<?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>obstacle_nav2</name>
  <version>0.0.0</version>
  <description>Odometry-only Nav2 navigation using obstacle_scanner detections as a dynamic costmap layer.</description>
  <maintainer email="2314753575@qq.com">sunrise</maintainer>
  <license>Apache-2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>nav2_costmap_2d</depend>
  <depend>pluginlib</depend>
  <depend>tf2</depend>
  <depend>tf2_ros</depend>
  <depend>tf2_geometry_msgs</depend>
  <depend>obstacle_scanner</depend>
  <depend>geometry_msgs</depend>
  <depend>nav_msgs</depend>
  <depend>std_msgs</depend>

  <exec_depend>launch</exec_depend>
  <exec_depend>launch_ros</exec_depend>
  <exec_depend>nav2_bringup</exec_depend>
  <exec_depend>nav2_common</exec_depend>
  <exec_depend>origincar_base</exec_depend>
  <exec_depend>lslidar_driver</exec_depend>

  <test_depend>ament_cmake_gtest</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
    <nav2_costmap_2d plugin="${prefix}/obstacle_nav2_plugins.xml" />
  </export>
</package>
