automatic import of ros-humble-elite-robots-msgs

1 files changed, 222 insertions, 0 deletions

diff --git a/elite-robots-msgs.spec b/elite-robots-msgs.spec
new file mode 100644
index 0000000..54d89ed
--- /dev/null
+++ b/elite-robots-msgs.spec
@@ -0,0 +1,222 @@
+%define ros_distro humble
+%define RosPkgName elite-robots-msgs
+%define src_version 1.0.3-1
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        1.0.3
+Release:        1%{?dist}
+Summary:        Elite Robots CS series ROS 2 driver and message packages
+License:        Apache-2.0
+URL:            https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Driver
+Source0:        %{RosPkgName}-%{src_version}.tar.gz
+
+%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}/.*$
+
+# 构建工具
+BuildRequires:  cmake
+BuildRequires:  ros-%{ros_distro}-ament-cmake
+BuildRequires:  ros-%{ros_distro}-ament-cmake-python
+BuildRequires:  ros-%{ros_distro}-rosidl-default-generators
+
+# elite_robots_dashboard_msgs（无额外依赖，只需 ament_cmake + rosidl）
+
+# elite_robots_msgs
+BuildRequires:  ros-%{ros_distro}-geometry-msgs
+
+# elite_robots_calibration
+BuildRequires:  ros-%{ros_distro}-rclcpp
+BuildRequires:  ros-%{ros_distro}-ament-index-cpp
+BuildRequires:  elite_cs_series_sdk
+BuildRequires:  eigen3-devel
+BuildRequires:  yaml-cpp-devel
+
+# elite_robots_controllers
+BuildRequires:  ros-%{ros_distro}-angles
+BuildRequires:  ros-%{ros_distro}-controller-interface
+BuildRequires:  ros-%{ros_distro}-generate-parameter-library
+BuildRequires:  ros-%{ros_distro}-hardware-interface
+BuildRequires:  ros-%{ros_distro}-joint-trajectory-controller
+BuildRequires:  ros-%{ros_distro}-lifecycle-msgs
+BuildRequires:  ros-%{ros_distro}-pluginlib
+BuildRequires:  ros-%{ros_distro}-rclcpp-lifecycle
+BuildRequires:  ros-%{ros_distro}-rcpputils
+BuildRequires:  ros-%{ros_distro}-rcutils
+BuildRequires:  ros-%{ros_distro}-realtime-tools
+BuildRequires:  ros-%{ros_distro}-std-msgs
+BuildRequires:  ros-%{ros_distro}-std-srvs
+
+# elite_robots_driver
+BuildRequires:  ros-%{ros_distro}-backward-ros
+BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
+BuildRequires:  ros-%{ros_distro}-ros2-controllers
+BuildRequires:  ros-%{ros_distro}-ros2-control
+BuildRequires:  ros-%{ros_distro}-rclcpp-components
+BuildRequires:  ros-%{ros_distro}-rclcpp-action
+BuildRequires:  ros-%{ros_distro}-sensor-msgs
+BuildRequires:  ros-%{ros_distro}-control-msgs
+BuildRequires:  ros-%{ros_distro}-trajectory-msgs
+BuildRequires:  ros-%{ros_distro}-controller-manager-msgs
+BuildRequires:  ros-%{ros_distro}-controller-manager
+BuildRequires:  ros-%{ros_distro}-launch
+BuildRequires:  ros-%{ros_distro}-launch-ros
+BuildRequires:  ros-%{ros_distro}-rclpy
+
+# elite_robots_moveit_config（仅 exec_depend，无需 BuildRequires）
+
+Requires:       ros-%{ros_distro}-ros-workspace
+Requires:       ros-%{ros_distro}-ament-cmake
+
+# elite_robots_msgs 运行时
+Requires:       ros-%{ros_distro}-geometry-msgs
+Requires:       ros-%{ros_distro}-rosidl-default-runtime
+
+# elite_robots_controllers 运行时
+Requires:       ros-%{ros_distro}-angles
+Requires:       ros-%{ros_distro}-controller-interface
+Requires:       ros-%{ros_distro}-generate-parameter-library
+Requires:       ros-%{ros_distro}-hardware-interface
+Requires:       ros-%{ros_distro}-joint-trajectory-controller
+Requires:       ros-%{ros_distro}-lifecycle-msgs
+Requires:       ros-%{ros_distro}-pluginlib
+Requires:       ros-%{ros_distro}-rclcpp
+Requires:       ros-%{ros_distro}-rclcpp-lifecycle
+Requires:       ros-%{ros_distro}-rcpputils
+Requires:       ros-%{ros_distro}-rcutils
+Requires:       ros-%{ros_distro}-realtime-tools
+Requires:       ros-%{ros_distro}-std-msgs
+Requires:       ros-%{ros_distro}-std-srvs
+
+# elite_robots_calibration 运行时
+Requires:       ros-%{ros_distro}-ament-index-cpp
+Requires:       yaml-cpp
+Requires:       elite_cs_series_sdk
+
+# elite_robots_driver 运行时
+Requires:       ros-%{ros_distro}-backward-ros
+Requires:       ros-%{ros_distro}-tf2-geometry-msgs
+Requires:       ros-%{ros_distro}-ros2-controllers
+Requires:       ros-%{ros_distro}-ros2-control
+Requires:       ros-%{ros_distro}-rclcpp-components
+Requires:       ros-%{ros_distro}-rclcpp-action
+Requires:       ros-%{ros_distro}-sensor-msgs
+Requires:       ros-%{ros_distro}-control-msgs
+Requires:       ros-%{ros_distro}-trajectory-msgs
+Requires:       ros-%{ros_distro}-controller-manager-msgs
+Requires:       ros-%{ros_distro}-controller-manager
+Requires:       ros-%{ros_distro}-launch
+Requires:       ros-%{ros_distro}-launch-ros
+Requires:       ros-%{ros_distro}-rclpy
+Requires:       ros-%{ros_distro}-force-torque-sensor-broadcaster
+Requires:       ros-%{ros_distro}-joint-state-broadcaster
+Requires:       ros-%{ros_distro}-joint-state-publisher
+Requires:       ros-%{ros_distro}-robot-state-publisher
+Requires:       ros-%{ros_distro}-position-controllers
+Requires:       ros-%{ros_distro}-velocity-controllers
+Requires:       ros-%{ros_distro}-ros2-controllers-test-nodes
+Requires:       ros-%{ros_distro}-rviz2
+Requires:       ros-%{ros_distro}-urdf
+Requires:       ros-%{ros_distro}-xacro
+Requires:       ros-%{ros_distro}-builtin-interfaces
+# elite_robots_description 不在本仓库且两级清单均未收录，写 Requires 供诊断循环兜底
+Requires:       ros-%{ros_distro}-elite-robots-description
+
+# elite_robots_moveit_config 运行时
+Requires:       ros-%{ros_distro}-moveit-kinematics
+Requires:       ros-%{ros_distro}-moveit-planners-ompl
+Requires:       ros-%{ros_distro}-moveit-ros-move-group
+Requires:       ros-%{ros_distro}-moveit-ros-visualization
+Requires:       ros-%{ros_distro}-moveit-servo
+Requires:       ros-%{ros_distro}-moveit-simple-controller-manager
+Requires:       ros-%{ros_distro}-ament-index-python
+Requires:       python3-yaml
+Requires:       ros-%{ros_distro}-warehouse-ros-sqlite
+
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+%description
+Elite Robots CS series ROS 2 driver metapackage. Includes message definitions
+(elite_robots_msgs, elite_robots_dashboard_msgs), hardware driver
+(elite_robots_driver), controllers (elite_robots_controllers), calibration
+tools (elite_robots_calibration), and MoveIt configuration
+(elite_robots_moveit_config).
+
+%prep
+%autosetup -n %{RosPkgName}-%{src_version}
+
+%build
+source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || true
+export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
+export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
+
+# 公共 cmake 参数
+CMAKE_COMMON_ARGS="\
+    -DCMAKE_INSTALL_PREFIX=/opt/ros/%{ros_distro} \
+    -DAMENT_PREFIX_PATH=/opt/ros/%{ros_distro} \
+    -DCMAKE_PREFIX_PATH=%{buildroot}/opt/ros/%{ros_distro}:/opt/ros/%{ros_distro} \
+    -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON"
+
+# 1. elite_robots_dashboard_msgs
+mkdir -p elite_robots_dashboard_msgs/.obj && cd elite_robots_dashboard_msgs/.obj
+%cmake3 ${CMAKE_COMMON_ARGS} ..
+make %{?_smp_mflags}
+make install DESTDIR=%{buildroot}
+cd ../..
+
+# 2. elite_robots_msgs
+mkdir -p elite_robots_msgs/.obj && cd elite_robots_msgs/.obj
+%cmake3 ${CMAKE_COMMON_ARGS} ..
+make %{?_smp_mflags}
+make install DESTDIR=%{buildroot}
+cd ../..
+
+# 3. elite_robots_controllers（依赖 elite_robots_msgs）
+mkdir -p elite_robots_controllers/.obj && cd elite_robots_controllers/.obj
+%cmake3 ${CMAKE_COMMON_ARGS} ..
+make %{?_smp_mflags}
+make install DESTDIR=%{buildroot}
+cd ../..
+
+# 4. elite_robots_calibration
+mkdir -p elite_robots_calibration/.obj && cd elite_robots_calibration/.obj
+%cmake3 ${CMAKE_COMMON_ARGS} ..
+make %{?_smp_mflags}
+make install DESTDIR=%{buildroot}
+cd ../..
+
+# 5. elite_robots_driver（依赖 elite_robots_dashboard_msgs、elite_robots_msgs）
+mkdir -p elite_robots_driver/.obj && cd elite_robots_driver/.obj
+%cmake3 ${CMAKE_COMMON_ARGS} ..
+make %{?_smp_mflags}
+make install DESTDIR=%{buildroot}
+cd ../..
+
+# 6. elite_robots_moveit_config（ament_cmake_python：cmake 负责安装 Python 模块和 share 资源）
+mkdir -p elite_robots_moveit_config/.obj && cd elite_robots_moveit_config/.obj
+%cmake3 ${CMAKE_COMMON_ARGS} ..
+make %{?_smp_mflags}
+make install DESTDIR=%{buildroot}
+cd ../..
+
+# 7. elite_robots（元包，空 CMakeLists，仅注册 ament 包）
+mkdir -p elite_robots/.obj && cd elite_robots/.obj
+%cmake3 ${CMAKE_COMMON_ARGS} ..
+make %{?_smp_mflags}
+make install DESTDIR=%{buildroot}
+cd ../..
+
+%install
+# 所有子包已在 %build 中直接 install 到 %{buildroot}，此处无需重复操作
+
+%files
+/opt/ros/%{ros_distro}
+
+%changelog
+* Mon Sep 15 2026 ai-importer <ai-importer@openeuler.org> - 1.0.3-1
+- Initial import: Elite Robots CS series ROS 2 driver metapackage (multi-package repo)