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# Copyright 1999-2021 Gentoo Authors
# Distributed under the terms of the GNU General Public License v2
EAPI=7
ROS_REPO_URI="https://github.com/ros-planning/navigation"
ROS_SUBDIR=${PN}
KEYWORDS="~amd64 ~arm"
CATKIN_HAS_MESSAGES=yes
CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs dev-ros/map_msgs"
inherit ros-catkin
DESCRIPTION="Creates a 2D costmap from sensor data"
LICENSE="BSD"
SLOT="0"
IUSE=""
REQUIRED_USE="ros_messages_cxx"
DATA="simple_driving_test_indexed.bag willow-full-0.025.pgm"
for i in ${DATA}; do
SRC_URI="${SRC_URI}
http://download.ros.org/data/costmap_2d/${i} -> ${P}-${i}"
done
RDEPEND="
dev-ros/dynamic_reconfigure[${PYTHON_SINGLE_USEDEP}]
dev-ros/laser_geometry
dev-ros/message_filters
>=dev-ros/pluginlib-1.13.0-r1
dev-ros/roscpp
dev-ros/tf2
dev-ros/tf2_ros
dev-ros/voxel_grid
dev-libs/boost:=[threads(+)]
dev-libs/tinyxml2:=
dev-libs/console_bridge:=
"
DEPEND="${RDEPEND}
dev-cpp/eigen:3
dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
dev-ros/tf2_sensor_msgs
test? (
dev-ros/map_server
dev-ros/rosbag
dev-ros/rostest[${PYTHON_SINGLE_USEDEP}]
dev-cpp/gtest
dev-ros/rosunit
)"
BDEPEND="
dev-ros/cmake_modules
"
src_prepare() {
ros-catkin_src_prepare
for i in ${DATA}; do
cp "${DISTDIR}/${P}-${i}" "${S}/${i}" || die
done
sed -e "s#http://download.ros.org/data/costmap_2d/#file://${S}/#" -i CMakeLists.txt || die
}
src_test() {
export ROS_PACKAGE_PATH="${S}:${ROS_PACKAGE_PATH}"
export CATKIN_PREFIX_PATH="${BUILD_DIR}/devel/:${CATKIN_PREFIX_PATH}"
ros-catkin_src_test
}
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