# Maintainer: Timon Engelke pkgdesc="ROS - This package provides implementations of the Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane." url='https://wiki.ros.org/base_local_planner' pkgname='ros-melodic-base-local-planner' pkgver='1.16.2' arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h') pkgrel=13 license=('BSD') ros_makedepends=(ros-melodic-angles ros-melodic-angles ros-melodic-catkin ros-melodic-cmake-modules ros-melodic-costmap-2d ros-melodic-dynamic-reconfigure ros-melodic-geometry-msgs ros-melodic-message-generation ros-melodic-nav-core ros-melodic-nav-msgs ros-melodic-pluginlib ros-melodic-rosconsole ros-melodic-roscpp ros-melodic-rospy ros-melodic-sensor-msgs ros-melodic-std-msgs ros-melodic-tf2 ros-melodic-tf2-geometry-msgs ros-melodic-tf2-ros ros-melodic-visualization-msgs ros-melodic-voxel-grid) makedepends=('cmake' 'ros-build-tools' 'eigen3' ${ros_makedepends[@]}) ros_depends=(ros-melodic-angles ros-melodic-angles ros-melodic-catkin ros-melodic-costmap-2d ros-melodic-dynamic-reconfigure ros-melodic-geometry-msgs ros-melodic-message-generation ros-melodic-nav-core ros-melodic-nav-msgs ros-melodic-pluginlib ros-melodic-rosconsole ros-melodic-roscpp ros-melodic-rospy ros-melodic-sensor-msgs ros-melodic-std-msgs ros-melodic-tf2 ros-melodic-tf2-ros ros-melodic-visualization-msgs ros-melodic-voxel-grid) depends=(${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=${_tag}) # sha256sums=('SKIP') # Tarball version (faster download) _dir="navigation-${pkgver}/base_local_planner" source=("${pkgname}-${pkgver}.tar.gz"::"https://github.com/ros-planning/navigation/archive/${pkgver}.tar.gz") sha256sums=('d83201296e773e2789635fddf39ac18e9465219b18707e53bd2361de4762d205') 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 \ -DSETUPTOOLS_DEB_LAYOUT=OFF make } package() { cd "${srcdir}/build" make DESTDIR="${pkgdir}/" install }