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69 lines
1.7 KiB
69 lines
1.7 KiB
4 years ago
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# Copyright 1999-2020 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/navigation"
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ROS_SUBDIR=${PN}
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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 dev-ros/geometry_msgs dev-ros/map_msgs"
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inherit ros-catkin
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DESCRIPTION="Creates a 2D costmap from sensor data"
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LICENSE="BSD"
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SLOT="0"
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IUSE=""
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REQUIRED_USE="ros_messages_cxx"
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DATA="simple_driving_test_indexed.bag willow-full-0.025.pgm"
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for i in ${DATA}; do
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SRC_URI="${SRC_URI}
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http://download.ros.org/data/costmap_2d/${i} -> ${P}-${i}"
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done
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RDEPEND="
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dev-ros/dynamic_reconfigure[${PYTHON_SINGLE_USEDEP}]
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dev-ros/laser_geometry
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dev-ros/message_filters
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>=dev-ros/pluginlib-1.13.0-r1
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dev-ros/roscpp
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dev-ros/tf2
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dev-ros/tf2_ros
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dev-ros/voxel_grid
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dev-libs/boost:=[threads]
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dev-libs/tinyxml2:=
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dev-libs/console_bridge:=
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"
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DEPEND="${RDEPEND}
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dev-cpp/eigen:3
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dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
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dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
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dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
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dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
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dev-ros/tf2_sensor_msgs
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test? (
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dev-ros/map_server
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dev-ros/rosbag
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dev-ros/rostest[${PYTHON_SINGLE_USEDEP}]
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dev-cpp/gtest
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dev-ros/rosunit
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)"
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BDEPEND="
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dev-ros/cmake_modules
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"
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src_prepare() {
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ros-catkin_src_prepare
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for i in ${DATA}; do
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cp "${DISTDIR}/${P}-${i}" "${S}/${i}" || die
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done
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sed -e "s#http://download.ros.org/data/costmap_2d/#file://${S}/#" -i CMakeLists.txt || die
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}
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src_test() {
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export ROS_PACKAGE_PATH="${S}:${ROS_PACKAGE_PATH}"
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export CATKIN_PREFIX_PATH="${BUILD_DIR}/devel/:${CATKIN_PREFIX_PATH}"
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ros-catkin_src_test
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}
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