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%bcond_with tests
%bcond_without weak_deps
%define ros_distro humble
%global debug_package %{nil}
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
%define RosPkgName cartographer
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 2.0.9004
Release: 1%{?dist}%{?release_suffix}
Summary: ROS cartographer package
Url: https://github.com/cartographer-project/cartographer
License: Apache 2.0
Source0: %{RosPkgName}-%{version}.tar.gz
Source1: thread_annotations.h
Patch0: cartographer-changes.patch
Requires: boost-devel
Requires: eigen3-devel
Requires: abseil-cpp-devel
Requires: cairo-devel
Requires: ceres-solver-devel
Requires: gflags-devel
Requires: glog-devel
Requires: lua-devel
Requires: protobuf-devel
Requires: ros-%{ros_distro}-ros-workspace
BuildRequires: boost-devel
BuildRequires: eigen3-devel
BuildRequires: abseil-cpp-devel
BuildRequires: cairo-devel
BuildRequires: ceres-solver-devel
BuildRequires: gflags-devel
BuildRequires: glog-devel
BuildRequires: lua-devel
BuildRequires: protobuf-devel
BuildRequires: git
BuildRequires: gmock-devel
BuildRequires: gtest-devel
BuildRequires: python3-sphinx
BuildRequires: cmake
BuildRequires: ros-%{ros_distro}-ros-workspace
%if 0%{?with_tests}
%endif
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
Cartographer is a system that provides real-time simultaneous localization
and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
configurations.
%prep
%autosetup -p1 -n %{RosPkgName}-%{version}
# Patch0 adds #include "cartographer/common/thread_annotations.h" but the
# upstream tarball doesn't ship it; provide a stub with no-op macros.
cp %{SOURCE1} cartographer/common/thread_annotations.h
%build
# Needed to bootstrap since the ros_workspace package does not yet exist.
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree and source it. It will set things like
# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi
mkdir -p .obj-%{_target_platform} && cd .obj-%{_target_platform}
%cmake3 \
-UINCLUDE_INSTALL_DIR \
-ULIB_INSTALL_DIR \
-USYSCONF_INSTALL_DIR \
-USHARE_INSTALL_PREFIX \
-ULIB_SUFFIX \
-DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
-DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-DSETUPTOOLS_DEB_LAYOUT=OFF \
%if !0%{?with_tests}
-DBUILD_TESTING=OFF \
%endif
..
%make_build
%install
# Needed to bootstrap since the ros_workspace package does not yet exist.
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree and source it. It will set things like
# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi
%make_install -C .obj-%{_target_platform}
%if 0%{?with_tests}
%check
# Needed to bootstrap since the ros_workspace package does not yet exist.
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
# Look for a Makefile target with a name indicating that it runs tests
TEST_TARGET=$(%__make -qp -C .obj-%{_target_platform} | sed "s/^\(test\|check\):.*/\\1/;t f;d;:f;q0")
if [ -n "$TEST_TARGET" ]; then
# In case we're installing to a non-standard location, look for a setup.sh
# in the install tree and source it. It will set things like
# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi
CTEST_OUTPUT_ON_FAILURE=1 \
%make_build -C .obj-%{_target_platform} $TEST_TARGET || echo "RPM TESTS FAILED"
else echo "RPM TESTS SKIPPED"; fi
%endif
%files
/opt/ros/%{ros_distro}
%changelog
* Thu Oct 08 2026 kuyan_kubuds <kuyan@kubuds.cn> - 2.0.9004-1
- Sync cartographer 2.0.9004 from humble branch to master
* Mon Sep 21 2026 Wanming Hu <huwanming@huawei.com> - 2.0.9004-1
- Upgrade cartographer from 1.0.0 to 2.0.9004 for ROS 2 Humble.
* Thu Nov 14 2024 Your Name <your.email@example.com> - 1.0.0
- Simplified CMake patch to add compile flags to GOOG_CXX_FLAGS
- Fix installed CMake files paths in spec file
- Remove build-time absolute paths from installed files
* Tue Dec 15 2020 openEuler Buildteam <hanhaomin008@126.com>
- Package init
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