nix-ros-overlay/melodic/move-base/default.nix

# Copyright 2019 Open Source Robotics Foundation
# Distributed under the terms of the BSD license

{ lib, buildRosPackage, fetchurl, rotate-recovery, actionlib, clear-costmap-recovery, rospy, geometry-msgs, message-generation, message-runtime, std-srvs, tf2-geometry-msgs, navfn, catkin, tf2-ros, move-base-msgs, nav-msgs, roscpp, visualization-msgs, costmap-2d, cmake-modules, base-local-planner, pluginlib, nav-core, dynamic-reconfigure }:
buildRosPackage {
  pname = "ros-melodic-move-base";
  version = "1.16.2";

  src = fetchurl {
    url = "https://github.com/ros-gbp/navigation-release/archive/release/melodic/move_base/1.16.2-0.tar.gz";
    name = "1.16.2-0.tar.gz";
    sha256 = "63af31b19a053e4877e0af0d899b59da73df19a65258c8a823f41afed51e851d";
  };

  buildType = "catkin";
  buildInputs = [ rotate-recovery actionlib rospy clear-costmap-recovery geometry-msgs message-generation std-srvs tf2-geometry-msgs navfn tf2-ros move-base-msgs nav-msgs visualization-msgs roscpp costmap-2d cmake-modules base-local-planner pluginlib nav-core dynamic-reconfigure ];
  propagatedBuildInputs = [ std-srvs costmap-2d pluginlib base-local-planner navfn nav-core rotate-recovery tf2-ros move-base-msgs nav-msgs actionlib message-runtime visualization-msgs rospy clear-costmap-recovery dynamic-reconfigure roscpp geometry-msgs ];
  nativeBuildInputs = [ catkin ];

  meta = {
    description = ''The move_base package provides an implementation of an action (see the <a href="http://www.ros.org/wiki/actionlib">actionlib</a> package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the <a href="http://www.ros.org/wiki/nav_core">nav_core</a> package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the <a href="http://www.ros.org/wiki/nav_core">nav_core</a> package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the <a href="http://www.ros.org/wiki/costmap_2d">costmap_2d</a> package) that are used to accomplish navigation tasks.'';
    license = with lib.licenses; [ bsdOriginal ];
  };
}