<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>saltybot_nav2_slam</name>
  <version>0.1.0</version>
  <description>
    Nav2 SLAM + AMCL integration for SaltyBot autonomous navigation (Issues #422, #655).
    Combines SLAM Toolbox (RPLIDAR 2D SLAM), VESC CAN differential-drive odometry
    (Issue #646), AMCL particle-filter localization on static maps, DWB local planner,
    NavFn A* global planner, RealSense depth costmap, and spin/backup/wait recovery.
  </description>
  <maintainer email="sl-controls@saltylab.local">sl-controls</maintainer>
  <license>MIT</license>

  <depend>rclpy</depend>
  <depend>sensor_msgs</depend>
  <depend>std_msgs</depend>
  <depend>nav_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>tf2</depend>
  <depend>tf2_ros</depend>

  <exec_depend>nav2_bringup</exec_depend>
  <exec_depend>nav2_amcl</exec_depend>
  <exec_depend>nav2_map_server</exec_depend>
  <exec_depend>nav2_bt_navigator</exec_depend>
  <exec_depend>nav2_controller</exec_depend>
  <exec_depend>nav2_planner</exec_depend>
  <exec_depend>nav2_behaviors</exec_depend>
  <exec_depend>dwb_core</exec_depend>
  <exec_depend>nav2_navfn_planner</exec_depend>
  <exec_depend>slam_toolbox</exec_depend>
  <exec_depend>rplidar_ros</exec_depend>
  <exec_depend>realsense2_camera</exec_depend>
  <exec_depend>depth_image_proc</exec_depend>
  <exec_depend>pointcloud_to_laserscan</exec_depend>

  <buildtool_depend>ament_python</buildtool_depend>

  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>python3-pytest</test_depend>

  <export>
    <build_type>ament_python</build_type>
  </export>
</package>
