ros2-humble-nav2-route
maintainer AutoUpdateBot
· 0 votes
· base
ros2-humble-navigation2
· scanned 2026-08-03 00:08:14.047287
LOW
View on AUR ↗
Why flagged
The flagged `eval` at line 247 is used to dynamically generate `package_*` functions for each subpackage in the split package array. The pattern `eval "$pkgfunc() { _pkg_copy $_subdir; }"` is a well-known and legitimate Arch Linux technique for split PKGBUILDs to avoid repeating boilerplate package functions. The `_subdir` variable is derived entirely from the `pkgname` array (which is statically defined in the PKGBUILD) via simple string manipulation (prefix stripping and sed transliteration), so there is no external or runtime-controlled input. The 'encoded payload' flag is a false positive — the heredoc Python script (`<<'PY'`) is a straightforward inline source patch to fix xtensor 0.27 API compatibility, not an obfuscated payload. The single source tarball is fetched from the official GitHub release URL for ros-navigation/navigation2 with a sha256sum. The prepare() step only performs header path remapping and a mechanical code substitution within the downloaded source tree. No external binaries are fetched, no data is exfiltrated, and no attacker-controlled hosts are involved. The package is a legitimate complex ROS2 split PKGBUILD. The only real concern is the dynamic eval, which is sloppy but not malicious given the fully static inputs.
Triggered rules
LOW
AI review downgraded a static finding
llm_review
The static rules flagged this HIGH, but an AI model (anthropic/claude-sonnet-4.6) reviewed the full PKGBUILD and judged it LOW (confidence 85%): The flagged `eval` at line 247 is used to dynamically generate `package_*` functions for each subpackage in the split package array. The pattern `eval "$pkgfunc() { _pkg_copy $_subdir; }"` is a well-known and legitimate Arch Linux technique for split PKGBUILDs to avoid repeating boilerplate package functions. The `_subdir` variable is derived entirely from the `pkgname` array (which is statically defined in the PKGBUILD) via simple string manipulation (prefix stripping and sed transliteration), so there is no external or runtime-controlled input. The 'encoded payload' flag is a false positive — the heredoc Python script (`<<'PY'`) is a straightforward inline source patch to fix xtensor 0.27 API compatibility, not an obfuscated payload. The single source tarball is fetched from the official GitHub release URL for ros-navigation/navigation2 with a sha256sum. The prepare() step only performs header path remapping and a mechanical code substitution within the downloaded source tree. No external binaries are fetched, no data is exfiltrated, and no attacker-controlled hosts are involved. The package is a legitimate complex ROS2 split PKGBUILD. The only real concern is the dynamic eval, which is sloppy but not malicious given the fully static inputs.
-
PKGBUILD:247
eval "$pkgfunc() { _pkg_copy $_subdir; }"
1 higher static finding superseded - not the current verdict (shown for transparency)
HIGH
Encoded/compressed payload decoded and executed
base64_decode_exec
A payload is decoded/decompressed (base64, hex, gzip/xz/zstd, rev, tr, openssl…) and executed — piped to a shell/interpreter, run via process substitution/eval, captured into a variable then eval'd, or decoded+exec'd in a scripting language — hiding the real command from review.
-
PKGBUILD:247
eval "$pkgfunc() { _pkg_copy $_subdir; }"
PKGBUILD
1 offending line(s) highlighted
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# Maintainer: Angelo Elias Dal Zotto <angelodalzotto97@gmail.com>
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# Navigation2 full batch - all ~36 subpackages for ROS2 Humble
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pkgbase=ros2-humble-navigation2
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pkgname=(
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# Batch1 - Core (7)
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## ros2-humble-nav2-common ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-msgs ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-util ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-voxel-grid ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-costmap-2d ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-core ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-theta-star-planner ## already on AUR as a standalone package; commented out to avoid name conflict
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# Batch2 - Mid-level (6)
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## ros2-humble-nav2-amcl ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-behavior-tree ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-bt-navigator ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-behaviors ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-collision-monitor ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-constrained-smoother ## already on AUR as a standalone package; commented out to avoid name conflict
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# Batch3 - DWB nested packages (8)
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## ros2-humble-nav-2d-msgs ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav-2d-utils ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-dwb-msgs ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-costmap-queue ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-dwb-core ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-dwb-plugins ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-dwb-critics ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-dwb-controller ## already on AUR as a standalone package; commented out to avoid name conflict
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# Batch4 - Controllers/planners (12)
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## ros2-humble-nav2-controller ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-lifecycle-manager ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-map-server ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-navfn-planner ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-planner ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-smoother ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-regulated-pure-pursuit-controller ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-rotation-shim-controller ## already on AUR as a standalone package; commented out to avoid name conflict
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'ros2-humble-nav2-graceful-controller'
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## ros2-humble-nav2-rviz-plugins ## already on AUR as a standalone package; commented out to avoid name conflict
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# Batch5 - Remaining (2)
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## ros2-humble-nav2-simple-commander ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-velocity-smoother ## already on AUR as a standalone package; commented out to avoid name conflict
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# Batch6 - Previously skipped, now buildable (6)
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'ros2-humble-nav2-route'
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## ros2-humble-nav2-waypoint-follower ## already on AUR as a standalone package; commented out to avoid name conflict
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## ros2-humble-nav2-smac-planner ## already on AUR as a standalone package; commented out to avoid name conflict
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'ros2-humble-nav2-mppi-controller'
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## ros2-humble-nav2-bringup ## already on AUR as a standalone package; commented out to avoid name conflict
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'ros2-humble-navigation2'
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'ros2-humble-nav2-system-tests'
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)
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pkgver=1.1.20
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pkgrel=2
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pkgdesc="ROS 2 Navigation2 stack - full batch (all ~39 packages)"
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arch=('any')
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url="https://github.com/ros-navigation/navigation2"
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license=('Apache-2.0' 'BSD' 'MIT')
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depends=('ros2-humble')
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makedepends=(
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'cmake' 'ros2-humble-bond_core' 'ros2-humble-smclib' 'boost'
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'ros2-humble-angles' 'ros2-humble-behaviortree-cpp-v3' 'ceres-solver'
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'ros2-humble-diagnostic-updater' 'graphicsmagick' 'ros2-humble-cv-bridge'
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'nanoflann' 'ompl' 'xtensor' 'xsimd' 'xtl' 'nlohmann-json' 'benchmark'
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)
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source=("https://github.com/ros-navigation/navigation2/archive/refs/tags/${pkgver}.tar.gz")
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sha256sums=('c965b7a36ef48cd7f35f01c1f98883741693d195dae582232d6d0444d2eedab6')
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prepare() {
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# xtensor 0.27 reorganized its headers into subdirectories; remap the
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# legacy include paths used by nav2_mppi_controller.
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local _mppi="$srcdir/navigation2-$pkgver/nav2_mppi_controller"
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find "$_mppi" -type f \( -name '*.hpp' -o -name '*.cpp' \) -exec sed -i \
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-e 's|<xtensor/xarray\.hpp>|<xtensor/containers/xarray.hpp>|g' \
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-e 's|<xtensor/xfixed\.hpp>|<xtensor/containers/xfixed.hpp>|g' \
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-e 's|<xtensor/xtensor\.hpp>|<xtensor/containers/xtensor.hpp>|g' \
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-e 's|<xtensor/xmath\.hpp>|<xtensor/core/xmath.hpp>|g' \
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-e 's|<xtensor/xnoalias\.hpp>|<xtensor/core/xnoalias.hpp>|g' \
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-e 's|<xtensor/xrandom\.hpp>|<xtensor/generators/xrandom.hpp>|g' \
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-e 's|<xtensor/xio\.hpp>|<xtensor/io/xio.hpp>|g' \
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-e 's|<xtensor/xsort\.hpp>|<xtensor/misc/xsort.hpp>|g' \
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-e 's|<xtensor/xnorm\.hpp>|<xtensor/reducers/xnorm.hpp>|g' \
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-e 's|<xtensor/xmasked_view\.hpp>|<xtensor/views/xmasked_view.hpp>|g' \
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-e 's|<xtensor/xview\.hpp>|<xtensor/views/xview.hpp>|g' \
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{} +
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# xtensor 0.27 xmasked_view assignment is incompatible (ambiguous operator=);
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# rewrite the Ackermann constraint using xt::where (equivalent semantics).
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python3 - "$_mppi/include/nav2_mppi_controller/motion_models.hpp" <<'PY'
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import sys
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p = sys.argv[1]
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s = open(p).read()
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old = (" auto view = xt::masked_view(wz, (xt::fabs(vx) / xt::fabs(wz)) < min_turning_r_);\n"
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" view = xt::sign(wz) * xt::fabs(vx) / min_turning_r_;")
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new = (" wz = xt::where(\n"
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" (xt::fabs(vx) / xt::fabs(wz)) < min_turning_r_,\n"
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" xt::sign(wz) * xt::fabs(vx) / min_turning_r_, wz);")
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if old not in s:
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sys.exit("ERROR: masked_view pattern not found in motion_models.hpp")
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open(p, "w").write(s.replace(old, new))
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print("Patched motion_models.hpp: masked_view -> xt::where")
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PY
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}
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build() {
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local _src="$srcdir/navigation2-$pkgver"
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local _staging="$srcdir/_staging"
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rm -rf "$_staging"
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mkdir -p "$_staging"
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_build_install_isolated() {
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msg2 "Building $1 ..."
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local _subdir="$1"
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local _extra_prefix="$2"
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local _extra_cmake_args="$3"
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cd "$_src/$_subdir"
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# Use the installed ros2-humble environment
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source "/opt/ros/humble/setup.bash"
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# Clear stale CMake variables
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unset rviz_common_DIR
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# Build-time search paths: local staging prefixes first, then ros2-humble
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# Set both AMENT_PREFIX_PATH (for ament) and CMAKE_PREFIX_PATH (for CMake)
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if [ -n "$_extra_prefix" ]; then
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export AMENT_PREFIX_PATH="${_extra_prefix}:/opt/ros/humble"
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export CMAKE_PREFIX_PATH="${_extra_prefix}:/opt/ros/humble"
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else
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export AMENT_PREFIX_PATH="/opt/ros/humble"
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export CMAKE_PREFIX_PATH="/opt/ros/humble"
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fi
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export CXXFLAGS="${CXXFLAGS} -Wall -Wextra -Wno-error -Wno-missing-include-dirs -Wno-unused-parameter -Wno-error=maybe-uninitialized -Wno-unused-but-set-variable -include cstdint -I/usr/include/opencv4"
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export CFLAGS="${CFLAGS} -Wno-error -Wno-unused-but-set-variable"
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export LDFLAGS="${LDFLAGS} -Wl,-rpath-link,/opt/ros/humble/lib"
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local _pkg_staging="$_staging/$_subdir"
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# Check if this is a Python-only package (no CMakeLists.txt but has setup.py)
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if [ ! -f "CMakeLists.txt" ] && [ -f "setup.py" ]; then
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msg2 " -> Python-only package, using setup.py"
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source "/opt/ros/humble/setup.bash"
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PYTHONPATH="/opt/ros/humble/lib/python3.11/site-packages:${PYTHONPATH}" \
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python setup.py install --root="$_pkg_staging" --prefix=/opt/ros/humble --optimize=1
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return
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fi
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local _bdir="build-$_subdir"
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cmake -B "$_bdir" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/ros/humble -DBUILD_TESTING=OFF $_extra_cmake_args
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cmake --build "$_bdir" -j2
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DESTDIR="$_pkg_staging" cmake --install "$_bdir"
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}
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# Build a search prefix from an explicit list of staged package subdirs,
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# so each sub-package's cmake sees only its actual nav2-internal deps.
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_prefix() {
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local _p="" _d
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for _d in "$@"; do
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_p="${_p:+$_p:}$_staging/$_d/opt/ros/humble"
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done
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printf '%s' "$_p"
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}
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# cv_bridge + opencv4 come from -I local packages in the chroot's /opt/ros/humble
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local _cvbridge="/opt/ros/humble"
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# --- Foundation: no nav2-internal deps ---
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_build_install_isolated nav2_common ""
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_build_install_isolated "nav2_dwb_controller/nav_2d_msgs" ""
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# --- msgs / voxel_grid / util ---
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_build_install_isolated nav2_msgs "$(_prefix nav2_common)"
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_build_install_isolated nav2_voxel_grid "$(_prefix nav2_common)"
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_build_install_isolated nav2_util "$(_prefix nav2_common nav2_msgs)"
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_build_install_isolated "nav2_dwb_controller/nav_2d_utils" "$(_prefix nav2_common nav2_msgs nav2_util nav2_dwb_controller/nav_2d_msgs)"
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# --- costmap_2d / core ---
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_build_install_isolated nav2_costmap_2d "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid)"
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_build_install_isolated nav2_core "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d)"
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# --- localization / behavior / lifecycle / map ---
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_build_install_isolated nav2_amcl "$(_prefix nav2_common nav2_msgs nav2_util)"
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_build_install_isolated nav2_behavior_tree "$(_prefix nav2_common nav2_msgs nav2_util)"
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_build_install_isolated nav2_lifecycle_manager "$(_prefix nav2_common nav2_msgs nav2_util)"
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_build_install_isolated nav2_map_server "$(_prefix nav2_common nav2_msgs nav2_util)"
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_build_install_isolated nav2_velocity_smoother "$(_prefix nav2_common nav2_msgs nav2_util)"
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_build_install_isolated nav2_simple_commander ""
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# --- planners / controllers (transitive closure via costmap_2d + core) ---
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_build_install_isolated nav2_theta_star_planner "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"
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_build_install_isolated nav2_collision_monitor "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d)"
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_build_install_isolated nav2_constrained_smoother "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"
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_build_install_isolated nav2_navfn_planner "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"
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_build_install_isolated nav2_planner "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"
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_build_install_isolated nav2_regulated_pure_pursuit_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"
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_build_install_isolated nav2_route "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"
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_build_install_isolated nav2_smac_planner "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"
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_build_install_isolated nav2_mppi_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)" "-DCMAKE_CXX_STANDARD=20"
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_build_install_isolated nav2_waypoint_follower "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core):$_cvbridge"
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_build_install_isolated nav2_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils)"
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_build_install_isolated nav2_smoother "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils)"
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_build_install_isolated nav2_graceful_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils)"
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# --- depend on behavior_tree ---
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_build_install_isolated nav2_bt_navigator "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_behavior_tree)"
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_build_install_isolated nav2_behaviors "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_behavior_tree)"
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# --- depend on lifecycle_manager ---
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_build_install_isolated nav2_rviz_plugins "$(_prefix nav2_common nav2_msgs nav2_util nav2_lifecycle_manager)"
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# --- depend on controller ---
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_build_install_isolated nav2_rotation_shim_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_controller)"
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# --- DWB chain ---
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_build_install_isolated "nav2_dwb_controller/dwb_msgs" "$(_prefix nav2_dwb_controller/nav_2d_msgs)"
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_build_install_isolated "nav2_dwb_controller/costmap_queue" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d)"
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_build_install_isolated "nav2_dwb_controller/dwb_core" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs)"
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_build_install_isolated "nav2_dwb_controller/dwb_critics" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs nav2_dwb_controller/dwb_core nav2_dwb_controller/costmap_queue)"
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_build_install_isolated "nav2_dwb_controller/dwb_plugins" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs nav2_dwb_controller/dwb_core)"
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_build_install_isolated "nav2_dwb_controller/nav2_dwb_controller" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs nav2_dwb_controller/dwb_core nav2_dwb_controller/costmap_queue nav2_dwb_controller/dwb_critics nav2_dwb_controller/dwb_plugins)"
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# --- metapackage + bringup ---
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_build_install_isolated navigation2 ""
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_build_install_isolated nav2_bringup "$(_prefix navigation2 nav2_common)"
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# --- system tests (needs gazebo_ros_pkgs via /opt/ros/humble from -I, and
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# transitively nearly all nav2 packages via the packages it tests) ---
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local _all_nav2="$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_theta_star_planner nav2_amcl nav2_behavior_tree nav2_bt_navigator nav2_behaviors nav2_collision_monitor nav2_constrained_smoother nav2_controller nav2_lifecycle_manager nav2_map_server nav2_navfn_planner nav2_planner nav2_smoother nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_graceful_controller nav2_rviz_plugins nav2_simple_commander nav2_velocity_smoother nav2_route nav2_smac_planner nav2_mppi_controller nav2_waypoint_follower nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs nav2_dwb_controller/costmap_queue nav2_dwb_controller/dwb_core nav2_dwb_controller/dwb_plugins nav2_dwb_controller/dwb_critics nav2_dwb_controller/nav2_dwb_controller navigation2 nav2_bringup)"
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_build_install_isolated nav2_system_tests "${_all_nav2}:/opt/ros/humble"
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}
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_pkg_copy() {
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local _subdir="$1"
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local _staging_pkg="$srcdir/_staging/$_subdir"
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mkdir -p "$pkgdir/opt/ros/humble"
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if [ -d "$_staging_pkg/opt/ros/humble" ]; then
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cp -r "$_staging_pkg/opt/ros/humble/." "$pkgdir/opt/ros/humble/"
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fi
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}
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# Generate package functions automatically
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for pkg in "${pkgname[@]}"; do
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pkgfunc="package_$pkg"
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# Extract subdir name from pkgname (e.g., ros2-humble-nav2-common -> nav2_common)
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_subdir="${pkg#ros2-humble-}"
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_subdir="$(echo "$_subdir" | sed 's/-/_/g')"
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# Special cases: nested source directories within nav2_dwb_controller
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if [[ "$_subdir" == "nav_2d_utils" || "$_subdir" == "nav_2d_msgs" || "$_subdir" == "costmap_queue" || "$_subdir" == "dwb_core" || "$_subdir" == "dwb_critics" || "$_subdir" == "dwb_msgs" || "$_subdir" == "dwb_plugins" ]]; then
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_subdir="nav2_dwb_controller/$_subdir"
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elif [[ "$_subdir" == "nav2_dwb_controller" ]]; then
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_subdir="nav2_dwb_controller/nav2_dwb_controller"
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fi
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eval "$pkgfunc() { _pkg_copy $_subdir; }"
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done
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Changes since previous scan
--- PKGBUILD @ 2026-07-30 00:17+++ PKGBUILD @ 2026-08-03 00:08@@ -1,60 +1,249 @@ # Maintainer: Angelo Elias Dal Zotto <angelodalzotto97@gmail.com>--_pkgroot=navigation2-_pkgname=navigation2-pkgname=ros2-humble-navigation2-pkgver=1.1.7+# Navigation2 full batch - all ~36 subpackages for ROS2 Humble++pkgbase=ros2-humble-navigation2+pkgname=(+ # Batch1 - Core (7)+## ros2-humble-nav2-common ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-msgs ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-util ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-voxel-grid ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-costmap-2d ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-core ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-theta-star-planner ## already on AUR as a standalone package; commented out to avoid name conflict+ # Batch2 - Mid-level (6)+## ros2-humble-nav2-amcl ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-behavior-tree ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-bt-navigator ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-behaviors ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-collision-monitor ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-constrained-smoother ## already on AUR as a standalone package; commented out to avoid name conflict+ # Batch3 - DWB nested packages (8)+## ros2-humble-nav-2d-msgs ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav-2d-utils ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-dwb-msgs ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-costmap-queue ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-dwb-core ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-dwb-plugins ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-dwb-critics ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-dwb-controller ## already on AUR as a standalone package; commented out to avoid name conflict+ # Batch4 - Controllers/planners (12)+## ros2-humble-nav2-controller ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-lifecycle-manager ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-map-server ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-navfn-planner ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-planner ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-smoother ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-regulated-pure-pursuit-controller ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-rotation-shim-controller ## already on AUR as a standalone package; commented out to avoid name conflict+ 'ros2-humble-nav2-graceful-controller'+## ros2-humble-nav2-rviz-plugins ## already on AUR as a standalone package; commented out to avoid name conflict+ # Batch5 - Remaining (2)+## ros2-humble-nav2-simple-commander ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-velocity-smoother ## already on AUR as a standalone package; commented out to avoid name conflict+ # Batch6 - Previously skipped, now buildable (6)+ 'ros2-humble-nav2-route'+## ros2-humble-nav2-waypoint-follower ## already on AUR as a standalone package; commented out to avoid name conflict+## ros2-humble-nav2-smac-planner ## already on AUR as a standalone package; commented out to avoid name conflict+ 'ros2-humble-nav2-mppi-controller'+## ros2-humble-nav2-bringup ## already on AUR as a standalone package; commented out to avoid name conflict+ 'ros2-humble-navigation2'+ 'ros2-humble-nav2-system-tests'+)+pkgver=1.1.20 pkgrel=2-pkgdesc="ROS2 Navigation Stack"-url="https://index.ros.org/p/navigation2/"+pkgdesc="ROS 2 Navigation2 stack - full batch (all ~39 packages)" arch=('any')-depends=(- 'ros2-humble' - 'ros2-humble-nav2-amcl'- 'ros2-humble-nav2-behavior-tree'- 'ros2-humble-nav2-bt-navigator'- 'ros2-humble-nav2-collision-monitor'- 'ros2-humble-nav2-constrained-smoother'- 'ros2-humble-nav2-controller'- 'ros2-humble-nav2-core'- 'ros2-humble-nav2-costmap-2d'- 'ros2-humble-nav2-dwb-controller'- 'ros2-humble-nav2-lifecycle-manager'- 'ros2-humble-nav2-map-server'- 'ros2-humble-nav2-msgs'- 'ros2-humble-nav2-navfn-planner'- 'ros2-humble-nav2-planner'- 'ros2-humble-nav2-behaviors'- 'ros2-humble-nav2-smoother'- 'ros2-humble-nav2-regulated-pure-pursuit-controller'- 'ros2-humble-nav2-rotation-shim-controller'- 'ros2-humble-nav2-rviz-plugins'- 'ros2-humble-nav2-simple-commander'- 'ros2-humble-nav2-smac-planner'- 'ros2-humble-nav2-smoother'- 'ros2-humble-nav2-theta-star-planner'- 'ros2-humble-nav2-util'- 'ros2-humble-nav2-velocity-smoother'- 'ros2-humble-nav2-voxel-grid'- 'ros2-humble-nav2-waypoint-follower'+url="https://github.com/ros-navigation/navigation2"+license=('Apache-2.0' 'BSD' 'MIT')+depends=('ros2-humble')+makedepends=(+ 'cmake' 'ros2-humble-bond_core' 'ros2-humble-smclib' 'boost'+ 'ros2-humble-angles' 'ros2-humble-behaviortree-cpp-v3' 'ceres-solver'+ 'ros2-humble-diagnostic-updater' 'graphicsmagick' 'ros2-humble-cv-bridge'+ 'nanoflann' 'ompl' 'xtensor' 'xsimd' 'xtl' 'nlohmann-json' 'benchmark' )-makedepends=('cmake')-source=("https://github.com/ros-planning/navigation2/archive/refs/tags/${pkgver}.tar.gz")-sha256sums=('1d89dc1ad7c75d4d1645c882a5aee037ca965908344a158bb9669ad80a85196b')-+source=("https://github.com/ros-navigation/navigation2/archive/refs/tags/${pkgver}.tar.gz")+sha256sums=('c965b7a36ef48cd7f35f01c1f98883741693d195dae582232d6d0444d2eedab6')++prepare() {+ # xtensor 0.27 reorganized its headers into subdirectories; remap the+ # legacy include paths used by nav2_mppi_controller.+ local _mppi="$srcdir/navigation2-$pkgver/nav2_mppi_controller"+ find "$_mppi" -type f \( -name '*.hpp' -o -name '*.cpp' \) -exec sed -i \+ -e 's|<xtensor/xarray\.hpp>|<xtensor/containers/xarray.hpp>|g' \+ -e 's|<xtensor/xfixed\.hpp>|<xtensor/containers/xfixed.hpp>|g' \+ -e 's|<xtensor/xtensor\.hpp>|<xtensor/containers/xtensor.hpp>|g' \+ -e 's|<xtensor/xmath\.hpp>|<xtensor/core/xmath.hpp>|g' \+ -e 's|<xtensor/xnoalias\.hpp>|<xtensor/core/xnoalias.hpp>|g' \+ -e 's|<xtensor/xrandom\.hpp>|<xtensor/generators/xrandom.hpp>|g' \+ -e 's|<xtensor/xio\.hpp>|<xtensor/io/xio.hpp>|g' \+ -e 's|<xtensor/xsort\.hpp>|<xtensor/misc/xsort.hpp>|g' \+ -e 's|<xtensor/xnorm\.hpp>|<xtensor/reducers/xnorm.hpp>|g' \+ -e 's|<xtensor/xmasked_view\.hpp>|<xtensor/views/xmasked_view.hpp>|g' \+ -e 's|<xtensor/xview\.hpp>|<xtensor/views/xview.hpp>|g' \+ {} +++ # xtensor 0.27 xmasked_view assignment is incompatible (ambiguous operator=);+ # rewrite the Ackermann constraint using xt::where (equivalent semantics).+ python3 - "$_mppi/include/nav2_mppi_controller/motion_models.hpp" <<'PY'+import sys+p = sys.argv[1]+s = open(p).read()+old = (" auto view = xt::masked_view(wz, (xt::fabs(vx) / xt::fabs(wz)) < min_turning_r_);\n"+ " view = xt::sign(wz) * xt::fabs(vx) / min_turning_r_;")+new = (" wz = xt::where(\n"+ " (xt::fabs(vx) / xt::fabs(wz)) < min_turning_r_,\n"+ " xt::sign(wz) * xt::fabs(vx) / min_turning_r_, wz);")+if old not in s:+ sys.exit("ERROR: masked_view pattern not found in motion_models.hpp")+open(p, "w").write(s.replace(old, new))+print("Patched motion_models.hpp: masked_view -> xt::where")+PY+} build() {- source /opt/ros/humble/setup.bash-- cmake -B build -S "$_pkgroot-$pkgver/$_pkgname" \- -DCMAKE_BUILD_TYPE='None' \- -DCMAKE_INSTALL_PREFIX='/opt/ros/humble' \- -Wno-dev- - cmake --build build+ local _src="$srcdir/navigation2-$pkgver"+ local _staging="$srcdir/_staging"+ rm -rf "$_staging"+ mkdir -p "$_staging"++ _build_install_isolated() {+ msg2 "Building $1 ..."+ local _subdir="$1"+ local _extra_prefix="$2"+ local _extra_cmake_args="$3"+ cd "$_src/$_subdir"+ # Use the installed ros2-humble environment+ source "/opt/ros/humble/setup.bash"+ # Clear stale CMake variables+ unset rviz_common_DIR+ # Build-time search paths: local staging prefixes first, then ros2-humble+ # Set both AMENT_PREFIX_PATH (for ament) and CMAKE_PREFIX_PATH (for CMake)+ if [ -n "$_extra_prefix" ]; then+ export AMENT_PREFIX_PATH="${_extra_prefix}:/opt/ros/humble"+ export CMAKE_PREFIX_PATH="${_extra_prefix}:/opt/ros/humble"+ else+ export AMENT_PREFIX_PATH="/opt/ros/humble"+ export CMAKE_PREFIX_PATH="/opt/ros/humble"+ fi+ export CXXFLAGS="${CXXFLAGS} -Wall -Wextra -Wno-error -Wno-missing-include-dirs -Wno-unused-parameter -Wno-error=maybe-uninitialized -Wno-unused-but-set-variable -include cstdint -I/usr/include/opencv4"+ export CFLAGS="${CFLAGS} -Wno-error -Wno-unused-but-set-variable"+ export LDFLAGS="${LDFLAGS} -Wl,-rpath-link,/opt/ros/humble/lib"+ local _pkg_staging="$_staging/$_subdir"+ # Check if this is a Python-only package (no CMakeLists.txt but has setup.py)+ if [ ! -f "CMakeLists.txt" ] && [ -f "setup.py" ]; then+ msg2 " -> Python-only package, using setup.py"+ source "/opt/ros/humble/setup.bash"+ PYTHONPATH="/opt/ros/humble/lib/python3.11/site-packages:${PYTHONPATH}" \+ python setup.py install --root="$_pkg_staging" --prefix=/opt/ros/humble --optimize=1+ return+ fi+ local _bdir="build-$_subdir"+ cmake -B "$_bdir" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/ros/humble -DBUILD_TESTING=OFF $_extra_cmake_args+ cmake --build "$_bdir" -j2+ DESTDIR="$_pkg_staging" cmake --install "$_bdir"+ }++ # Build a search prefix from an explicit list of staged package subdirs,+ # so each sub-package's cmake sees only its actual nav2-internal deps.+ _prefix() {+ local _p="" _d+ for _d in "$@"; do+ _p="${_p:+$_p:}$_staging/$_d/opt/ros/humble"+ done+ printf '%s' "$_p"+ }++ # cv_bridge + opencv4 come from -I local packages in the chroot's /opt/ros/humble+ local _cvbridge="/opt/ros/humble"++ # --- Foundation: no nav2-internal deps ---+ _build_install_isolated nav2_common ""+ _build_install_isolated "nav2_dwb_controller/nav_2d_msgs" ""++ # --- msgs / voxel_grid / util ---+ _build_install_isolated nav2_msgs "$(_prefix nav2_common)"+ _build_install_isolated nav2_voxel_grid "$(_prefix nav2_common)"+ _build_install_isolated nav2_util "$(_prefix nav2_common nav2_msgs)"+ _build_install_isolated "nav2_dwb_controller/nav_2d_utils" "$(_prefix nav2_common nav2_msgs nav2_util nav2_dwb_controller/nav_2d_msgs)"++ # --- costmap_2d / core ---+ _build_install_isolated nav2_costmap_2d "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid)"+ _build_install_isolated nav2_core "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d)"++ # --- localization / behavior / lifecycle / map ---+ _build_install_isolated nav2_amcl "$(_prefix nav2_common nav2_msgs nav2_util)"+ _build_install_isolated nav2_behavior_tree "$(_prefix nav2_common nav2_msgs nav2_util)"+ _build_install_isolated nav2_lifecycle_manager "$(_prefix nav2_common nav2_msgs nav2_util)"+ _build_install_isolated nav2_map_server "$(_prefix nav2_common nav2_msgs nav2_util)"+ _build_install_isolated nav2_velocity_smoother "$(_prefix nav2_common nav2_msgs nav2_util)"+ _build_install_isolated nav2_simple_commander ""++ # --- planners / controllers (transitive closure via costmap_2d + core) ---+ _build_install_isolated nav2_theta_star_planner "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"+ _build_install_isolated nav2_collision_monitor "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d)"+ _build_install_isolated nav2_constrained_smoother "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"+ _build_install_isolated nav2_navfn_planner "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"+ _build_install_isolated nav2_planner "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"+ _build_install_isolated nav2_regulated_pure_pursuit_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"+ _build_install_isolated nav2_route "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"+ _build_install_isolated nav2_smac_planner "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)"+ _build_install_isolated nav2_mppi_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core)" "-DCMAKE_CXX_STANDARD=20"+ _build_install_isolated nav2_waypoint_follower "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core):$_cvbridge"+ _build_install_isolated nav2_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils)"+ _build_install_isolated nav2_smoother "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils)"+ _build_install_isolated nav2_graceful_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils)"++ # --- depend on behavior_tree ---+ _build_install_isolated nav2_bt_navigator "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_behavior_tree)"+ _build_install_isolated nav2_behaviors "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_behavior_tree)"++ # --- depend on lifecycle_manager ---+ _build_install_isolated nav2_rviz_plugins "$(_prefix nav2_common nav2_msgs nav2_util nav2_lifecycle_manager)"++ # --- depend on controller ---+ _build_install_isolated nav2_rotation_shim_controller "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_controller)"++ # --- DWB chain ---+ _build_install_isolated "nav2_dwb_controller/dwb_msgs" "$(_prefix nav2_dwb_controller/nav_2d_msgs)"+ _build_install_isolated "nav2_dwb_controller/costmap_queue" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d)"+ _build_install_isolated "nav2_dwb_controller/dwb_core" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs)"+ _build_install_isolated "nav2_dwb_controller/dwb_critics" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs nav2_dwb_controller/dwb_core nav2_dwb_controller/costmap_queue)"+ _build_install_isolated "nav2_dwb_controller/dwb_plugins" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs nav2_dwb_controller/dwb_core)"+ _build_install_isolated "nav2_dwb_controller/nav2_dwb_controller" "$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs nav2_dwb_controller/dwb_core nav2_dwb_controller/costmap_queue nav2_dwb_controller/dwb_critics nav2_dwb_controller/dwb_plugins)"++ # --- metapackage + bringup ---+ _build_install_isolated navigation2 ""+ _build_install_isolated nav2_bringup "$(_prefix navigation2 nav2_common)"++ # --- system tests (needs gazebo_ros_pkgs via /opt/ros/humble from -I, and+ # transitively nearly all nav2 packages via the packages it tests) ---+ local _all_nav2="$(_prefix nav2_common nav2_msgs nav2_util nav2_voxel_grid nav2_costmap_2d nav2_core nav2_theta_star_planner nav2_amcl nav2_behavior_tree nav2_bt_navigator nav2_behaviors nav2_collision_monitor nav2_constrained_smoother nav2_controller nav2_lifecycle_manager nav2_map_server nav2_navfn_planner nav2_planner nav2_smoother nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_graceful_controller nav2_rviz_plugins nav2_simple_commander nav2_velocity_smoother nav2_route nav2_smac_planner nav2_mppi_controller nav2_waypoint_follower nav2_dwb_controller/nav_2d_msgs nav2_dwb_controller/nav_2d_utils nav2_dwb_controller/dwb_msgs nav2_dwb_controller/costmap_queue nav2_dwb_controller/dwb_core nav2_dwb_controller/dwb_plugins nav2_dwb_controller/dwb_critics nav2_dwb_controller/nav2_dwb_controller navigation2 nav2_bringup)"+ _build_install_isolated nav2_system_tests "${_all_nav2}:/opt/ros/humble" } -package() {- DESTDIR="$pkgdir" cmake --install build+_pkg_copy() {+ local _subdir="$1"+ local _staging_pkg="$srcdir/_staging/$_subdir"+ mkdir -p "$pkgdir/opt/ros/humble"+ if [ -d "$_staging_pkg/opt/ros/humble" ]; then+ cp -r "$_staging_pkg/opt/ros/humble/." "$pkgdir/opt/ros/humble/"+ fi } +# Generate package functions automatically+for pkg in "${pkgname[@]}"; do+ pkgfunc="package_$pkg"+ # Extract subdir name from pkgname (e.g., ros2-humble-nav2-common -> nav2_common)+ _subdir="${pkg#ros2-humble-}"+ _subdir="$(echo "$_subdir" | sed 's/-/_/g')"+ # Special cases: nested source directories within nav2_dwb_controller+ if [[ "$_subdir" == "nav_2d_utils" || "$_subdir" == "nav_2d_msgs" || "$_subdir" == "costmap_queue" || "$_subdir" == "dwb_core" || "$_subdir" == "dwb_critics" || "$_subdir" == "dwb_msgs" || "$_subdir" == "dwb_plugins" ]]; then+ _subdir="nav2_dwb_controller/$_subdir"+ elif [[ "$_subdir" == "nav2_dwb_controller" ]]; then+ _subdir="nav2_dwb_controller/nav2_dwb_controller"+ fi+ eval "$pkgfunc() { _pkg_copy $_subdir; }"+done+Scan history
| Scanned at (UTC) | Severity | Rules |
|---|---|---|
| 2026-08-03 00:08:14 | LOW | 2 |
| 2026-08-02 00:16:08 | LOW | 2 |
| 2026-08-01 00:11:18 | LOW | 2 |
| 2026-07-31 03:18:41 | LOW | 2 |
| 2026-07-31 03:17:12 | HIGH | 1 |
| 2026-07-30 00:17:23 | CLEAN | 1 |
| 2026-07-29 17:12:22 | CLEAN | 1 |