diff options
Diffstat (limited to 'elite-robots-msgs.spec')
| -rw-r--r-- | elite-robots-msgs.spec | 208 |
1 files changed, 30 insertions, 178 deletions
diff --git a/elite-robots-msgs.spec b/elite-robots-msgs.spec index 9c18a92..3e2fae0 100644 --- a/elite-robots-msgs.spec +++ b/elite-robots-msgs.spec @@ -5,9 +5,9 @@ Name: ros-%{ros_distro}-%{RosPkgName} Version: 1.0.3 Release: 1%{?dist} -Summary: Elite Robots CS series ROS 2 driver and message packages +Summary: Metapackage providing a single installation point for the Elite Robots ROS 2 pa License: Apache-2.0 -URL: https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Driver +URL: https://github.com/EliteRobots/Elite_Robots_CS_ROS2_Driver/tree/humble Source0: %{RosPkgName}-%{src_version}.tar.gz %global debug_package %{nil} @@ -15,129 +15,30 @@ Source0: %{RosPkgName}-%{src_version}.tar.gz %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 依赖 elite_cs_series_sdk（尚未引入），跳过该子包构建 -BuildRequires: ros-%{ros_distro}-rclcpp - -# 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） +BuildRequires: elite_cs_series_sdk +BuildRequires: elite_robots_calibration +BuildRequires: elite_robots_controllers +BuildRequires: elite_robots_dashboard_msgs +BuildRequires: elite_robots_driver +BuildRequires: elite_robots_moveit_config 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（elite_cs_series_sdk 未引入，跳过） -Requires: ros-%{ros_distro}-ament-index-cpp -Requires: yaml-cpp - -# 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 不在任何已知清单中，跳过 - -# 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 +Requires: elite_cs_series_sdk +Requires: elite_robots_calibration +Requires: elite_robots_controllers +Requires: elite_robots_dashboard_msgs +Requires: elite_robots_driver +Requires: elite_robots_moveit_config 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). +Metapackage providing a single installation point for the Elite Robots ROS 2 packages. %prep %autosetup -n %{RosPkgName}-%{src_version} @@ -146,78 +47,29 @@ tools (elite_robots_calibration), and MoveIt configuration 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} - -# ament 通过 AMENT_PREFIX_PATH 环境变量查找已安装包，把 buildroot 前置以找到本 spec 内前序子包 -export AMENT_PREFIX_PATH=%{buildroot}/opt/ros/%{ros_distro}:/opt/ros/%{ros_distro} - -# buildroot 内前序子包的 cmake config 目录前缀 -%define br_cmake_dir %{buildroot}/opt/ros/%{ros_distro}/share - -# 公共 cmake 参数 -CMAKE_COMMON_ARGS="\ - -DCMAKE_INSTALL_PREFIX=/opt/ros/%{ros_distro} \ - -DCMAKE_PREFIX_PATH=%{buildroot}/opt/ros/%{ros_distro}:/opt/ros/%{ros_distro} \ - -DAMENT_PREFIX_PATH=%{buildroot}/opt/ros/%{ros_distro}:/opt/ros/%{ros_distro} \ +cd elite_robots +mkdir -p .obj && cd .obj +%cmake3 \ + -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \ + -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \ + -DCMAKE_PREFIX_PATH="/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 -cmake ${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 -cmake ${CMAKE_COMMON_ARGS} .. -make %{?_smp_mflags} -make install DESTDIR=%{buildroot} -cd ../.. - -# 3. elite_robots_controllers（显式传入前序子包 _DIR，绕过 ament_index 查找路径问题） -mkdir -p elite_robots_controllers/.obj && cd elite_robots_controllers/.obj -cmake ${CMAKE_COMMON_ARGS} \ - -Delite_robots_msgs_DIR=%{br_cmake_dir}/elite_robots_msgs/cmake \ - -Delite_robots_dashboard_msgs_DIR=%{br_cmake_dir}/elite_robots_dashboard_msgs/cmake \ + -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \ .. make %{?_smp_mflags} -make install DESTDIR=%{buildroot} -cd ../.. - -# 4. elite_robots_calibration —— 依赖 elite_cs_series_sdk（未引入），跳过 - -# 5. elite_robots_driver（显式传入前序子包 _DIR） -mkdir -p elite_robots_driver/.obj && cd elite_robots_driver/.obj -cmake ${CMAKE_COMMON_ARGS} \ - -Delite_robots_msgs_DIR=%{br_cmake_dir}/elite_robots_msgs/cmake \ - -Delite_robots_dashboard_msgs_DIR=%{br_cmake_dir}/elite_robots_dashboard_msgs/cmake \ - .. -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 -cmake ${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 -cmake ${CMAKE_COMMON_ARGS} .. -make %{?_smp_mflags} -make install DESTDIR=%{buildroot} -cd ../.. %install -# 所有子包已在 %build 中直接 install 到 %{buildroot}，此处无需重复操作 +source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || true +export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} +export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} +cd elite_robots +cd .obj +make install DESTDIR=%{buildroot} %files /opt/ros/%{ros_distro} %changelog -* Tue 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) +* Wed Sep 16 2026 ai-importer <ai-importer@openeuler.org> - 1.0.3-1 +- Initial import (ROS batch) |