PKGBUILD


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# Script generated with create_pkgbuild.py
# For more information: https://github.com/ros-melodic-arch/ros-build-tools-py3
# Maintainer: Achmad Fathoni<fathoni.id(at)gmail.com>

pkgdesc="ROS - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations."
url='https://github.com/googlecartographer/cartographer'

pkgname='ros-noetic-cartographer'
pkgver='2.0.0'
arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
pkgrel=1
license=('Apache 2.0')

ros_makedepends=(ros-noetic-catkin)
makedepends=(
  cmake
  ros-build-tools
  ${ros_makedepends[@]}
  boost
  google-glog
  protobuf
  cairo
  lua52
  python-sphinx
  gcc
  gflags
  eigen
  ceres-solver-legacy
  gmock
)

ros_depends=()
depends=(
  ${ros_depends[@]}
  boost
  google-glog
  protobuf
  cairo
  lua52
  gflags
  eigen
  ceres-solver-legacy
)

# Tarball version (faster download)
_dir="cartographer-release-release-melodic-cartographer"
source=("${pkgname}-${pkgver}.tar.gz"::"https://github.com/ros-gbp/cartographer-release/archive/release/melodic/cartographer/${pkgver}.tar.gz" FindGMock.patch)
sha256sums=('0b1979462b1715efc762f27bfb1b69fe659c269df96934baee12928b47b7cc9f'
            'a109c0927cff5d0a9d8ad7d0f676ce0c3af81a1aa39b88b16a030431cde2cbb4')

prepare() {
    cd "$srcdir/$_dir"
    patch --forward --strip=1 --input="${srcdir}/FindGMock.patch"
}

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

#     Fix Python2/Python3 conflicts
#     /usr/share/ros-build-tools/fix-python-scripts.sh -v 3 ${srcdir}/${_dir}

    rm -f ${srcdir}/${_dir}/cartographer/mapping/3d/hybrid_grid_test.cc

    # Build project
    cmake ${srcdir}/${_dir} \
            -DCMAKE_BUILD_TYPE=Release \
            -DCATKIN_ENABLE_TESTING=0 \
            -DCATKIN_BUILD_BINARY_PACKAGE=ON \
            -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic \
            -DPYTHON_EXECUTABLE=/usr/bin/python3 \
            -DPYTHON_INCLUDE_DIR=/usr/include/python3.9 \
            -DPYTHON_LIBRARY=/usr/lib/libpython3.9.so \
            -DPYTHON_BASENAME=-python3.9 \
            -DSETUPTOOLS_DEB_LAYOUT=OFF
            make
}

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