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%define ros_distro humble
%define RosPkgName qb-softhand-industry-ros2-control
%define src_version 2.1.2-4
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 2.1.2
Release: 1%{?dist}
Summary: Package of `ros2_control` hardware for qbSoftHand Industry with transmission in
License: BSD 3-Clause
URL: https://bitbucket.org/qbrobotics/qbshin-ros/tree/production-humble
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}-controller-manager
BuildRequires: ros-%{ros_distro}-forward-command-controller
BuildRequires: ros-%{ros_distro}-hardware-interface
BuildRequires: ros-%{ros_distro}-joint-state-broadcaster
BuildRequires: ros-%{ros_distro}-joint-state-publisher-gui
BuildRequires: ros-%{ros_distro}-joint-trajectory-controller
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rclcpp-lifecycle
BuildRequires: ros-%{ros_distro}-robot-state-publisher
BuildRequires: ros-%{ros_distro}-ros2-controllers-test-nodes
BuildRequires: ros-%{ros_distro}-ros2controlcli
BuildRequires: ros-%{ros_distro}-ros2launch
BuildRequires: ros-%{ros_distro}-rviz2
BuildRequires: ros-%{ros_distro}-transmission-interface
BuildRequires: ros-%{ros_distro}-xacro
BuildRequires: ros-%{ros_distro}-qb-softhand-industry-msgs
BuildRequires: ros-%{ros_distro}-qb-softhand-industry-srvs
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-controller-manager
Requires: ros-%{ros_distro}-forward-command-controller
Requires: ros-%{ros_distro}-hardware-interface
Requires: ros-%{ros_distro}-joint-state-broadcaster
Requires: ros-%{ros_distro}-joint-state-publisher-gui
Requires: ros-%{ros_distro}-joint-trajectory-controller
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rclcpp-lifecycle
Requires: ros-%{ros_distro}-robot-state-publisher
Requires: ros-%{ros_distro}-ros2-controllers-test-nodes
Requires: ros-%{ros_distro}-ros2controlcli
Requires: ros-%{ros_distro}-ros2launch
Requires: ros-%{ros_distro}-rviz2
Requires: ros-%{ros_distro}-transmission-interface
Requires: ros-%{ros_distro}-xacro
Requires: ros-%{ros_distro}-qb-softhand-industry-msgs
Requires: ros-%{ros_distro}-qb-softhand-industry-srvs
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
Package of `ros2_control` hardware for qbSoftHand Industry with transmission interface.
%prep
%autosetup -n %{RosPkgName}-%{src_version}
%build
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || 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 qb_softhand_industry_ros2_control
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
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || 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 qb_softhand_industry_ros2_control
cd .obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Sat Oct 10 2026 ai-importer <ai-importer@openeuler.org> - 2.1.2-1
- Initial import (ROS batch)
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