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# Copyright 1999-2021 Gentoo Authors
# Distributed under the terms of the GNU General Public License v2
EAPI=7
ROS_REPO_URI="https://github.com/ros-perception/calibration"
KEYWORDS="~amd64 ~arm"
ROS_SUBDIR=${PN}
inherit ros-catkin
DESCRIPTION="Runs an optimization to estimate the a robot's kinematic parameters"
LICENSE="BSD"
SLOT="0"
IUSE=""
RDEPEND="
dev-ros/rosgraph[${PYTHON_SINGLE_USEDEP}]
dev-ros/roslib[${PYTHON_SINGLE_USEDEP}]
dev-ros/rospy[${PYTHON_SINGLE_USEDEP}]
dev-ros/calibration_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
$(python_gen_cond_dep '
dev-python/numpy[${PYTHON_USEDEP}]
dev-python/rospkg[${PYTHON_USEDEP}]
dev-python/matplotlib[${PYTHON_USEDEP}]
dev-python/python_orocos_kdl[${PYTHON_USEDEP}]
dev-python/scipy[${PYTHON_USEDEP}]
dev-python/urdf_parser_py[${PYTHON_USEDEP}]
')
"
DEPEND="${RDEPEND}
test? (
dev-ros/rostest[${PYTHON_SINGLE_USEDEP}]
$(python_gen_cond_dep "dev-python/nose[\${PYTHON_USEDEP}]")
)"
src_prepare() {
ros-catkin_src_prepare
2to3 -n -w --no-diffs test/*.py src/${PN}/{,sensors/}*.py || die
sed -e 's/yaml.load/yaml.safe_load/g' -i src/*/*.py -i test/*.py || die
}
src_test() {
export ROS_PACKAGE_PATH="${S}:${ROS_PACKAGE_PATH}"
ros-catkin_src_test
}
src_install() {
ros-catkin_src_install
python_optimize
}
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