diff options
| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | cartographer-ros-fix-multiple-definition-error.patch | 23 | ||||
| -rw-r--r-- | cartographer-ros.spec | 120 | ||||
| -rw-r--r-- | sources | 1 |
4 files changed, 145 insertions, 0 deletions
@@ -0,0 +1 @@ +/cartographer-ros-2.0.9002-1.tar.gz diff --git a/cartographer-ros-fix-multiple-definition-error.patch b/cartographer-ros-fix-multiple-definition-error.patch new file mode 100644 index 0000000..c5c91b3 --- /dev/null +++ b/cartographer-ros-fix-multiple-definition-error.patch @@ -0,0 +1,23 @@ +--- ros-humble-cartographer-ros-2.0.9000/CMakeLists.txt_org 2023-05-04 15:53:33.555572652 +0800 ++++ ros-humble-cartographer-ros-2.0.9000/CMakeLists.txt 2023-05-04 15:54:17.268212997 +0800 +@@ -59,20 +59,13 @@ + # Library + add_library(${PROJECT_NAME} + src/assets_writer.cpp +- src/assets_writer_main.cpp + src/map_builder_bridge.cpp + src/msg_conversion.cpp + src/node_constants.cpp + src/node.cpp +- src/node_main.cpp + src/node_options.cpp +- src/occupancy_grid_node_main.cpp + src/offline_node.cpp +- src/offline_node_main.cpp +- src/pbstream_map_publisher_main.cpp +- src/pbstream_to_ros_map_main.cpp + src/playable_bag.cpp +- src/rosbag_validate_main.cpp + src/ros_log_sink.cpp + src/ros_map.cpp + src/ros_map_writing_points_processor.cpp diff --git a/cartographer-ros.spec b/cartographer-ros.spec new file mode 100644 index 0000000..6477627 --- /dev/null +++ b/cartographer-ros.spec @@ -0,0 +1,120 @@ +%define ros_distro humble +%define RosPkgName cartographer-ros +%define src_version 2.0.9002-1 + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 2.0.9002 +Release: 1%{?dist} +Summary: Cartographer is a system that provides real-time simultaneous localization and +License: Apache 2.0 +URL: https://github.com/ros2/cartographer_ros/tree/ros2 +Source0: %{RosPkgName}-%{src_version}.tar.gz +Patch0: cartographer-ros-fix-multiple-definition-error.patch + +%global debug_package %{nil} +%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!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}-builtin-interfaces +BuildRequires: ros-%{ros_distro}-cartographer +BuildRequires: ros-%{ros_distro}-cartographer-ros-msgs +BuildRequires: ros-%{ros_distro}-geometry-msgs +BuildRequires: ros-%{ros_distro}-launch +BuildRequires: ros-%{ros_distro}-nav-msgs +BuildRequires: ros-%{ros_distro}-pcl-conversions +BuildRequires: ros-%{ros_distro}-rclcpp +BuildRequires: ros-%{ros_distro}-robot-state-publisher +BuildRequires: ros-%{ros_distro}-ros-environment +BuildRequires: ros-%{ros_distro}-rosbag2-cpp +BuildRequires: ros-%{ros_distro}-rosbag2-storage +BuildRequires: ros-%{ros_distro}-sensor-msgs +BuildRequires: ros-%{ros_distro}-std-msgs +BuildRequires: ros-%{ros_distro}-tf2 +BuildRequires: ros-%{ros_distro}-tf2-eigen +BuildRequires: ros-%{ros_distro}-tf2-msgs +BuildRequires: ros-%{ros_distro}-tf2-ros +BuildRequires: ros-%{ros_distro}-urdf +BuildRequires: ros-%{ros_distro}-visualization-msgs +BuildRequires: abseil-cpp-devel +BuildRequires: cairo-devel +BuildRequires: eigen3-devel +BuildRequires: gflags-devel +BuildRequires: glog-devel +BuildRequires: gmock-devel +BuildRequires: pcl-devel +BuildRequires: python3-sphinx + +Requires: ros-%{ros_distro}-ros-workspace +Requires: ros-%{ros_distro}-ament-cmake +Requires: ros-%{ros_distro}-builtin-interfaces +Requires: ros-%{ros_distro}-cartographer +Requires: ros-%{ros_distro}-cartographer-ros-msgs +Requires: ros-%{ros_distro}-geometry-msgs +Requires: ros-%{ros_distro}-launch +Requires: ros-%{ros_distro}-nav-msgs +Requires: ros-%{ros_distro}-pcl-conversions +Requires: ros-%{ros_distro}-rclcpp +Requires: ros-%{ros_distro}-robot-state-publisher +Requires: ros-%{ros_distro}-rosbag2-cpp +Requires: ros-%{ros_distro}-rosbag2-storage +Requires: ros-%{ros_distro}-sensor-msgs +Requires: ros-%{ros_distro}-std-msgs +Requires: ros-%{ros_distro}-tf2 +Requires: ros-%{ros_distro}-tf2-eigen +Requires: ros-%{ros_distro}-tf2-msgs +Requires: ros-%{ros_distro}-tf2-ros +Requires: ros-%{ros_distro}-urdf +Requires: ros-%{ros_distro}-visualization-msgs +Requires: abseil-cpp-devel +Requires: cairo-devel +Requires: eigen3-devel +Requires: gflags-devel +Requires: glog-devel +Requires: pcl-devel + +Provides: %{name}-devel = %{version}-%{release} +Provides: %{name}-doc = %{version}-%{release} +Provides: %{name}-runtime = %{version}-%{release} + +%description +Cartographer is a system that provides real-time simultaneous localization + and mapping (SLAM) in 2D and 3D across multiple platforms and sensor + configurations. This package provides Cartographer's ROS integration. + +%prep +%autosetup -n %{RosPkgName}-%{src_version} +%patch0 -p1 + +%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 cartographer_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 cartographer_ros +cd .obj +make install DESTDIR=%{buildroot} + +%files +/opt/ros/%{ros_distro} + +%changelog +* Sun Sep 20 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9002-1 +- Initial import (ROS batch) @@ -0,0 +1 @@ +8a04a488149d5b33495c9d1c46c9ab5a cartographer-ros-2.0.9002-1.tar.gz |