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# Maintainer: Oystein Sture <oysstu at gmail.com>
pkgname=ros2-jazzy-base
pkgver=2024.12.23
pkgrel=2
_rosdist="Jazzy Jalisco"
_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-2.0')
depends=(
'asio'
'bullet'
'cmake'
'eigen'
'git'
'libyaml'
'lttng-ust'
'orocos-kdl'
'pybind11'
'python'
'python-colcon-common-extensions'
'python-lark-parser'
'python-netifaces'
'python-numpy'
'python-psutil'
'python-yaml'
'tinyxml2'
)
makedepends=(
'python-rosinstall_generator'
'python-vcstool'
)
conflicts=("ros2-${_rosdist_short}")
source=(
"https://github.com/ros2/ros2/archive/release-${_rosdist_short}-${pkgver//.}.tar.gz"
"ros2-variants-0.11.0.tar.gz::https://github.com/ros2/variants/archive/0.11.0.tar.gz"
)
sha256sums=('f0bf2fb3988381a35bf28653bb8c0f7cfae3297759b322bad8dccb6b9b45a3c7'
'e04bf7430ebdc670b4b0ee4722db2966fb1e53d8881e9cb66df6aa381f2448d9')
prepare() {
# Clone the repos
printf "Cloning ros2 repositories\n"
mkdir -p "$srcdir/ros2/src"
vcs import "$srcdir/ros2/src" < $srcdir/ros2-release-${_rosdist_short}-${pkgver//.}/ros2.repos
printf "Patching sources\n"
# https://github.com/ros/urdfdom/pull/205
git -C "$srcdir/ros2/src/ros/urdfdom" cherry-pick -n 483ff92a7e631283117ca3d421d58e146c8b6d21
# https://github.com/ros/urdfdom_headers/pull/79
git -C "$srcdir/ros2/src/ros/urdfdom_headers" cherry-pick -n 94953f0bd332e7a9fc2b54c2179763a00d9ab603
}
build() {
# For low-mem high core count systems, add the following to disable parallel build
#export COLCON_EXTRA_ARGS="${COLCON_EXTRA_ARGS} --executor sequential"
# Remove D_FORTIFY_SOURCE to avoid compilation errors
CFLAGS=$(sed "s/-Wp,-D_FORTIFY_SOURCE=[0-9]\s//g" <(echo $CFLAGS))
CXXFLAGS=$(sed "s/-Wp,-D_FORTIFY_SOURCE=[0-9]\s//g" <(echo $CXXFLAGS))
# Build
# THIRDPARTY_Asio: This forces Fast-DDS to use its internal ASIO version.
# They were using deprecated ASIO functionality, which is now removed.
# See the following issue: https://github.com/eProsima/Fast-DDS/issues/5726
colcon build --packages-up-to ros_base --merge-install ${COLCON_EXTRA_ARGS} --cmake-args -DBUILD_TESTING=OFF -DTHIRDPARTY_Asio=FORCE
# Replace all references to srcdir in colcon shell files
printf "Replace references to srcdir in colcon shell files\n"
_outdir="$srcdir/install"
_instdir="/opt/ros/${_rosdist_short}-base"
grep --include \*.sh --binary-files without-match -rl ${_outdir} . | xargs sed -i 's|'${_outdir}'|'${_instdir}'|g'
}
package() {
mkdir -p "${pkgdir}/opt/ros"
cp -r "${srcdir}/install" "${pkgdir}/opt/ros/${_rosdist_short}"
}
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