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%define ros_distro humble
%define RosPkgName kuka-iiqka-eac-driver
%define src_version 1.1.0
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 1.1.0
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
Source0: %{RosPkgName}-%{src_version}.tar.gz
%global debug_package %{nil}
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
BuildRequires: cmake
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-controller-manager-msgs
BuildRequires: ros-%{ros_distro}-hardware-interface
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-std-msgs
BuildRequires: ros-%{ros_distro}-kuka-drivers-core
BuildRequires: ros-%{ros_distro}-kuka-external-control-sdk
BuildRequires: grpc-devel
BuildRequires: protobuf-devel
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-controller-manager
Requires: ros-%{ros_distro}-controller-manager-msgs
Requires: ros-%{ros_distro}-effort-controllers
Requires: ros-%{ros_distro}-hardware-interface
Requires: ros-%{ros_distro}-joint-state-broadcaster
Requires: ros-%{ros_distro}-joint-trajectory-controller
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-std-msgs
Requires: ros-%{ros_distro}-joint-group-impedance-controller
Requires: ros-%{ros_distro}-kuka-control-mode-handler
Requires: ros-%{ros_distro}-kuka-drivers-core
Requires: ros-%{ros_distro}-kuka-event-broadcaster
Requires: ros-%{ros_distro}-kuka-external-control-sdk
Requires: ros-%{ros_distro}-kuka-lbr-iisy-support
Requires: grpc
Requires: protobuf
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
A ROS2 hardware interface for use with KUKA iiQKA OS
%prep
%autosetup -n %{RosPkgName}-%{src_version}
# kuka-external-control-sdk 静态库 (libkuka-external-control-sdk.a) 内部使用
# abseil CHECK/LOG 宏，其导出的 CMake config 漏列 absl_log_internal_check_op
# 和 absl_log_internal_message 传递依赖，链接时报 "DSO missing from command
# line"（LogMessageFatal→message、MakeCheckOpString→check_op）。显式追加到每个
# target_link_libraries，absl_log_internal_format 作保险。对齐兄弟包
# kuka-external-control-sdk-examples spec（该包已用同法构建成功）。
sed -i 's/Kuka::kuka-external-control-sdk/Kuka::kuka-external-control-sdk -labsl_log_internal_check_op -labsl_log_internal_message -labsl_log_internal_format/g' \
kuka_iiqka_eac_driver/CMakeLists.txt
%build
[ -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}
# 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="/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 \
-DSETUPTOOLS_DEB_LAYOUT=OFF \
-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
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
cd .obj
make install DESTDIR=%{buildroot}
%files
/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
kuka-external-control-sdk / examples 已验证可用的 grpc-devel）
- 增加 protobuf-devel BuildRequires 与 grpc/protobuf Requires：driver 链接
libkuka-external-control-sdk.a 静态库，其内部引用 grpc/protobuf 符号，
链接期需 -lgrpc++/-lprotobuf，运行时需 grpc/protobuf
- %prep 注入 -labsl_log_internal_* 到 CMake link：SDK 静态库的 CMake config
漏列 abseil 传递依赖，会导致链接报 "DSO missing from command line"，
对齐 kuka-external-control-sdk-examples spec 已验证的修复法
* Wed Sep 23 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-2
- Move exec_depend packages from BuildRequires to Requires-only
(kuka-lbr-iisy-support pulls kuka-gazebo transitively at builddep;
these packages have no find_package() in CMakeLists.txt)
* Wed Sep 23 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-1
- Initial import (ROS batch)
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