1 files changed, 96 insertions, 0 deletions
diff --git a/PKGBUILD b/PKGBUILD
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+# Maintainer: Achmad Fathoni<fathoni.id(at)gmail.com>
+
+pkgdesc="ROS - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations."
+url='https://github.com/cartographer-project/cartographer_ros'
+
+pkgname='ros-noetic-cartographer-rviz-git'
+pkgver=r584.151c563
+arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
+pkgrel=1
+license=('Apache 2.0')
+provides=(${pkgname::-4})
+
+ros_makedepends=(
+  ros-noetic-message-runtime
+  ros-noetic-cartographer
+  ros-noetic-cartographer-ros
+  ros-noetic-rviz
+  ros-noetic-catkin
+  ros-noetic-cartographer-ros-msgs
+  ros-noetic-roslib
+  ros-noetic-eigen-conversions
+  ros-noetic-roscpp
+)
+makedepends=(
+  cmake
+  ros-build-tools
+  ${ros_makedepends[@]}
+  gcc
+  qt5-base
+  abseil-cpp-git
+)
+
+ros_depends=(
+  ros-noetic-message-runtime
+  ros-noetic-cartographer
+  ros-noetic-cartographer-ros
+  ros-noetic-rviz
+  ros-noetic-cartographer-ros-msgs
+  ros-noetic-roslib
+  ros-noetic-eigen-conversions
+  ros-noetic-roscpp
+)
+
+depends=(
+  ${ros_depends[@]}
+  qt5-base
+  abseil-cpp-git
+)
+
+source=(
+    $pkgname::git://github.com/cartographer-project/cartographer_ros.git
+    CMakeLists.patch
+)
+
+pkgver() {
+  cd "$pkgname"
+  printf "r%s.%s" "$(git rev-list --count HEAD)" "$(git rev-parse --short HEAD)"
+}
+
+sha256sums=(
+    'SKIP'
+    '7e706acef5e7029a50acee352221a035605ecc51b81d32f795f9c1c9be646556'
+)
+
+prepare() {
+    cd "${srcdir}/${pkgname}/cartographer_rviz"
+    patch -uN CMakeLists.txt ../../CMakeLists.patch || return 1
+}
+
+build() {
+    # Use ROS environment variables
+    source /usr/share/ros-build-tools/clear-ros-env.sh
+    [ -f /opt/ros/noetic/setup.bash ] && source /opt/ros/noetic/setup.bash
+
+    # Create build directory
+    [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
+    cd ${srcdir}/build
+
+    # Build project
+    cmake ${srcdir}/${pkgname}/cartographer_rviz \
+            -DCMAKE_BUILD_TYPE=Release \
+            -DCATKIN_ENABLE_TESTING=0 \
+            -DCATKIN_BUILD_BINARY_PACKAGE=ON \
+            -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic \
+            -DPYTHON_EXECUTABLE=/usr/bin/python3 \
+            -DPYTHON_INCLUDE_DIR=/usr/include/python3.9 \
+            -DPYTHON_LIBRARY=/usr/lib/libpython3.9.so \
+            -DPYTHON_BASENAME=-python3.9 \
+            -DSETUPTOOLS_DEB_LAYOUT=OFF
+    make
+}
+
+package() {
+    cd "${srcdir}/build"
+    make DESTDIR="${pkgdir}/" install
+}