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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-noetic-dwa-local-planner'
pkgver='1.17.1'
arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
pkgrel=1
license=('BSD')
ros_makedepends=(
ros-noetic-catkin
ros-noetic-angles
ros-noetic-cmake-modules
)
makedepends=(
cmake
ros-build-tools
${ros_makedepends[@]}
)
ros_depends=(
ros-noetic-base-local-planner
ros-noetic-costmap-2d
ros-noetic-dynamic-reconfigure
ros-noetic-nav-core
ros-noetic-nav-msgs
ros-noetic-pluginlib
ros-noetic-sensor-msgs
ros-noetic-roscpp
ros-noetic-tf2
ros-noetic-tf2-geometry-msgs
ros-noetic-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=('50e1fb4a0beb190202e9730180464b76b3a481cae2665e0f1944eb908929148e')
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 the build directory.
[ -d ${srcdir}/build ] || mkdir ${srcdir}/build
cd ${srcdir}/build
# Build the 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
}
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