From 2754bbe8c8c22fa6f9d8e02d8f310788b48a6b89 Mon Sep 17 00:00:00 2001
From: CoprDistGit <infra@openeuler.org>
Date: Mon, 6 Apr 2026 12:15:57 +0000
Subject: automatic import of rtabmap

---
 fix-gravityfactor-noisemodelfactorn-include.patch | 12 ++++++++++++
 rtabmap.spec                                      |  9 ++++++++-
 2 files changed, 20 insertions(+), 1 deletion(-)
 create mode 100644 fix-gravityfactor-noisemodelfactorn-include.patch

diff --git a/fix-gravityfactor-noisemodelfactorn-include.patch b/fix-gravityfactor-noisemodelfactorn-include.patch
new file mode 100644
index 0000000..1c48ec0
--- /dev/null
+++ b/fix-gravityfactor-noisemodelfactorn-include.patch
@@ -0,0 +1,12 @@
+diff --git a/corelib/src/optimizer/gtsam/GravityFactor.h b/corelib/src/optimizer/gtsam/GravityFactor.h
+index fb2b3ee..917b6e0 100644
+--- a/corelib/src/optimizer/gtsam/GravityFactor.h
++++ b/corelib/src/optimizer/gtsam/GravityFactor.h
+@@ -25,6 +25,7 @@
+ #pragma once
+ 
+ #include <gtsam/nonlinear/NonlinearFactor.h>
++#include <gtsam/nonlinear/NoiseModelFactorN.h>
+ #include <gtsam/geometry/Pose3.h>
+ #include <gtsam/geometry/Unit3.h>
+ 
diff --git a/rtabmap.spec b/rtabmap.spec
index 3b25100..868d00a 100644
--- a/rtabmap.spec
+++ b/rtabmap.spec
@@ -11,7 +11,7 @@
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        0.22.1
-Release:        3%{?dist}%{?release_suffix}
+Release:        4%{?dist}%{?release_suffix}
 Summary:        RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.
 
 Url:            http://introlab.github.io/rtabmap
@@ -21,6 +21,7 @@ Source1:        %{RosPkgName}-%{version}.tar.gz.ab
 Source2:        %{RosPkgName}-%{version}.tar.gz.ac
 Patch0:         add-suitesparse-include.patch
 Patch1:         fix-gtsam42-vertigo-manifold-traits.patch
+Patch2:         fix-gravityfactor-noisemodelfactorn-include.patch
 
 
 Requires: ros-%{ros_distro}-cv-bridge
@@ -133,6 +134,12 @@ else echo "RPM TESTS SKIPPED"; fi
 /opt/ros/%{ros_distro}
 
 %changelog
+* Mon Apr 06 2026 openEuler ROS SIG <rosig@openeuler.sh> - 0.22.1-4
+- Add fix-gravityfactor-noisemodelfactorn-include.patch: add missing
+  #include <gtsam/nonlinear/NoiseModelFactorN.h> to GravityFactor.h,
+  required because GTSAM 4.2.0 moved NoiseModelFactor1 definition from
+  NonlinearFactor.h to NoiseModelFactorN.h as a compatibility #define
+
 * Sun Apr 06 2026 openEuler ROS SIG <rosig@openeuler.sh> - 0.22.1-3
 - Update fix-gtsam42-vertigo-manifold-traits.patch: also fix TangentVector
   (gtsam::Vector -> Eigen::Matrix<double,1,1>) and ChartJacobian
-- 
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