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# Maintainer: Timon Engelke <aur@timonengelke.de>
pkgdesc="ROS - Components of MoveIt that offer simpler interfaces to planning and execution."
url='https://moveit.ros.org'
pkgname='ros-melodic-moveit-ros-planning-interface'
pkgver='1.0.2'
arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
pkgrel=3
license=('BSD')
ros_makedepends=(ros-melodic-tf-conversions
ros-melodic-tf
ros-melodic-moveit-ros-move-group
ros-melodic-moveit-ros-warehouse
ros-melodic-rospy
ros-melodic-roscpp
ros-melodic-moveit-ros-planning
ros-melodic-actionlib
ros-melodic-eigen-conversions
ros-melodic-moveit-ros-manipulation
ros-melodic-rosconsole
ros-melodic-moveit-resources
ros-melodic-catkin)
makedepends=('cmake' 'ros-build-tools'
${ros_makedepends[@]}
python
python-catkin-pkg
eigen)
ros_depends=(ros-melodic-tf-conversions
ros-melodic-tf
ros-melodic-moveit-ros-move-group
ros-melodic-moveit-ros-warehouse
ros-melodic-rospy
ros-melodic-roscpp
ros-melodic-moveit-ros-planning
ros-melodic-actionlib
ros-melodic-eigen-conversions
ros-melodic-moveit-ros-manipulation
ros-melodic-rosconsole)
depends=(${ros_depends[@]}
python
eigenpy)
# Git version (e.g. for debugging)
# _tag=release/melodic/moveit_ros_planning_interface/${pkgver}-${_pkgver_patch}
# _dir=${pkgname}
# source=("${_dir}"::"git+https://github.com/ros-gbp/moveit-release.git"#tag=${_tag})
# sha256sums=('6cbf0b256af768dcd336ff60b142a2f1d363c79879c30bbe5bc0952c0375b2e8')
# Tarball version (faster download)
_dir="moveit-${pkgver}/moveit_ros/planning_interface"
source=("${pkgname}-${pkgver}.tar.gz"::"https://github.com/ros-planning/moveit/archive/${pkgver}.tar.gz"
"eigenpy.patch")
sha256sums=('b8194308c57dbe34bbb729cfccb30d1113af3a54a90a2cfb49482142d1044ea4'
'797e2415ec9c66b2f7137bb6c0037e4f0ef5520baba7eff3af3eb04119e42b40')
prepare() {
cd ${srcdir}/${_dir}
patch -uN CMakeLists.txt ${srcdir}/eigenpy.patch || return 1
cd ${srcdir}
find . \( -iname *.cpp -o -iname *.h \) \
-exec sed -r -i "s/[^_]logError/CONSOLE_BRIDGE_logError/" {} \; \
-exec sed -r -i "s/[^_]logWarn/CONSOLE_BRIDGE_logWarn/" {} \; \
-exec sed -r -i "s/[^_]logDebug/CONSOLE_BRIDGE_logDebug/" {} \; \
-exec sed -r -i "s/[^_]logInform/CONSOLE_BRIDGE_logInform/" {} \;
}
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
}
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