PKGBUILD


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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-noetic-trac-ik-lib'
pkgver='1.5.1'
arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
pkgrel=1
license=('BSD')

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

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

ros_depends=(
    ros-noetic-roscpp
    ros-noetic-urdf
    ros-noetic-kdl-parser
)
depends=(
    ${ros_depends[@]}
    boost
    nlopt
)

_dir="traclabs-trac_ik-f4597094e974/trac_ik_lib"
source=("${pkgname}-${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/noetic/setup.bash ] && source /opt/ros/noetic/setup.bash

    # Create build directory
    [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
    cd ${srcdir}/build

    # Build 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
}