automatic import of ros-humble-kuka-iiqka-eac-driveropeneuler24.03_LTS_SP3

1 files changed, 36 insertions, 3 deletions

diff --git a/kuka-iiqka-eac-driver.spec b/kuka-iiqka-eac-driver.spec
index 6d5d3a7..9149701 100644
--- a/kuka-iiqka-eac-driver.spec
+++ b/kuka-iiqka-eac-driver.spec
@@ -4,7 +4,7 @@
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        1.1.0
-Release:        3%{?dist}
+Release:        4%{?dist}
 Summary:        A ROS2 hardware interface for use with KUKA iiQKA OS
 License:        Apache-2.0
 URL:            https://github.com/kroshu/kuka_drivers.git
@@ -67,10 +67,17 @@ sed -i 's/Kuka::kuka-external-control-sdk/Kuka::kuka-external-control-sdk -labsl
 [ -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}
-cd kuka_iiqka_eac_driver
+
+# 源码 tarball 含完整 kuka_drivers.git 单体仓库。eulermaker 源中
+# ros-humble-kuka-drivers-core 仅 1.0.0，缺 1.1.0 新增的
+# joint_interface_validator.hpp 头文件及对应库符号
+# (ValidateJointCommandInterfaces / ValidateJointStateInterfaces)，
+# 导致 hardware_interface.cpp 编译期 fatal error。先从源码编译安装
+# kuka_drivers_core 1.1.0 到临时前缀，再让 find_package 优先命中 1.1.0。
+cd kuka_drivers_core
 mkdir -p .obj && cd .obj
 %cmake3 \
-    -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
+    -DCMAKE_INSTALL_PREFIX="/tmp/kdc_install" \
     -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 \
@@ -78,6 +85,22 @@ mkdir -p .obj && cd .obj
     -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
     ..
 make %{?_smp_mflags}
+make install
+cd ../..
+
+export AMENT_PREFIX_PATH="/tmp/kdc_install:/opt/ros/%{ros_distro}"
+export LD_LIBRARY_PATH="/tmp/kdc_install/lib:/opt/ros/%{ros_distro}/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+cd kuka_iiqka_eac_driver
+mkdir -p .obj && cd .obj
+%cmake3 \
+    -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
+    -DAMENT_PREFIX_PATH="/tmp/kdc_install;/opt/ros/%{ros_distro}" \
+    -DCMAKE_PREFIX_PATH="/tmp/kdc_install;/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 -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
+    ..
+make %{?_smp_mflags}
 
 %install
 [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
@@ -91,6 +114,16 @@ make install DESTDIR=%{buildroot}
 /opt/ros/%{ros_distro}
 
 %changelog
+* Wed Sep 23 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-4
+- %build 先从源码编译安装 kuka_drivers_core 1.1.0 到临时前缀
+  /tmp/kdc_install：eulermaker 源中 ros-humble-kuka-drivers-core 仅
+  1.0.0，缺 1.1.0 新增的 joint_interface_validator.hpp 头文件及对应库
+  符号 (ValidateJointCommandInterfaces / ValidateJointStateInterfaces)，
+  导致 hardware_interface.cpp 编译期 fatal error。源码 tarball 含完整
+  kuka_drivers.git 单体仓库，kuka_drivers_core 子目录即为 1.1.0 源码。
+  编译安装到临时前缀后，通过 CMAKE_PREFIX_PATH / AMENT_PREFIX_PATH
+  让 find_package(kuka_drivers_core) 优先命中 1.1.0 版本。
+
 * Wed Sep 23 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-3
 - 增加 grpc-devel BuildRequires：源码 hardware_interface.cpp / robot_manager_node.cpp
   直接 #include <grpcpp/create_channel.h>，编译期找不到该头文件（对齐兄弟包