PACKAGE

<?xml version="1.0"?>
<package format="3">
  <name>omni_base_2dnav</name>
  <version>2.7.0</version>
  <description>omni_base-specific launch files needed to run
    navigation on the omni_base robot.</description>
  <author email="antonio.brandi@pal-robotics.com">Antonio Brandi</author>
  <author email="andrea.capodacqua@pal-robotics.com">Andrea Capodacqua</author>
  <maintainer email="antonio.brandi@pal-robotics.com">Antonio Brandi</maintainer>
  <license>Apache License 2.0</license>

  <buildtool_depend>ament_cmake_auto</buildtool_depend>

  <build_depend condition="$PAL_DISTRO >= alum">pal_module_cmake</build_depend>
  <build_depend condition="$PAL_DISTRO >= alum">pal_navigation_cfg_cmake</build_depend>

  <exec_depend>ament_index_python</exec_depend>
  <exec_depend>launch_pal</exec_depend>
  <exec_depend>nav2_bringup</exec_depend>
  <exec_depend>omni_base_laser_sensors</exec_depend>
  <exec_depend>pal_maps</exec_depend>
  <exec_depend>ros2launch</exec_depend>
  <exec_depend>rviz2</exec_depend>

  <exec_depend condition="$PAL_DISTRO >= alum">nav2_amcl</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_behavior_tree</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_behaviors</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_bt_navigator</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_controller</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_dwb_controller</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_lifecycle_manager</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_map_server</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_mppi_controller</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_navfn_planner</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_planner</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_regulated_pure_pursuit_controller</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_rotation_shim_controller</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_rviz_plugins</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_smac_planner</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_smoother</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_velocity_smoother</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">nav2_waypoint_follower</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">pal_navigation_cfg_params</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">pal_navigation_cfg_utils</exec_depend>
  <exec_depend condition="$PAL_DISTRO >= alum">slam_toolbox</exec_depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>