%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

%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}

%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}
# GUARDED_BY / EXCLUSIVE_LOCKS_REQUIRED 是 Abseil 的 Clang 线程安全注解，GCC 不原生支持。
# 通过 cmake 的 -DCMAKE_CXX_FLAGS 传入空宏定义，避免 shell 对括号的二次解析。
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 \
    -DABSL_PROPAGATE_CXX_STD=ON \
    "-DCMAKE_CXX_FLAGS=%{optflags} -DGUARDED_BY(x)= -DEXCLUSIVE_LOCKS_REQUIRED(x)= -DGUARDED_BY_CONTENTION(x)= -DSHARED_LOCKS_REQUIRED(x)=" \
    ..
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)