from setuptools import setup

package_name = "saltybot_nav2_slam"

setup(
    name=package_name,
    version="0.1.0",
    packages=[package_name],
    data_files=[
        ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]),
        (f"share/{package_name}", ["package.xml"]),
        (f"share/{package_name}/launch", [
            "launch/nav2_slam_bringup.launch.py",
            "launch/nav2_slam_integrated.launch.py",
            "launch/depth_to_costmap.launch.py",
            "launch/odometry_bridge.launch.py",
            "launch/nav2_amcl_bringup.launch.py",
            "launch/map_persistence.launch.py",
        ]),
        (f"share/{package_name}/config", [
            "config/nav2_params.yaml",
            "config/slam_toolbox_params.yaml",
            "config/costmap_common_params.yaml",
            "config/global_costmap_params.yaml",
            "config/local_costmap_params.yaml",
            "config/dwb_local_planner_params.yaml",
            "config/vesc_odometry_params.yaml",
            "config/amcl_nav2_params.yaml",
            "config/map_saver_params.yaml",
        ]),
        (f"share/{package_name}/maps", [
            "maps/saltybot_map.yaml",
            "maps/saltybot_map.pgm",
        ]),
    ],
    install_requires=["setuptools"],
    zip_safe=True,
    maintainer="sl-controls",
    maintainer_email="sl-controls@saltylab.local",
    description="Nav2 SLAM integration with RPLIDAR + RealSense for autonomous navigation",
    license="MIT",
    tests_require=["pytest"],
    entry_points={
        "console_scripts": [
            "vesc_odometry_bridge = saltybot_nav2_slam.vesc_odometry_bridge:main",
            "vesc_can_odometry = saltybot_nav2_slam.vesc_odometry_bridge:main",
            "map_saver_node = saltybot_nav2_slam.map_saver_node:main",
        ],
    },
)
