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+# Script generated with create_pkgbuild.py
+# For more information: https://github.com/ros-melodic-arch/ros-build-tools-py3
+# Maintainer: Achmad Fathoni<fathoni.id(at)gmail.com>
+
+pkgdesc="ROS - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations."
+url='https://github.com/googlecartographer/cartographer'
+
+pkgname='ros-noetic-cartographer-git'
+pkgver=r1163.fbcfa652
+arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
+pkgrel=1
+license=('Apache 2.0')
+provides=(ros-noetic-cartographer)
+conflicts=(ros-noetic-cartographer)
+
+ros_makedepends=(ros-noetic-catkin)
+makedepends=(
+ cmake
+ ros-build-tools
+ ${ros_makedepends[@]}
+ boost
+ google-glog
+ protobuf
+ cairo
+ lua52
+ python-sphinx
+ gcc
+ gflags
+ eigen
+ ceres-solver-legacy
+ abseil-cpp-git
+ gmock
+)
+
+ros_depends=()
+depends=(
+ ${ros_depends[@]}
+ boost
+ google-glog
+ protobuf
+ cairo
+ lua52
+ gflags
+ eigen
+ ceres-solver-legacy
+ abseil-cpp-git
+)
+
+source=($pkgname::git://github.com/cartographer-project/cartographer.git FindGMock.patch)
+sha256sums=('SKIP'
+ 'a109c0927cff5d0a9d8ad7d0f676ce0c3af81a1aa39b88b16a030431cde2cbb4')
+
+pkgver() {
+ cd "$pkgname"
+ printf "r%s.%s" "$(git rev-list --count HEAD)" "$(git rev-parse --short HEAD)"
+}
+
+prepare() {
+ cd "$srcdir/$pkgname"
+ patch --forward --strip=1 --input="${srcdir}/FindGMock.patch"
+}
+
+build() {
+ # Use ROS environment variables
+ source /usr/share/ros-build-tools/clear-ros-env.sh
+ [ -f /opt/ros/noetic/setup.bash ] && source /opt/ros/noetic/setup.bash
+
+ # Create build directory
+ [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
+ cd ${srcdir}/build
+
+ rm -f ${srcdir}/${_dir}/cartographer/mapping/3d/hybrid_grid_test.cc
+
+ # Build project
+ cmake ${srcdir}/${pkgname} \
+ -DCMAKE_BUILD_TYPE=Release \
+ -DCATKIN_ENABLE_TESTING=0 \
+ -DCATKIN_BUILD_BINARY_PACKAGE=ON \
+ -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic \
+ -DPYTHON_EXECUTABLE=/usr/bin/python3 \
+ -DPYTHON_INCLUDE_DIR=/usr/include/python3.9 \
+ -DPYTHON_LIBRARY=/usr/lib/libpython3.9.so \
+ -DPYTHON_BASENAME=-python3.9 \
+ -DSETUPTOOLS_DEB_LAYOUT=OFF
+ make
+}
+
+package() {
+ cd "${srcdir}/build"
+ make DESTDIR="${pkgdir}/" install
+}