pkgdesc="ROS - Jackal's mobility and sensor base."
url="https://github.com/jackal/jackal_robot"

pkgname="ros-noetic-jackal-base"
pkgver="0.7.10"
arch=('x86_64')
pkgrel=1
license=("BSD")

ros_makedepends=(
    ros-noetic-catkin
)

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

ros_depends=(
    ros-noetic-controller-manager
    ros-noetic-diagnostic-updater
    ros-noetic-geometry-msgs
    ros-noetic-hardware-interface
    ros-noetic-jackal-msgs
    ros-noetic-nmea-msgs
    ros-noetic-realtime-tools
    ros-noetic-roscpp
    ros-noetic-roslaunch
    ros-noetic-roslint
    ros-noetic-rosserial-server
    ros-noetic-sensor-msgs
    ros-noetic-std-msgs
    ros-noetic-teleop-twist-joy
    ros-noetic-topic-tools
    ros-noetic-diagnostic-aggregator
    ros-noetic-diff-drive-controller
    ros-noetic-imu-filter-madgwick
    ros-noetic-jackal-control
    ros-noetic-jackal-description
    ros-noetic-jackal-msgs
    ros-noetic-nmea-navsat-driver
    ros-noetic-rosserial-python
    ros-noetic-sensor-msgs
    ros-noetic-teleop-twist-joy
    ros-noetic-tf
    ros-noetic-topic-tools
)

depends=(
    ${ros_depends[@]}
    python-scipy
)

_dir="jackal_robot-${pkgver}/jackal_base"
source=("${pkgname}-${pkgver}.tar.gz::https://github.com/jackal/jackal_robot/archive/${pkgver}.tar.gz")
sha256sums=('ea7047d8bb868cbbf3f3a59c86477b6e3a740dcb19e3f21dbdd8f27ad8ec03b2')

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 ${srcdir}/${_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
}