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