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%bcond_with tests
%bcond_without weak_deps
%define ros_distro humble
%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 rtabmap
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 0.22.1
Release: 3%{?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
License: BSD
Source0: %{RosPkgName}-%{version}.tar.gz.aa
Source1: %{RosPkgName}-%{version}.tar.gz.ab
Source2: %{RosPkgName}-%{version}.tar.gz.ac
Patch0: add-suitesparse-include.patch
Patch1: fix-gtsam42-vertigo-manifold-traits.patch
Requires: ros-%{ros_distro}-cv-bridge
Requires: ros-%{ros_distro}-libg2o
Requires: ros-%{ros_distro}-gtsam
Requires: pcl-devel
Requires: ros-%{ros_distro}-libpointmatcher
Requires: sqlite-devel
Requires: octomap-devel
Requires: ros-%{ros_distro}-qt-gui-cpp
Requires: zlib-devel
Requires: ros-%{ros_distro}-ros-workspace
BuildRequires: ros-%{ros_distro}-cv-bridge
BuildRequires: ros-%{ros_distro}-libg2o
BuildRequires: ros-%{ros_distro}-gtsam
BuildRequires: pcl-devel
BuildRequires: ros-%{ros_distro}-libpointmatcher
BuildRequires: sqlite-devel
BuildRequires: octomap-devel
BuildRequires: ros-%{ros_distro}-qt-gui-cpp
BuildRequires: zlib-devel
BuildRequires: proj-devel
BuildRequires: suitesparse-devel
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
RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.
%prep
cat %{SOURCE0} %{SOURCE1} %{SOURCE2} > %{RosPkgName}-%{version}.tar.gz
tar -xzf %{RosPkgName}-%{version}.tar.gz
%autosetup -T -D -p1 -n %{RosPkgName}-%{version}
%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
-DCMAKE_BUILD_TYPE=Release \
-DWITH_QT=OFF \
-DBUILD_EXAMPLES=OFF \
-DBUILD_TOOLS=OFF \
-DBUILD_APP=OFF \
-DWITH_TORO=OFF \
-DWITH_G2O=ON \
-DWITH_GTSAM=ON \
-DWITH_CERES=OFF \
-DWITH_VTK=OFF \
-DWITH_PYTHON=OFF \
..
# Limit parallel jobs to reduce memory usage (EUR has only 2GB RAM)
# Use -j1 to compile one file at a time
%make_build -j1
%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
* 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
(OptionalJacobian<3,3> -> OptionalJacobian<1,1>) to match dimension=1,
fixing static_assert(TangentVector::SizeAtCompileTime == dim) in Manifold.h
* Sun Apr 06 2026 openEuler ROS SIG <rosig@openeuler.sh> - 0.22.1-2
- Add fix-gtsam42-vertigo-manifold-traits.patch: add missing manifold traits
(structure_category, dimension, ManifoldType) to gtsam::traits specializations
for vertigo::SwitchVariableLinear and vertigo::SwitchVariableSigmoid, required
by GTSAM 4.2.0 IsManifold concept check in NoiseModel.h and Manifold.h
* Wed Mar 26 2026 Mathieu Labbe <matlabbe@gmail.com> - 0.22.1-1
- Autogenerated by ros-porting-tools
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