# Copyright 2021 Open Source Robotics Foundation
# Distributed under the terms of the BSD license

EAPI=7
PYTHON_COMPAT=( python{3_8,3_9,3_10} )

inherit ros-cmake

DESCRIPTION="This package provides a sped up improved slam karto with updated SDK and vi[...]"
HOMEPAGE="https://wiki.ros.org"
SRC_URI="https://github.com/SteveMacenski/${PN}-release/archive/release/noetic/${PN}/1.5.6-1.tar.gz -> ${PN}-noetic-release-${PV}.tar.gz"

LICENSE="LGPL-2"

KEYWORDS="~x86 ~amd64 ~arm ~arm64"
IUSE="test"
RDEPEND="
	ros-noetic/interactive_markers
	ros-noetic/libg2o
	ros-noetic/map_server
	ros-noetic/message_filters
	ros-noetic/message_runtime
	ros-noetic/nav_msgs
	ros-noetic/pluginlib
	ros-noetic/rosconsole
	ros-noetic/roscpp
	ros-noetic/sensor_msgs
	ros-noetic/slam_toolbox_msgs
	ros-noetic/sparse_bundle_adjustment
	ros-noetic/std_msgs
	ros-noetic/std_srvs
	ros-noetic/tf
	ros-noetic/tf2
	ros-noetic/tf2_geometry_msgs
	ros-noetic/tf2_ros
	ros-noetic/visualization_msgs
	dev-cpp/eigen
	sci-libs/ceres-solver[sparse,lapack]
	virtual/lapack
	dev-qt/qtcore:5
	dev-qt/qtwidgets:5
	sci-libs/suitesparse
	dev-cpp/tbb
	test? ( dev-cpp/gtest )
"
DEPEND="${RDEPEND}
	ros-noetic/catkin
	ros-noetic/cmake_modules
	dev-qt/qtcore:5
	dev-qt/qtwidgets:5
	dev-qt/qttest:5
"

SLOT="0"
ROS_DISTRO="noetic"
ROS_PREFIX="opt/ros/${ROS_DISTRO}"