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

{ lib, buildRosPackage, fetchurl, catkin, geometry-msgs, nav-msgs, roscpp, sensor-msgs, tf, topic-tools }:
buildRosPackage {
  pname = "ros-noetic-message-to-tf";
  version = "0.4.0-r1";

  src = fetchurl {
    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_localization-release/archive/release/noetic/message_to_tf/0.4.0-1.tar.gz";
    name = "0.4.0-1.tar.gz";
    sha256 = "fedfa6c5ab7ac1807512c9cbe4047d165fada0658fbf612b4fcef8397d3d4c11";
  };

  buildType = "catkin";
  buildInputs = [ catkin ];
  propagatedBuildInputs = [ geometry-msgs nav-msgs roscpp sensor-msgs tf topic-tools ];
  nativeBuildInputs = [ catkin ];

  meta = {
    description = "message_to_tf translates pose information from different kind of common_msgs message types to tf. Currently the node supports nav_msgs/Odometry, geometry_msgs/PoseStamped and sensor_msgs/Imu messages as input.
    The resulting transform is divided into three subtransforms with intermediate frames for the footprint and the stabilized base frame (without roll and pitch).";
    license = with lib.licenses; [ bsdOriginal ];
  };
}