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# Copyright 1999-2021 Gentoo Authors
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# Distributed under the terms of the GNU General Public License v2
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EAPI=7
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ROS_REPO_URI="https://github.com/ros-planning/robot_pose_ekf"
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KEYWORDS="~amd64 ~arm"
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CATKIN_HAS_MESSAGES=yes
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CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs"
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inherit ros-catkin
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DESCRIPTION="Estimate the 3D pose of a robot from pose measurements from various sources"
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LICENSE="BSD"
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SLOT="0"
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IUSE=""
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RDEPEND="
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dev-ros/roscpp
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dev-ros/tf
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sci-libs/orocos-bfl
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dev-libs/boost:=[threads(+)]
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"
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DEPEND="${RDEPEND}
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dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
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dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
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dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
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test? (
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dev-ros/rostest[${PYTHON_SINGLE_USEDEP}]
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dev-cpp/gtest
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)
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virtual/pkgconfig"
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TEST_DATA="ekf_test2_indexed.bag zero_covariance_indexed.bag"
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SRC_URI="${SRC_URI} test? ( "
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for i in ${TEST_DATA}; do
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SRC_URI="${SRC_URI} http://download.ros.org/data/robot_pose_ekf/${i} -> ${P}-${i}"
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done
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SRC_URI="${SRC_URI} )"
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src_prepare() {
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ros-catkin_src_prepare
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if use test; then
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for i in ${TEST_DATA} ; do
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cp "${DISTDIR}/${P}-${i}" "${S}/${i}" || die
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done
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sed \
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-e "s#http://download.ros.org/data/robot_pose_ekf#file://${S}#" \
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-i CMakeLists.txt || die
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fi
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}
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src_test() {
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export ROS_PACKAGE_PATH="${S}:${ROS_PACKAGE_PATH}"
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ros-catkin_src_test
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}
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