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| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | fusioncore-core.spec | 67 | ||||
| -rw-r--r-- | sources | 1 |
3 files changed, 69 insertions, 0 deletions
@@ -0,0 +1 @@ +/fusioncore-core-0.3.5.tar.gz diff --git a/fusioncore-core.spec b/fusioncore-core.spec new file mode 100644 index 0000000..6e44e1a --- /dev/null +++ b/fusioncore-core.spec @@ -0,0 +1,67 @@ +%define ros_distro humble +%define RosPkgName fusioncore-core +%define src_version 0.3.5 + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 0.3.5 +Release: 1%{?dist} +Summary: Pure C++ UKF sensor fusion library underlying FusionCore +License: Apache-2.0 +URL: https://github.com/manankharwar/fusioncore.git +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}/.*$ + +BuildRequires: cmake +BuildRequires: ros-%{ros_distro}-ament-cmake +BuildRequires: ros-%{ros_distro}-eigen3-cmake-module +BuildRequires: eigen3-devel + +Requires: ros-%{ros_distro}-ros-workspace +Requires: ros-%{ros_distro}-ament-cmake +Requires: ros-%{ros_distro}-eigen3-cmake-module +Requires: eigen3-devel + +Provides: %{name}-devel = %{version}-%{release} +Provides: %{name}-doc = %{version}-%{release} +Provides: %{name}-runtime = %{version}-%{release} + +%description +Pure C++ UKF sensor fusion library underlying FusionCore. Fuses IMU, wheel encoders, GPS, and visual SLAM pose in a 23-state unscented Kalman filter. Includes ECEF GPS conversion, online gyro/accel/encoder bias estimation, adaptive noise covariance, chi-squared outlier gating, ZUPT, and GPS-denied operation. No ROS dependency, usable standalone. + +%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} +cd fusioncore_core +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 \ + .. +make %{?_smp_mflags} + +%install +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 fusioncore_core +cd .obj +make install DESTDIR=%{buildroot} + +%files +/opt/ros/%{ros_distro} + +%changelog +* Sat Sep 19 2026 ai-importer <ai-importer@openeuler.org> - 0.3.5-1 +- Initial import (ROS batch) @@ -0,0 +1 @@ +14160e3380000ff12f1588774645fb53 fusioncore-core-0.3.5.tar.gz |