<?xml version="1.0"?>
<package format="3">
  <name>moveit_kinematics</name>
  <version>1.1.16</version>
  <description>Package for all inverse kinematics solvers in MoveIt</description>

  <author email="dave@picknik.ai">Dave Coleman</author>
  <author email="isucan@google.com">Ioan Sucan</author>
  <author email="robot.moveit@gmail.com">Sachin Chitta</author>

  <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn</maintainer>
  <maintainer email="jorge.nicho@swri.org">Jorge Nicho</maintainer>
  <maintainer email="moveit_releasers@googlegroups.com">MoveIt Release Team</maintainer>

  <license>BSD</license>

  <url type="website">http://moveit.ai</url>
  <url type="repository">https://github.com/moveit/moveit</url>
  <url type="bugtracker">https://github.com/moveit/moveit/issues</url>

  <buildtool_depend>catkin</buildtool_depend>

  <depend>roscpp</depend>
  <depend>moveit_core</depend>
  <depend version_gte="1.11.2">pluginlib</depend>
  <depend>eigen</depend>
  <depend>tf2</depend>
  <depend>tf2_kdl</depend>
  <depend>liborocos-kdl-dev</depend>

  <!-- some requirements of ikfast scripts -->
  <exec_depend>liburdfdom-tools</exec_depend> <!-- provides check_urdf -->
  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-lxml</exec_depend>
  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-lxml</exec_depend>
  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>

  <test_depend>rostest</test_depend>
  <test_depend>moveit_ros_planning</test_depend>
  <test_depend>moveit_resources_fanuc_description</test_depend>
  <test_depend>moveit_resources_fanuc_moveit_config</test_depend>
  <test_depend>moveit_resources_panda_description</test_depend>
  <test_depend>moveit_resources_panda_moveit_config</test_depend>
  <test_depend>xmlrpcpp</test_depend>

  <export>
    <moveit_core plugin="${prefix}/kdl_kinematics_plugin_description.xml"/>
    <moveit_core plugin="${prefix}/lma_kinematics_plugin_description.xml"/>
    <moveit_core plugin="${prefix}/srv_kinematics_plugin_description.xml"/>
    <moveit_core plugin="${prefix}/cached_ik_kinematics_plugin_description.xml"/>
  </export>

</package>
