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pkgdesc="ROS - A 2D navigation stack that takes in information from odometry,
sensor streams, and a goal pose and outputs safe velocity commands that are sent
to a mobile base."
url='https://wiki.ros.org/navigation'
pkgname='ros-melodic-navigation'
pkgver='1.16.7'
arch=('any')
pkgrel=2
license=('BSD' 'LGPL')
ros_makedepends=(
ros-melodic-catkin
)
makedepends=(
'cmake'
'ros-build-tools'
${ros_makedepends[@]}
)
ros_depends=(
ros-melodic-amcl
ros-melodic-base-local-planner
ros-melodic-carrot-planner
ros-melodic-clear-costmap-recovery
ros-melodic-costmap-2d
ros-melodic-dwa-local-planner
ros-melodic-fake-localization
ros-melodic-global-planner
ros-melodic-map-server
ros-melodic-move-base
ros-melodic-move-slow-and-clear
ros-melodic-navfn
ros-melodic-nav-core
ros-melodic-rotate-recovery
ros-melodic-voxel-grid
)
depends=(
${ros_depends[@]}
)
_dir="navigation-${pkgver}/navigation"
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 the 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 the project.
cmake ${srcdir}/${_dir} \
-DCMAKE_BUILD_TYPE=Release \
-DCATKIN_BUILD_BINARY_PACKAGE=ON \
-DCMAKE_INSTALL_PREFIX=/opt/ros/melodic \
-DPYTHON_EXECUTABLE=/usr/bin/python3 \
-DPYTHON_INCLUDE_DIR=/usr/include/python3.7m \
-DPYTHON_LIBRARY=/usr/lib/libpython3.7m.so \
-DPYTHON_BASENAME=.cpython-37m \
-DSETUPTOOLS_DEB_LAYOUT=OFF
make
}
package() {
cd "${srcdir}/build"
make DESTDIR="${pkgdir}/" install
}
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