# Copyright 2023 Open Source Robotics Foundation
# Distributed under the terms of the BSD license

{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, std-msgs }:
buildRosPackage {
  pname = "ros-foxy-forward-command-controller";
  version = "0.9.0-r1";

  src = fetchurl {
    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/foxy/forward_command_controller/0.9.0-1.tar.gz";
    name = "0.9.0-1.tar.gz";
    sha256 = "9159fd71650fa5bdc6c434bf20d8b076d5cdde4e452600d52cd201e20bfdb18b";
  };

  buildType = "ament_cmake";
  buildInputs = [ ament-cmake pluginlib ];
  checkInputs = [ ament-cmake-gmock controller-manager ros2-control-test-assets ];
  propagatedBuildInputs = [ controller-interface hardware-interface rclcpp rclcpp-lifecycle realtime-tools std-msgs ];
  nativeBuildInputs = [ ament-cmake ];

  meta = {
    description = ''Generic controller for forwarding commands.'';
    license = with lib.licenses; [ asl20 ];
  };
}