pkgdesc="ROS - A path planner library and node."
url='https://wiki.ros.org/global_planner'

pkgname='ros-melodic-global-planner'
pkgver='1.16.7'
arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
pkgrel=2
license=('BSD')

ros_makedepends=(
    ros-melodic-catkin
    ros-melodic-angles
    ros-melodic-tf2-geometry-msgs
)

makedepends=(
	'cmake'
	'ros-build-tools'
	${ros_makedepends[@]}
)

ros_depends=(
    ros-melodic-costmap-2d
    ros-melodic-dynamic-reconfigure
    ros-melodic-geometry-msgs
    ros-melodic-nav-core
    ros-melodic-nav-msgs
    ros-melodic-navfn
    ros-melodic-pluginlib
    ros-melodic-roscpp
    ros-melodic-tf2-ros
)

depends=(
    'eigen'
	${ros_depends[@]}
)

_dir="navigation-${pkgver}/global_planner"
source=("${pkgname}-${pkgver}.tar.gz"::"https://github.com/ros-planning/navigation/archive/${pkgver}.tar.gz")
sha256sums=('3a4ee70949a07d4f5f84deddb2ee8a4314bc143d10fb2054b90683c7f92a2f33')

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 the 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 the 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
}