2019-09-04 17:11:04 -04:00
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# Copyright 2019 Open Source Robotics Foundation
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# Distributed under the terms of the BSD license
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{ lib, buildRosPackage, fetchurl, ament-cmake, nav2-voxel-grid, nav2-common, geometry-msgs, nav2-map-server, ament-cmake-pytest, ament-cmake-gtest, launch, message-filters, nav2-util, tf2-sensor-msgs, rclcpp, nav2-dynamic-params, tf2-geometry-msgs, tf2-ros, nav-msgs, std-msgs, laser-geometry, visualization-msgs, pluginlib, ament-lint-common, pcl, sensor-msgs, nav2-msgs, launch-testing, tf2, ament-lint-auto, map-msgs }:
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buildRosPackage {
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pname = "ros-crystal-nav2-costmap-2d";
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version = "0.1.7";
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src = fetchurl {
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url = https://github.com/SteveMacenski/navigation2-release/archive/release/crystal/nav2_costmap_2d/0.1.7-0.tar.gz;
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sha256 = "d334601046ce22f40bb0abe4f43ec89531f3a21890d4e678e98b4e3289fba330";
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};
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2019-09-05 22:48:11 -04:00
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buildType = "ament_cmake";
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2019-09-04 17:11:04 -04:00
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buildInputs = [ nav2-voxel-grid nav2-common geometry-msgs message-filters nav2-util tf2-sensor-msgs rclcpp nav2-dynamic-params tf2-geometry-msgs tf2-ros nav-msgs std-msgs visualization-msgs laser-geometry pluginlib pcl sensor-msgs nav2-msgs tf2 map-msgs ];
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checkInputs = [ nav2-map-server ament-cmake-pytest ament-lint-common launch-testing ament-cmake-gtest launch ament-lint-auto ];
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propagatedBuildInputs = [ nav2-voxel-grid geometry-msgs message-filters nav2-util tf2-sensor-msgs rclcpp nav2-dynamic-params tf2-geometry-msgs tf2-ros nav-msgs std-msgs visualization-msgs laser-geometry pluginlib pcl sensor-msgs nav2-msgs tf2 map-msgs ];
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nativeBuildInputs = [ ament-cmake ];
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meta = {
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description = ''This package provides an implementation of a 2D costmap that takes in sensor
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data from the world, builds a 2D or 3D occupancy grid of the data (depending
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on whether a voxel based implementation is used), and inflates costs in a
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2D costmap based on the occupancy grid and a user specified inflation radius.
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This package also provides support for map_server based initialization of a
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costmap, rolling window based costmaps, and parameter based subscription to
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and configuration of sensor topics.'';
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license = with lib.licenses; [ bsdOriginal ];
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};
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}
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