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%define ros_distro humble
%define RosPkgName coal
%define src_version 3.0.3-5
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 3.0.3
Release: 1%{?dist}
Summary: An extension of the Flexible Collision Library.
License: BSD-3-Clause
URL: https://github.com/coal-library/coal/tree/devel
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: ros-%{ros_distro}-eigenpy
BuildRequires: ros-%{ros_distro}-jrl-cmakemodules
BuildRequires: assimp-devel
BuildRequires: boost-devel
BuildRequires: eigen3-devel
BuildRequires: cmake
BuildRequires: doxygen
BuildRequires: git
# 上游 package.xml 声明的是 Debian 名 liboctomap-dev，openEuler 无此
# provider；官方 EPOL 源的对应开发包为 octomap-devel（提供
# /usr/lib64/octomap/octomap-config.cmake，coal 的 CMake 配置依赖它）。
BuildRequires: octomap-devel
# openEuler 的 assimp-devel 在 assimpTargets.cmake 的
# INTERFACE_LINK_LIBRARIES 里硬编码了绝对路径 /usr/lib64/libz.so 与裸名
# minizip；coal 以 PRIVATE 链接 assimp::assimp，这两项会进入 libcoal.so
# 的链接行：前者是 Makefile 级前置依赖，文件不存在即报
# "No rule to make target '/usr/lib64/libz.so'"；后者展开为 -lminizip，
# 缺 .so 链接名即报 "cannot find -lminizip"。运行时包 zlib/minizip 只带
# libz.so.1 / libminizip.so.1，不带开发用 .so 链接名，故必须显式声明二者
# 对应的 -devel 包（zlib-devel 由 OS/everything 源提供，minizip-devel 由
# everything 源提供）。
BuildRequires: zlib-devel
BuildRequires: minizip-devel
BuildRequires: python3
BuildRequires: python3-lxml
BuildRequires: python3-numpy
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-eigenpy
Requires: assimp-devel
Requires: boost-devel
Requires: eigen3-devel
Requires: octomap-devel
# 与 BuildRequires 同步：coal 导出的 CMake 配置会 find_dependency(assimp)，
# 下游包链接 libcoal.so 时同样会拉入上面那两项，故一并声明。
Requires: zlib-devel
Requires: minizip-devel
Requires: python3
Requires: python3-numpy
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
An extension of the Flexible Collision Library.
%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}
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 .obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 3.0.3-1
- Initial import (ROS batch)
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