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# Maintainer: Oystein Sture <oysstu at gmail.com>
pkgname=ros2-iron-base
pkgver=2023.07.17
pkgrel=1
_rosdist="Iron Irwini"
_rosdist_short_upper=${_rosdist%% *}
_rosdist_short=${_rosdist_short_upper,}
pkgdesc="A set of software libraries and tools for building robot applications (${_rosdist}, base variant)"
url="https://index.ros.org/p/ros_base/#${_rosdist_short}"
arch=('any')
license=('Apache')
depends=(
'asio'
'bullet'
'cmake'
'eigen'
'git'
'libyaml'
'lttng-ust'
'pybind11'
'python'
'python-colcon-common-extensions'
'python-lark-parser'
'python-netifaces'
'python-numpy'
'python-yaml'
'tinyxml2'
)
makedepends=(
'procps-ng' # For 'free'
'python-rosinstall_generator'
'python-vcstool'
)
source=(
"ros2::git+https://github.com/ros2/ros2.git#tag=release-${_rosdist_short}-${pkgver//.}"
"ros2_base::git+https://github.com/ros2/variants.git#branch=master"
)
sha256sums=('SKIP'
'SKIP')
prepare() {
# Clone the repos
printf "Cloning ros2 repositories\n"
mkdir -p $srcdir/ros2/src
vcs import $srcdir/ros2/src < $srcdir/ros2/ros2.repos
# Apply patches
printf "Patching sources\n"
# Missing cstdint/cstderr includes
git -C "$srcdir/ros2/src/eProsima/Fast-DDS" cherry-pick -n "add29f42591fe3d785df727aea128f250040834f"
git -C "$srcdir/ros2/src/ros2/rcpputils" cherry-pick -n "f96811a9047fa6a084a885219c88b415bc544487"
git -C "$srcdir/ros2/src/ros-tooling/libstatistics_collector" cherry-pick -n "1c340c97c731019d0c7b40f8c167b0ef666bcf75"
git -C "$srcdir/ros2/src/ros2/rclcpp/rclcpp/include/rclcpp" cherry-pick -n "86c77143c96d85711a87f2a5adcc4d7f0fb0dbeb"
}
build() {
# Disable parallel build if RAM is low
if [[ $(free | grep -Po "Mem:\s+\K\d+") -lt 8000000 ]]; then
printf "\nRAM is smaller than 8 GB. Parallel build will be disabled for stability.\n\n"
export COLCON_EXTRA_ARGS="${COLCON_EXTRA_ARGS} --executor sequential"
fi
## For people with the old version of makepkg.conf
#unset CPPFLAGS
## For people with the new version of makepkg.conf
CFLAGS=$(sed "s/-Wp,-D_FORTIFY_SOURCE=2\s//g" <(echo $CFLAGS))
CXXFLAGS=$(sed "s/-Wp,-D_FORTIFY_SOURCE=2\s//g" <(echo $CXXFLAGS))
# Build
colcon build --packages-up-to ros_base --merge-install ${COLCON_EXTRA_ARGS} --cmake-args -DBUILD_TESTING=OFF
}
package() {
mkdir -p $pkgdir/opt/ros/${_rosdist_short}-base
cp -r $srcdir/install/* $pkgdir/opt/ros/${_rosdist_short}-base/
}
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