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Diffstat (limited to 'fusioncore-ros.spec')
| -rw-r--r-- | fusioncore-ros.spec | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/fusioncore-ros.spec b/fusioncore-ros.spec new file mode 100644 index 0000000..7c4c176 --- /dev/null +++ b/fusioncore-ros.spec @@ -0,0 +1,105 @@ +%define ros_distro humble +%define RosPkgName fusioncore-ros +%define src_version 0.3.5 + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 0.3.5 +Release: 1%{?dist} +Summary: ROS 2 UKF sensor fusion for IMU, wheel encoders, GPS, and visual SLAM pose +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}-ament-cmake-auto +BuildRequires: ros-%{ros_distro}-diagnostic-msgs +BuildRequires: ros-%{ros_distro}-eigen3-cmake-module +BuildRequires: ros-%{ros_distro}-geographic-msgs +BuildRequires: ros-%{ros_distro}-geometry-msgs +BuildRequires: ros-%{ros_distro}-gps-msgs +BuildRequires: ros-%{ros_distro}-lifecycle-msgs +BuildRequires: ros-%{ros_distro}-nav-msgs +BuildRequires: ros-%{ros_distro}-rclcpp +BuildRequires: ros-%{ros_distro}-rclcpp-lifecycle +BuildRequires: ros-%{ros_distro}-robot-localization +BuildRequires: ros-%{ros_distro}-rosidl-default-generators +BuildRequires: ros-%{ros_distro}-rosidl-default-runtime +BuildRequires: ros-%{ros_distro}-sensor-msgs +BuildRequires: ros-%{ros_distro}-std-msgs +BuildRequires: ros-%{ros_distro}-std-srvs +BuildRequires: ros-%{ros_distro}-tf2 +BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs +BuildRequires: ros-%{ros_distro}-tf2-ros +BuildRequires: ros-%{ros_distro}-compass-msgs +BuildRequires: ros-%{ros_distro}-fusioncore-core +BuildRequires: proj-devel + +Requires: ros-%{ros_distro}-ros-workspace +Requires: ros-%{ros_distro}-ament-cmake +Requires: ros-%{ros_distro}-diagnostic-msgs +Requires: ros-%{ros_distro}-eigen3-cmake-module +Requires: ros-%{ros_distro}-geographic-msgs +Requires: ros-%{ros_distro}-geometry-msgs +Requires: ros-%{ros_distro}-gps-msgs +Requires: ros-%{ros_distro}-lifecycle-msgs +Requires: ros-%{ros_distro}-nav-msgs +Requires: ros-%{ros_distro}-rclcpp +Requires: ros-%{ros_distro}-rclcpp-lifecycle +Requires: ros-%{ros_distro}-robot-localization +Requires: ros-%{ros_distro}-rosidl-default-runtime +Requires: ros-%{ros_distro}-sensor-msgs +Requires: ros-%{ros_distro}-std-msgs +Requires: ros-%{ros_distro}-std-srvs +Requires: ros-%{ros_distro}-tf2 +Requires: ros-%{ros_distro}-tf2-geometry-msgs +Requires: ros-%{ros_distro}-tf2-ros +Requires: ros-%{ros_distro}-compass-msgs +Requires: ros-%{ros_distro}-fusioncore-core +Requires: proj-devel + +Provides: %{name}-devel = %{version}-%{release} +Provides: %{name}-doc = %{version}-%{release} +Provides: %{name}-runtime = %{version}-%{release} + +%description +ROS 2 UKF sensor fusion for IMU, wheel encoders, GPS, and visual SLAM pose. 23-state filter with ECEF-native GPS handling, online gyro/accel/encoder bias estimation, adaptive noise covariance, chi-squared outlier rejection on every sensor, and map reinitialization recovery for GPS-denied operation. Drop-in robot_localization alternative. Benchmarked on 12 full-length NCLT sequences: wins 10 of 12 vs robot_localization EKF. + +%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_ros +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_ros +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) |