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src/beambot/package.xml

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<?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>beambot</name>
  <version>0.1.0</version>
  <description>Beambot: robotic sample handling framework for synchrotron beamlines</description>
  <maintainer email="abondada@bnl.gov">abondada</maintainer>
  <license>BSD-3-Clause</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <buildtool_depend>ament_cmake_python</buildtool_depend>

  <!-- Action interfaces -->
  <depend>beambot_interfaces</depend>

  <!-- ROS 2 core -->
  <depend>rclpy</depend>
  <exec_depend>ament_index_python</exec_depend>
  <exec_depend>python3-yaml</exec_depend>

  <!-- MoveIt Task Constructor -->
  <depend>moveit_task_constructor_core</depend>

  <!-- Coordinate transforms -->
  <depend>tf2_ros</depend>
  <depend>tf2_geometry_msgs</depend>
  <exec_depend>tf_transformations</exec_depend>


  <!-- ROS WebSocket bridge for MCP -->
  <exec_depend>rosbridge_server</exec_depend>

  <!-- Octomap generation and planning-scene integration -->
  <exec_depend>octomap_server</exec_depend>
  <exec_depend>octomap_msgs</exec_depend>

  <!-- ROS tracing and analysis -->
  <exec_depend>tracetools_launch</exec_depend>
  <exec_depend>tracetools_analysis</exec_depend>

  <!-- ROS messages and services -->
  <depend>geometry_msgs</depend>
  <depend>shape_msgs</depend>
  <depend>moveit_msgs</depend>
  <depend>std_srvs</depend>
  <exec_depend>sensor_msgs</exec_depend>
  <exec_depend>sensor_msgs_py</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>ur_msgs</exec_depend>

  <test_depend>python3-pytest</test_depend>
  <test_depend>ament_cmake_pytest</test_depend>
  <test_depend>ament_cmake_ros</test_depend>
  <test_depend>launch_testing_ament_cmake</test_depend>
  <test_depend>launch_testing</test_depend>
  <test_depend>python3-numpy</test_depend>
  <test_depend>python3-opencv</test_depend>
  <test_depend>cv_bridge</test_depend>
  <test_depend>cms_moveit_config</test_depend>
  <test_depend>zivid_interfaces</test_depend>
  <test_depend>pipette_driver</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>