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# Maintainer: Oskar Roesler <oskar@oskar-roesler.de>
pkgdesc="ROS - amcl is a probabilistic localization system for a robot moving in 2D."
url='https://wiki.ros.org/amcl'
pkgname='ros-melodic-amcl'
pkgver='1.16.7'
arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
pkgrel=4
license=('LGPL')
ros_makedepends=(ros-melodic-catkin
ros-melodic-diagnostic-updater
ros-melodic-dynamic-reconfigure
ros-melodic-geometry-msgs
ros-melodic-message-filters
ros-melodic-nav-msgs
ros-melodic-rosbag
ros-melodic-roscpp
ros-melodic-std-srvs
ros-melodic-tf2
ros-melodic-tf2-geometry-msgs
ros-melodic-tf2-msgs
ros-melodic-tf2-ros
ros-melodic-sensor-msgs)
makedepends=('cmake' 'ros-build-tools' 'boost1.69'
${ros_makedepends[@]})
ros_depends=(ros-melodic-dynamic-reconfigure
ros-melodic-geometry-msgs
ros-melodic-nav-msgs
ros-melodic-rosbag
ros-melodic-roscpp
ros-melodic-std-srvs
ros-melodic-tf2
ros-melodic-tf2-msgs
ros-melodic-tf2-ros)
depends=(${ros_depends[@]} 'boost1.69')
# Tarball version (faster download)
_dir="navigation-${pkgver}/amcl"
source=("${pkgname}-${pkgver}.tar.gz"::"https://github.com/ros-planning/navigation/archive/${pkgver}.tar.gz")
sha256sums=('3a4ee70949a07d4f5f84deddb2ee8a4314bc143d10fb2054b90683c7f92a2f33')
build() {
# Use ROS environment variables
source /usr/share/ros-build-tools/clear-ros-env.sh
[ -f /opt/ros/melodic/setup.bash ] && source /opt/ros/melodic/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}
# Build project
cmake ${srcdir}/${_dir} \
-DCMAKE_BUILD_TYPE=Release \
-DCATKIN_BUILD_BINARY_PACKAGE=ON \
-DCMAKE_INSTALL_PREFIX=/opt/ros/melodic \
-DPYTHON_EXECUTABLE=/usr/bin/python3 \
-DSETUPTOOLS_DEB_LAYOUT=OFF \
-DBOOST_ROOT=/opt/boost1.69 \
-DBoost_NO_SYSTEM_PATHS=TRUE
make
}
package() {
cd "${srcdir}/build"
make DESTDIR="${pkgdir}/" install
}
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