automatic import of ros-humble-kuka-control-mode-handler

1 files changed, 88 insertions, 0 deletions

diff --git a/kuka-control-mode-handler.spec b/kuka-control-mode-handler.spec
new file mode 100644
index 0000000..db1f838
--- /dev/null
+++ b/kuka-control-mode-handler.spec
@@ -0,0 +1,88 @@
+%define ros_distro humble
+%define RosPkgName kuka-control-mode-handler
+# 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 setting the control mode of KUKA robots in runtime
+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，strip/debugedit 路径非常规），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}/.*$
+
+# 依赖来源：package.xml <depend> + <buildtool_depend>，逐条在 ros-projects.list /
+# ros-upstream.list 核实（controller-interface / pluginlib 为 rosdistro 真实包，
+# kuka-drivers-core 为同 monorepo sibling，同 COPR project 内构建）
+BuildRequires: ros-%{ros_distro}-ament-cmake
+BuildRequires: ros-%{ros_distro}-controller-interface
+BuildRequires: ros-%{ros_distro}-pluginlib
+BuildRequires: ros-%{ros_distro}-kuka-drivers-core
+BuildRequires: cmake
+BuildRequires: gcc-c++
+BuildRequires: make
+
+# /opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，运行时 Requires 必须手写
+Requires:      ros-%{ros_distro}-ros-workspace
+Requires:      ros-%{ros_distro}-ament-cmake
+Requires:      ros-%{ros_distro}-controller-interface
+Requires:      ros-%{ros_distro}-pluginlib
+Requires:      ros-%{ros_distro}-kuka-drivers-core
+
+# 单包策略：严禁拆实体子包，主包 %files 整树拥有 /opt/ros/<distro>
+Provides:      %{name}-devel = %{version}-%{release}
+Provides:      %{name}-doc = %{version}-%{release}
+Provides:      %{name}-runtime = %{version}-%{release}
+
+%description
+Controller for setting the control mode of KUKA robots at runtime. Part of the
+kuka_drivers stack for ROS 2 (humble). This package builds the
+kuka_control_mode_handler pluginlib plugin (a ros2_control controller) from
+the kuka_drivers monorepo (subdirectory controllers/kuka_control_mode_handler).
+
+%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，必须用 [ -f ] 守卫——直接 source 不存在的文件在
+# 严格 sh 下会中止整个 %build 脚本，|| true 挡不住）
+[ -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}
+
+# 目标包位于 monorepo 子目录 controllers/kuka_control_mode_handler
+cd controllers/kuka_control_mode_handler
+# 显式 out-of-source 构建，规避 openEuler %cmake 宏位置参数解析源码目录的坑
+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 \
+  ..
+%make_build
+
+%install
+cd controllers/kuka_control_mode_handler/.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 openEuler ROS SIG <ros@openeuler.org> - 1.1.0-1
+- Initial package for kuka-control-mode-handler (ROS 2 humble)