<?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>turtlebot3_gazebo</name>
  <version>2.4.0</version>
  <description>
    Gazebo Sim (Ignition Harmonic) simulation package for the TurtleBot3
  </description>
  <maintainer email="pyo@robotis.com">Pyo</maintainer>
  <license>Apache 2.0</license>
  <url type="website">http://turtlebot3.robotis.com</url>
  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_simulations</url>
  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues</url>
  <author email="thlim@robotis.com">Darby Lim</author>
  <author email="pyo@robotis.com">Pyo</author>
  <author>Ryan Shim</author>
  <author email="kimhg@robotis.com">Hyungyu Kim</author>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <!-- ROS 2 core dependencies -->
  <depend>geometry_msgs</depend>
  <depend>nav_msgs</depend>
  <depend>rclcpp</depend>
  <depend>sensor_msgs</depend>
  <depend>tf2</depend>

  <!-- Gazebo Sim (Harmonic / gz-8) system dependencies -->
  <depend>gz-sim8</depend>
  <depend>gz-msgs10</depend>
  <depend>gz-transport13</depend>
  <depend>gz-physics7</depend>
  <depend>gz-math7</depend>
  <depend>gz-common5</depend>
  <depend>gz-plugin2</depend>
  <depend>sdformat14</depend>

  <!-- ROS-Gazebo bridge dependencies -->
  <depend>ros_gz_bridge</depend>
  <depend>ros_gz_sim</depend>
  <depend>ros_gz_interfaces</depend>

  <!-- ros2_control: DiffDriveController + joint_state_broadcaster for TF publishing -->
  <depend>controller_manager</depend>
  <depend>diff_drive_controller</depend>
  <depend>joint_state_broadcaster</depend>
  <depend>gz_ros2_control</depend>
  <depend>robot_state_publisher</depend>

  <export>
    <build_type>ament_cmake</build_type>
    <gazebo_ros gazebo_model_path="${prefix}/models"/>
    <gazebo_ros gazebo_resource_path="${prefix}/models"/>
  </export>
</package>
