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pkgdesc="ROS - wrapper for libviso2"
url='https://wiki.ros.org/viso2'
pkgname='ros-noetic-viso2-ros'
pkgver='0.0.1'
arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
pkgrel=3
license=('GPL')
ros_makedepends=(
ros-noetic-libviso2
ros-noetic-roscpp
ros-noetic-rostime
ros-noetic-rosconsole
ros-noetic-cv-bridge
ros-noetic-image-geometry
ros-noetic-tf
ros-noetic-image-transport
ros-noetic-message-filters
)
makedepends=(
cmake
ros-build-tools
boost-libs
opencv
${ros_makedepends[@]}
)
ros_depends=(
ros-noetic-libviso2
ros-noetic-roscpp
ros-noetic-rostime
ros-noetic-rosconsole
ros-noetic-cv-bridge
ros-noetic-image-geometry
ros-noetic-tf
ros-noetic-image-transport
ros-noetic-message-filters
)
depends=(
cmake
ros-build-tools
boost-libs
opencv
${ros_depends[@]}
)
_dir="viso2/viso2_ros"
source=("viso2"::"git+https://github.com/srv/viso2.git")
sha256sums=('SKIP')
prepare() {
# Fix wrong header include directory
sed -i "/#include <viso_/s/viso_/libviso2\/&/" ${srcdir}/${_dir}/src/{mono_odometer.cpp,odometry_params.h,stereo_odometer.cpp}
# Add installation for binaries
echo 'install(TARGETS mono_odometer stereo_odometer DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})' >> ${srcdir}/${_dir}/CMakeLists.txt
}
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
}
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