1 files changed, 60 insertions, 0 deletions
diff --git a/PKGBUILD b/PKGBUILD
new file mode 100644
index 000000000000..9f48c634fd03
--- /dev/null
+++ b/PKGBUILD
@@ -0,0 +1,60 @@
+pkgdesc="ROS - A set of packages that include controller interfaces, controller
+managers, transmissions and hardware_interfaces."
+url='http://wiki.ros.org/ros_control'
+
+pkgname='ros-noetic-ros-control'
+pkgver='0.19.1'
+arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
+pkgrel=1
+license=('BSD')
+
+ros_makedepends=(
+    ros-noetic-catkin
+)
+makedepends=(
+    cmake
+    ros-build-tools
+    ${ros_makedepends[@]}
+)
+
+ros_depends=(
+    ros-noetic-combined-robot-hw
+    ros-noetic-controller-interface
+    ros-noetic-controller-manager
+    ros-noetic-controller-manager-msgs
+    ros-noetic-hardware-interface
+    ros-noetic-joint-limits-interface
+    ros-noetic-realtime-tools
+    ros-noetic-transmission-interface
+)
+
+depends=(
+    ${ros_depends[@]}
+)
+
+_dir="ros_control-${pkgver}/ros_control"
+source=("${pkgname}-${pkgver}.tar.gz"::"https://github.com/ros-controls/ros_control/archive/${pkgver}.tar.gz")
+sha256sums=('9b39e47e78c43f36c378c0557a68b4ba35f1f723314cbd541a460e6a340bc4ae')
+
+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 the build directory
+    [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
+    cd ${srcdir}/build
+
+    # Build the project
+    cmake ${srcdir}/${_dir} \
+            -DCATKIN_BUILD_BINARY_PACKAGE=ON \
+            -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic \
+            -DPYTHON_EXECUTABLE=/usr/bin/python \
+            -DSETUPTOOLS_DEB_LAYOUT=OFF
+    make
+}
+
+package() {
+    cd "${srcdir}/build"
+    make DESTDIR="${pkgdir}/" install
+}