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| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | joint-group-impedance-controller.spec | 85 | ||||
| -rw-r--r-- | sources | 1 |
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@@ -0,0 +1 @@ +/3adea8cf8b356144558f69374a168a70c2356304.tar.gz 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) @@ -0,0 +1 @@ +8cb27ea9b2260b397ca57360033ec508 3adea8cf8b356144558f69374a168a70c2356304.tar.gz |