# Copyright 2025 Open Source Robotics Foundation
# Distributed under the terms of the BSD license

{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, geometry-msgs, launch, launch-testing, nav-msgs, nav2-behavior-tree, nav2-common, nav2-costmap-2d, nav2-util, pluginlib, rclcpp, rclcpp-lifecycle, std-msgs, tf2-ros }:
buildRosPackage {
  pname = "ros-jazzy-nav2-core";
  version = "1.3.6-r1";

  src = fetchurl {
    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/jazzy/nav2_core/1.3.6-1.tar.gz";
    name = "1.3.6-1.tar.gz";
    sha256 = "036b0aeccb162c0ba596cc554b733b7c004f904d3c24c5611d38ae1586e7807b";
  };

  buildType = "ament_cmake";
  buildInputs = [ ament-cmake nav2-common ];
  checkInputs = [ ament-cmake-gtest ament-cmake-pytest ament-lint-auto ament-lint-common launch launch-testing ];
  propagatedBuildInputs = [ geometry-msgs nav-msgs nav2-behavior-tree nav2-costmap-2d nav2-util pluginlib rclcpp rclcpp-lifecycle std-msgs tf2-ros ];
  nativeBuildInputs = [ ament-cmake ];

  meta = {
    description = "A set of headers for plugins core to the Nav2 stack";
    license = with lib.licenses; [ asl20 ];
  };
}