<?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>bp_varich_benchmark_experiments</name>
  <version>1.0.0</version>
  <description>Benchmark experiments package for ROS2 perception pipelines</description>

  <maintainer email="dmytro.varich@student.tuke.sk">Dmytro Varich</maintainer>
  <license>MIT</license>

  <!-- Build tool -->
  <buildtool_depend>ament_python</buildtool_depend>

  <!-- Core ROS2 -->
  <depend>rclpy</depend>
  <depend>std_msgs</depend>

  <!-- Image processing -->
  <depend>sensor_msgs</depend>
  <depend>cv_bridge</depend>
  <depend>image_proc</depend>
  <depend>image_rotate</depend>
  <depend>isaac_ros_image_proc</depend>

  <!-- AprilTag dependencies -->
  <depend>apriltag_ros</depend>
  <depend>apriltag_msgs</depend>
  <depend>isaac_ros_apriltag_interfaces</depend>
  <exec_depend>isaac_ros_apriltag_benchmark</exec_depend>

  <!-- DNN Inference dependencies -->
  <depend>isaac_ros_tensor_proc</depend>
  <depend>isaac_ros_tensor_rt</depend>
  <depend>isaac_ros_nitros_bridge_interfaces</depend>

  <!-- Visual SLAM -->
  <depend>isaac_ros_visual_slam</depend>

  <!-- RTAB-Map dependencies -->
  <depend>rtabmap_ros</depend>

  <!-- Navigation and Odometry -->
  <depend>nav_msgs</depend>

  <!-- Transform frames -->
  <depend>tf2</depend>
  <depend>tf2_ros</depend>
  <depend>geometry_msgs</depend>

  <!-- Benchmark infrastructure -->
  <depend>ros2_benchmark</depend>
  <depend>isaac_ros_benchmark</depend>

  <!-- Launch dependencies -->
  <exec_depend>launch</exec_depend>
  <exec_depend>launch_ros</exec_depend>

  <!-- Python system deps -->
  <exec_depend>python3-pip</exec_depend>
  <exec_depend>python3-venv</exec_depend>
  <exec_depend>python3-opencv</exec_depend>
  <exec_depend>python3-scipy</exec_depend>
  <exec_depend>python3-yaml</exec_depend>

  <!-- ROS2 bag dependencies -->
  <exec_depend>rosbag2_transport</exec_depend>

  <!-- Visualization dependencies -->
  <exec_depend>foxglove-bridge</exec_depend>

  <!-- Test dependencies -->
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>ament_copyright</test_depend>
  <test_depend>python3-pytest</test_depend>

  <export>
    <build_type>ament_python</build_type>
  </export>
</package>