From caec4807107e855f4e8dba7a28eb512d555a6e84 Mon Sep 17 00:00:00 2001
From: JeongBong Seo <jb.seo@lge.com>
Date: Thu, 4 Apr 2019 11:07:19 +0900
Subject: [PATCH] DRAFT pg-ros-world-crystal.inc: Support DISTRO_FEATURES
 "ros-behaviortree-cpp-v3"

Enabling it disables "ros-navigation2".
---
 .../packagegroup-ros-world-crystal.inc        | 30 +++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
index 407f1f4..c6012dc 100644
--- a/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
+++ b/recipes-core/packagegroups/packagegroup-ros-world-crystal.inc
@@ -12,6 +12,36 @@ RDEPENDS_${PN}_remove = "rcl-logging-log4cxx"
 # OE won't let us build ffmpeg unless LICENSE_FLAGS_WHITELIST contains "commerical".
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('LICENSE_FLAGS_WHITELIST', 'commercial', '', 'ffmpeg', d)}"
 
+# behaviortree-cpp-v3 and navigation2 are mutually exclusive because several of its packages depend on behaviortree-cpp.
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'behaviortree-cpp', 'behaviortree-cpp-v3', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'costmap-queue', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-controller', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-core', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-critics', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-msgs', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'dwb-plugins', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav-2d-msgs', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav-2d-utils', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-amcl', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-bringup', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-bt-navigator', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-common', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-costmap-2d', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-dwb-controller', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-dynamic-params', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-map-server', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-mission-executor', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-motion-primitives', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-msgs', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-navfn-planner', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-robot', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-simple-navigator', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-tasks', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-util', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-voxel-grid', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'nav2-world-model', '', d)}"
+RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-behaviortree-cpp-v3', 'navigation2', '', d)}"
+
 # desktop RDEPENDS on rviz packages.
 RDEPENDS_${PN}_remove = "${@bb.utils.contains('DISTRO_FEATURES', 'ros-desktop ros-rviz', '', 'desktop', d)}"