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| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | kuka-event-broadcaster.spec | 93 | ||||
| -rw-r--r-- | sources | 1 |
3 files changed, 95 insertions, 0 deletions
@@ -0,0 +1 @@ +/3adea8cf8b356144558f69374a168a70c2356304.tar.gz diff --git a/kuka-event-broadcaster.spec b/kuka-event-broadcaster.spec new file mode 100644 index 0000000..b94f223 --- /dev/null +++ b/kuka-event-broadcaster.spec @@ -0,0 +1,93 @@ +%define ros_distro humble +%define RosPkgName kuka-event-broadcaster + +# 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）。 +# 该 commit 为 kuka_drivers humble 分支 HEAD，与同 monorepo 各 sibling 包一致。 +%global commit 3adea8cf8b356144558f69374a168a70c2356304 + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 1.1.0 +Release: 1%{?dist} +Summary: Broadcaster of hardware events of KUKA robots +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 <buildtool_depend> + <depend>，逐条在 ros-projects.list / +# ros-upstream.list 核实——controller-interface / pluginlib 为 rosdistro 真实包且 +# SIG 源已有；kuka-drivers-core 为同 monorepo sibling，同 COPR project 内构建。 +# package.xml 的 <depend> 同时承担 build 与 run 语义，故 BuildRequires / Requires 各写一遍。 +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。 +# ros-workspace 提供 /opt/ros/<distro>/setup.sh 与环境 hooks，装上即环境就绪（所有 ROS 包强制）。 +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：ROS 包严禁拆实体子包（主包 %files 整树拥有 /opt/ros/<distro> 时 +# 必与 devel 子包路径重叠致安装事务冲突），改用虚拟 Provides 兼容依赖方 +Provides: %{name}-devel = %{version}-%{release} +Provides: %{name}-doc = %{version}-%{release} +Provides: %{name}-runtime = %{version}-%{release} + +%description +Broadcaster of hardware events of KUKA robots. Part of the kuka_drivers stack +for ROS 2 (humble). This package builds the kuka_event_broadcaster pluginlib +plugin (a ros2_control controller) from the kuka_drivers monorepo +(subdirectory controllers/kuka_event_broadcaster). + +%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_event_broadcaster +cd controllers/kuka_event_broadcaster +# 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_event_broadcaster/.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-event-broadcaster (ROS 2 humble) @@ -0,0 +1 @@ +8cb27ea9b2260b397ca57360033ec508 3adea8cf8b356144558f69374a168a70c2356304.tar.gz |