automatic import of ros-humble-joint-group-impedance-controller

1 files changed, 85 insertions, 0 deletions

diff --git a/joint-group-impedance-controller.spec b/joint-group-impedance-controller.spec
new file mode 100644
index 0000000..e776803
--- /dev/null
+++ b/joint-group-impedance-controller.spec
@@ -0,0 +1,85 @@
+%define ros_distro humble
+%define RosPkgName joint-group-impedance-controller
+
+# 实测 GitHub archive/<full-sha>.tar.gz 解压根目录为 kuka_drivers-<full-sha>，
+# 而非纯 commit SHA；故 autosetup -n 用实测目录名（见下方 %%prep）
+%global commit 3adea8cf8b356144558f69374a168a70c2356304
+
+Name:       ros-%{ros_distro}-%{RosPkgName}
+Version:    1.1.0
+Release:    1%{?dist}
+Summary:    Controller for modifying impedance (stiffness and damping) interfaces of a joint group
+License:    Apache-2.0
+URL:        https://github.com/kroshu/kuka_drivers
+Source0:    https://github.com/kroshu/kuka_drivers/archive/%{commit}.tar.gz
+
+# debug 子包无意义（/opt 前缀），SIG 模板统一关闭
+%global debug_package %{nil}
+# /opt 下 python 字节码编译会写标准 sitelib 路径，摘掉 brp-python-bytecompile
+%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
+# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
+%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
+%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
+
+BuildRequires:  cmake
+BuildRequires:  gcc-c++
+BuildRequires:  make
+BuildRequires:  ros-%{ros_distro}-ament-cmake
+BuildRequires:  ros-%{ros_distro}-forward-command-controller
+BuildRequires:  ros-%{ros_distro}-generate-parameter-library
+BuildRequires:  ros-%{ros_distro}-kuka-drivers-core
+BuildRequires:  ros-%{ros_distro}-pluginlib
+
+Requires:       ros-%{ros_distro}-ros-workspace
+Requires:       ros-%{ros_distro}-ament-cmake
+Requires:       ros-%{ros_distro}-forward-command-controller
+Requires:       ros-%{ros_distro}-generate-parameter-library
+Requires:       ros-%{ros_distro}-kuka-drivers-core
+Requires:       ros-%{ros_distro}-pluginlib
+
+# 单包策略：严禁拆实体子包，用虚拟 Provides 兼容依赖方
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+%description
+Controller for modifying impedance (stiffness and damping) interfaces of a
+joint group. Part of the KUKA drivers for ROS 2 (humble). This package
+builds the joint_group_impedance_controller pluginlib plugin from the
+kuka_drivers monorepo (subdirectory controllers/joint_group_impedance_controller).
+
+%prep
+%autosetup -n kuka_drivers-%{commit}
+
+%build
+# ROS 基座环境（chroot 已配置 ROS SIG repo；无 ROS 依赖的包 buildroot 里
+# 可能没有 setup.sh，用 [ -f ] 守卫）
+[ -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}
+
+# monorepo 子包：进入包目录后显式 out-of-source 构建
+cd controllers/joint_group_impedance_controller
+mkdir -p .obj
+cd .obj
+cmake .. \
+  -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
+make %{?_smp_mflags}
+
+%install
+[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
+cd controllers/joint_group_impedance_controller/.obj
+make install DESTDIR=%{buildroot}
+
+%files
+# 整树拥有 /opt/ros/<distro>，对"装了没打包"类错误免疫
+/opt/ros/%{ros_distro}
+
+%changelog
+* Wed Sep 23 2026 AI Importer <ai-importer@openeuler.org> - 1.1.0-1
+- Initial package for joint-group-impedance-controller (ROS 2 humble)