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

{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, std-msgs }:
buildRosPackage {
  pname = "ros-rolling-forward-command-controller";
  version = "3.1.0-r1";

  src = fetchurl {
    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/forward_command_controller/3.1.0-1.tar.gz";
    name = "3.1.0-1.tar.gz";
    sha256 = "a188b29466bbda21c4c9f8b49e90a6a66035557f629cbb20b45189be093e35bc";
  };

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

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