3 files changed, 84 insertions, 2 deletions
diff --git a/dev-ros/gmapping/Manifest b/dev-ros/gmapping/Manifest
index 4784f82b3dc9..66fc97e6a87a 100644
--- a/dev-ros/gmapping/Manifest
+++ b/dev-ros/gmapping/Manifest
@@ -1 +1,13 @@
+DIST gmapping-1.4.2-basic_localization_stage_groundtruth.pgm 16000058 BLAKE2B 4bf5494b34be09f4dcf63c26c8bcfd29b63e96a11d667dd8083dee6a2f8352b67c84ffa5603ec262a5af3e7fcbb7ca71ca77563df92f8cf72d3e4cdb2f817226 SHA512 32be0d40c84b2a5320215efee317d97e25131aa4ce2f39e6dbdb4481b4782ba8d437dd8d086a60728ee215d6243ea9ff0693c6bffd2cae542977d5bd55c91fad
+DIST gmapping-1.4.2-basic_localization_stage_indexed.bag 8554014 BLAKE2B 56605fc2642ee7dfe93379c620e8888da56260e23155dc68b3026c59d219cbd287ea04e9387bf3105a1089f8d930976d2a9875775d63646def090f2fdfa3f9e5 SHA512 2060ad1f65150043b254f820357eafe179483e3fd12bd0d85721841bfc9a15bf702dfbb34f99cb9b1566bafe64b79b8777d6e7c2ee77bc33ca7e87eb4b6fb240
+DIST gmapping-1.4.2-hallway_slow_2011-03-04-21-41-33.bag 43648223 BLAKE2B 93d733a8ed4e959c0a786369ce95c51698849591de200b99da01cd4a3acd22dd2faeb0e532c0a29add1b04f0de88384df171bcc404cefb772a19171949d71a77 SHA512 dd97fa6a0c22a2802473d343ad9f9b26ba8ebd119c8baa6ae3bcf19e913742a1456aa2879aef64c1bd6aab987d5b164f6cb4c251a3fd0736a290465b7f0f92bc
+DIST gmapping-1.4.2-test_replay_crash.bag 191247 BLAKE2B 348b6b1766cc2e2909106a544936538ced8a7d33536f5a964de03155df531ca57733386834804f81071b40a09c188e32ee23ef6d14f8436849e0d20a84bd7297 SHA512 e94b351d2a3406ee01c14b09237e9108812a0e65f3cbfceeb4b7def514f61ca934545764962b36804e28fc9cac8ce17f3f6d18a7cb7574dcb0a2f169cd7a1014
+DIST gmapping-1.4.2-test_turtlebot.bag 3003517 BLAKE2B d5d9f468aa5ac700bc3a3f819fe3ab1bd2ea7a28fb468dac9ac82c0bbbc1d59146bce132482baf81cfd763c25e82f9fa5cfbac28c6cc2fea6e114063b0daaf17 SHA512 8a9d9a0d63da607a2fc220e15e37ea339a254433dcb9b91e3b3041f032924177078ddeaef50df00e2ca0e5a9bd80ec17eadd8bfb4f0f879faab62de54a0555a4
+DIST gmapping-1.4.2-test_upside_down.bag 9353464 BLAKE2B e4835be6d70595e67c25eac28803857c6d14375b63e5c11991d50b7e47614e093728a628281241cfd5678e4ed84a776890ab68ccf129ddcdcb2b4c693afa4c5c SHA512 c8e193fd65c049b436c24677ba26e1e2e29f5ea744ea4e50f311224c4dbca685ba7da1804bcf3a41cea41ae79a1848158c8fdb0c4954cfa4ec4130089adfc7b4
+DIST gmapping-9999-basic_localization_stage_groundtruth.pgm 16000058 BLAKE2B 4bf5494b34be09f4dcf63c26c8bcfd29b63e96a11d667dd8083dee6a2f8352b67c84ffa5603ec262a5af3e7fcbb7ca71ca77563df92f8cf72d3e4cdb2f817226 SHA512 32be0d40c84b2a5320215efee317d97e25131aa4ce2f39e6dbdb4481b4782ba8d437dd8d086a60728ee215d6243ea9ff0693c6bffd2cae542977d5bd55c91fad
+DIST gmapping-9999-basic_localization_stage_indexed.bag 8554014 BLAKE2B 56605fc2642ee7dfe93379c620e8888da56260e23155dc68b3026c59d219cbd287ea04e9387bf3105a1089f8d930976d2a9875775d63646def090f2fdfa3f9e5 SHA512 2060ad1f65150043b254f820357eafe179483e3fd12bd0d85721841bfc9a15bf702dfbb34f99cb9b1566bafe64b79b8777d6e7c2ee77bc33ca7e87eb4b6fb240
+DIST gmapping-9999-hallway_slow_2011-03-04-21-41-33.bag 43648223 BLAKE2B 93d733a8ed4e959c0a786369ce95c51698849591de200b99da01cd4a3acd22dd2faeb0e532c0a29add1b04f0de88384df171bcc404cefb772a19171949d71a77 SHA512 dd97fa6a0c22a2802473d343ad9f9b26ba8ebd119c8baa6ae3bcf19e913742a1456aa2879aef64c1bd6aab987d5b164f6cb4c251a3fd0736a290465b7f0f92bc
+DIST gmapping-9999-test_replay_crash.bag 191247 BLAKE2B 348b6b1766cc2e2909106a544936538ced8a7d33536f5a964de03155df531ca57733386834804f81071b40a09c188e32ee23ef6d14f8436849e0d20a84bd7297 SHA512 e94b351d2a3406ee01c14b09237e9108812a0e65f3cbfceeb4b7def514f61ca934545764962b36804e28fc9cac8ce17f3f6d18a7cb7574dcb0a2f169cd7a1014
+DIST gmapping-9999-test_turtlebot.bag 3003517 BLAKE2B d5d9f468aa5ac700bc3a3f819fe3ab1bd2ea7a28fb468dac9ac82c0bbbc1d59146bce132482baf81cfd763c25e82f9fa5cfbac28c6cc2fea6e114063b0daaf17 SHA512 8a9d9a0d63da607a2fc220e15e37ea339a254433dcb9b91e3b3041f032924177078ddeaef50df00e2ca0e5a9bd80ec17eadd8bfb4f0f879faab62de54a0555a4
+DIST gmapping-9999-test_upside_down.bag 9353464 BLAKE2B e4835be6d70595e67c25eac28803857c6d14375b63e5c11991d50b7e47614e093728a628281241cfd5678e4ed84a776890ab68ccf129ddcdcb2b4c693afa4c5c SHA512 c8e193fd65c049b436c24677ba26e1e2e29f5ea744ea4e50f311224c4dbca685ba7da1804bcf3a41cea41ae79a1848158c8fdb0c4954cfa4ec4130089adfc7b4
 DIST slam_gmapping-1.4.2.tar.gz 21721 BLAKE2B 63ac4ccc1238cc4fecbf416e2fb716d1b679b4ae4d2d94508887ede8894402d77564af0f60a3b8d0b1661c91d755a5276aabd3894826af436ce11bd6119619b2 SHA512 d21810149ffe09cf57730e8657298f0d5c7aaa2cd6257b4e891ef990e2b6c727f2246d22d7272969a11604e33887e245d8d66980cb0c158f875810f4ff17072a
diff --git a/dev-ros/gmapping/gmapping-1.4.2.ebuild b/dev-ros/gmapping/gmapping-1.4.2.ebuild
index 5fcdea266180..b68005106277 100644
--- a/dev-ros/gmapping/gmapping-1.4.2.ebuild
+++ b/dev-ros/gmapping/gmapping-1.4.2.ebuild
@@ -23,4 +23,39 @@ RDEPEND="
 "
 DEPEND="${RDEPEND}
 	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/rostest"
+	test? (
+		dev-ros/rostest
+		dev-cpp/gtest
+	)
+"
+TEST_DATA="
+	basic_localization_stage_indexed.bag
+	hallway_slow_2011-03-04-21-41-33.bag
+	basic_localization_stage_groundtruth.pgm
+"
+PERCEPTION_TEST_DATA="
+	test_replay_crash.bag
+	test_turtlebot.bag
+	test_upside_down.bag
+"
+SRC_URI="${SRC_URI} test? ( "
+for i in ${TEST_DATA}; do
+	SRC_URI="${SRC_URI} http://download.ros.org/data/gmapping/${i} -> ${P}-${i}"
+done
+for i in ${PERCEPTION_TEST_DATA}; do
+	SRC_URI="${SRC_URI} https://github.com/ros-perception/slam_gmapping_test_data/raw/master/${i} -> ${P}-${i}"
+done
+SRC_URI="${SRC_URI} )"
+
+src_prepare() {
+	ros-catkin_src_prepare
+	if use test; then
+		for i in ${TEST_DATA} ${PERCEPTION_TEST_DATA}; do
+			cp "${DISTDIR}/${P}-${i}" "${S}/${i}" || die
+		done
+		sed \
+			-e "s#http://download.ros.org/data/gmapping#file://${S}#" \
+			-e "s#https://github.com/ros-perception/slam_gmapping_test_data/raw/master#file://${S}#" \
+			-i CMakeLists.txt || die
+	fi
+}
diff --git a/dev-ros/gmapping/gmapping-9999.ebuild b/dev-ros/gmapping/gmapping-9999.ebuild
index 5fcdea266180..b68005106277 100644
--- a/dev-ros/gmapping/gmapping-9999.ebuild
+++ b/dev-ros/gmapping/gmapping-9999.ebuild
@@ -23,4 +23,39 @@ RDEPEND="
 "
 DEPEND="${RDEPEND}
 	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/rostest"
+	test? (
+		dev-ros/rostest
+		dev-cpp/gtest
+	)
+"
+TEST_DATA="
+	basic_localization_stage_indexed.bag
+	hallway_slow_2011-03-04-21-41-33.bag
+	basic_localization_stage_groundtruth.pgm
+"
+PERCEPTION_TEST_DATA="
+	test_replay_crash.bag
+	test_turtlebot.bag
+	test_upside_down.bag
+"
+SRC_URI="${SRC_URI} test? ( "
+for i in ${TEST_DATA}; do
+	SRC_URI="${SRC_URI} http://download.ros.org/data/gmapping/${i} -> ${P}-${i}"
+done
+for i in ${PERCEPTION_TEST_DATA}; do
+	SRC_URI="${SRC_URI} https://github.com/ros-perception/slam_gmapping_test_data/raw/master/${i} -> ${P}-${i}"
+done
+SRC_URI="${SRC_URI} )"
+
+src_prepare() {
+	ros-catkin_src_prepare
+	if use test; then
+		for i in ${TEST_DATA} ${PERCEPTION_TEST_DATA}; do
+			cp "${DISTDIR}/${P}-${i}" "${S}/${i}" || die
+		done
+		sed \
+			-e "s#http://download.ros.org/data/gmapping#file://${S}#" \
+			-e "s#https://github.com/ros-perception/slam_gmapping_test_data/raw/master#file://${S}#" \
+			-i CMakeLists.txt || die
+	fi
+}