nix-ros-overlay/kinetic/laser-scan-matcher/default.nix

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

{ lib, buildRosPackage, fetchurl, csm, pcl, sensor-msgs, catkin, roscpp, nav-msgs, nodelet, pcl-ros, tf, pcl-conversions, geometry-msgs }:
buildRosPackage {
  pname = "ros-kinetic-laser-scan-matcher";
  version = "0.3.2";

  src = fetchurl {
    url = https://github.com/ros-gbp/scan_tools-release/archive/release/kinetic/laser_scan_matcher/0.3.2-0.tar.gz;
    sha256 = "cbeb10975db44f053f24aad7539ee0fe890f00f50602fd9f659c27cdaf246a48";
  };

  buildInputs = [ csm pcl sensor-msgs roscpp nav-msgs nodelet pcl-ros tf pcl-conversions geometry-msgs ];
  propagatedBuildInputs = [ csm pcl sensor-msgs roscpp nav-msgs nodelet pcl-ros tf pcl-conversions geometry-msgs ];
  nativeBuildInputs = [ catkin ];

  meta = {
    description = ''<p>
     An incremental laser scan matcher, using Andrea Censi's Canonical Scan Matcher (CSM) implementation. See <a href="http://censi.mit.edu/software/csm/">the web site</a> for more about CSM. NOTE the CSM library is licensed under the GNU Lesser General Public License v3, whereas the rest of the code is released under the BSD license.
    </p>'';
    #license = lib.licenses.BSD;
  };
}