<?xml version="1.0"?>
<package format="3">
  <name>saltybot_nav2_uwb</name>
  <version>0.1.0</version>
  <description>
    Nav2 integration with UWB-based localization for SaltyBot (Issue #599).
    Replaces AMCL with a UWB pose bridge that broadcasts the map-&gt;odom TF
    directly from the UWB-IMU EKF fused pose.  Includes a DWB controller
    capped at 1.0 m/s for safe differential-drive operation and a simple
    sequential waypoint-follower action server.
  </description>
  <maintainer email="sl-jetson@saltylab.local">sl-jetson</maintainer>
  <license>Apache-2.0</license>

  <depend>rclpy</depend>
  <depend>std_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>nav_msgs</depend>
  <depend>sensor_msgs</depend>
  <depend>tf2</depend>
  <depend>tf2_ros</depend>
  <depend>nav2_msgs</depend>

  <exec_depend>nav2_bringup</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>nav2_lifecycle_manager</exec_depend>
  <exec_depend>nav2_costmap_2d</exec_depend>
  <exec_depend>nav2_navfn_planner</exec_depend>
  <exec_depend>dwb_core</exec_depend>
  <exec_depend>dwb_critics</exec_depend>

  <buildtool_depend>ament_python</buildtool_depend>

  <test_depend>pytest</test_depend>

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