic-nav-core
+  ros-melodic-dynamic-reconfigure
+  ros-melodic-pcl-ros
+  ros-melodic-roscpp
+  ros-melodic-geometry-msgs
+  ros-melodic-std-msgs
+  ros-melodic-rospy
+  ros-melodic-costmap-2d
+  ros-melodic-message-generation
+  ros-melodic-rosconsole
+  ros-melodic-voxel-grid
+  ros-melodic-visualization-msgs
+  ros-melodic-angles
+  ros-melodic-tf
+  ros-melodic-nav-msgs
+  ros-melodic-pluginlib)
+depends=(${ros_depends[@]}
+  eigen3)
+
+# Git version (e.g. for debugging)
+# _tag=release/melodic/base_local_planner/${pkgver}-${_pkgver_patch}
+# _dir=${pkgname}
+# source=("${_dir}"::"git+https://github.com/ros-gbp/navigation-release.git"#tag=${_tag})
+# sha256sums=('SKIP')
+
+# Tarball version (faster download)
+_dir="navigation-release-release-melodic-base_local_planner-${pkgver}-${_pkgver_patch}"
+source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/navigation-release/archive/release/melodic/base_local_planner/${pkgver}-${_pkgver_patch}.tar.gz")
+sha256sums=('1c14d73638bd309260ffb06d9a97853ab875b6ab6d6e6723ca8398f6ae0d58a8')
+
+build() {
+  # Use ROS environment variables
+  source /usr/share/ros-build-tools/clear-ros-env.sh
+  [ -f /opt/ros/melodic/setup.bash ] && source /opt/ros/melodic/setup.bash
+
+  # Create build directory
+  [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
+  cd ${srcdir}/build
+
+  # Fix Python2/Python3 conflicts
+  /usr/share/ros-build-tools/fix-python-scripts.sh -v 3 ${srcdir}/${_dir}
+
+  # Build project
+  cmake ${srcdir}/${_dir} \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCATKIN_BUILD_BINARY_PACKAGE=ON \
+        -DCMAKE_INSTALL_PREFIX=/opt/ros/melodic \
+        -DPYTHON_EXECUTABLE=/usr/bin/python3 \
+        -DPYTHON_INCLUDE_DIR=/usr/include/python3.7m \
+        -DPYTHON_LIBRARY=/usr/lib/libpython3.7m.so \
+        -DPYTHON_BASENAME=-python3.7m \
+        -DSETUPTOOLS_DEB_LAYOUT=OFF
+  make
+}
+
+package() {
+  cd "${srcdir}/build"
+  make DESTDIR="${pkgdir}/" install
+}