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%define ros_distro humble
%define RosPkgName joint-group-impedance-controller
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
# submit_fix.py _ensure_tarball 按 <pkg>-<version> 重打 sources/<pkg>/ 为
# joint-group-impedance-controller-1.1.0.tar.gz（顶层目录同名）；Source0 与
# autosetup -n 均取 RosPkgName-version 与之自洽（原始 GitHub archive 顶层为纯
# commit sha，无 kuka_drivers- 前缀，故不沿用上游归档名）。
Source0: %{RosPkgName}-%{version}.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 %{RosPkgName}-%{version}
%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)
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