<package format="2">
  <name>laser_geometry</name>
  <version>1.6.4</version>
  <description>
    This package contains a class for converting from a 2D laser scan as defined by
    sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud
    or sensor_msgs/PointCloud2. In particular, it contains functionality to account
    for the skew resulting from moving robots or tilting laser scanners.
  </description>
  <maintainer email="dave.hershberger@sri.com">Dave Hershberger</maintainer>
  <maintainer email="william@osrfoundation.org">William Woodall</maintainer>
  <license>BSD</license>

  <author>Tully Foote</author>
  <author>Radu Bogdan Rusu</author>

  <url>http://ros.org/wiki/laser_geometry</url>

  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>

  <depend>angles</depend>
  <depend>boost</depend>
  <depend>eigen</depend>
  <depend>roscpp</depend>
  <depend>sensor_msgs</depend>
  <depend>tf</depend>
  <depend>tf2</depend>

  <exec_depend>python-numpy</exec_depend>

  <test_depend>rosunit</test_depend>
</package>

<package format="2">
  <name>laser_geometry</name>
  <version>1.6.4</version>
  <description>
    This package contains a class for converting from a 2D laser scan as defined by
    sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud
    or sensor_msgs/PointCloud2. In particular, it contains functionality to account
    for the skew resulting from moving robots or tilting laser scanners.
  </description>
  <maintainer email="dave.hershberger@sri.com">Dave Hershberger</maintainer>
  <maintainer email="william@osrfoundation.org">William Woodall</maintainer>
  <license>BSD</license>

  <author>Tully Foote</author>
  <author>Radu Bogdan Rusu</author>

  <url>http://ros.org/wiki/laser_geometry</url>

  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>

  <depend>angles</depend>
  <depend>boost</depend>
  <depend>eigen</depend>
  <depend>roscpp</depend>
  <depend>sensor_msgs</depend>
  <depend>tf</depend>
  <depend>tf2</depend>

  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</exec_depend>
  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</exec_depend>

  <test_depend>rosunit</test_depend>
</package>

Choose python version based on what ros is using
Choose python version based on what ros is using
