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pkgdesc="ROS - This package provides an implementation of the Dynamic Window
Approach to local robot navigation on a plane."
url='https://wiki.ros.org/dwa_local_planner'
pkgname='ros-melodic-dwa-local-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-cmake-modules
)
makedepends=(
'cmake'
'ros-build-tools'
${ros_makedepends[@]}
)
ros_depends=(
ros-melodic-base-local-planner
ros-melodic-costmap-2d
ros-melodic-dynamic-reconfigure
ros-melodic-nav-core
ros-melodic-nav-msgs
ros-melodic-pluginlib
ros-melodic-sensor-msgs
ros-melodic-roscpp
ros-melodic-tf2
ros-melodic-tf2-geometry-msgs
ros-melodic-tf2-ros
)
depends=(
'eigen'
${ros_depends[@]}
)
_dir="navigation-${pkgver}/dwa_local_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
}
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