PKGBUILD


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# Script generated with create_pkgbuild.py
# For more information: https://github.com/ros-melodic-arch/ros-build-tools-py3
pkgdesc="ROS - TRAC-IK is a faster, significantly more reliable drop-in replacement for KDLs pseudoinverse Jacobian solver."
url='http://wiki.ros.org/trac_ik_lib'

pkgname='ros-melodic-trac-ik-lib'
pkgver='1.5.1'
arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
pkgrel=4
license=('BSD')

ros_makedepends=(
  ros-melodic-cmake-modules
  ros-melodic-catkin
  ros-melodic-roscpp
  ros-melodic-kdl-parser
  ros-melodic-urdf
)

makedepends=(
  'cmake' 'ros-build-tools'
  ${ros_makedepends[@]}
  boost1.69
  nlopt
  pkg-config
  eigen
)

ros_depends=(
  ros-melodic-roscpp
  ros-melodic-urdf
  ros-melodic-kdl-parser
)
depends=(
  ${ros_depends[@]}
  boost1.69
  nlopt
)

_dir="traclabs-trac_ik-f4597094e974/trac_ik_lib"
source=("trac_ik-${pkgver}.tar.gz"::"https://bitbucket.org/traclabs/trac_ik/get/${pkgver}.tar.gz")
sha256sums=('67bdfb8dfcdf99c4ff5bd10de3c214527443a5c1ac54c99a0b5590d2692bf676')


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 \
		 -DBOOST_ROOT=/opt/boost1.69 \
		 -DBoost_NO_SYSTEM_PATHS=TRUE
  make
}

package() {
  cd "${srcdir}/build"
  make DESTDIR="${pkgdir}/" install
}