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%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 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）
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
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}
# 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} \
-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 \
..
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
%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)
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