%define ros_distro humble
%define RosPkgName mbf-simple-nav
%define src_version 1.2.1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.2.1
Release:        1%{?dist}
Summary:        The mbf_simple_nav package contains a simple navigation server implementation o
License:        BSD-3-Clause
URL:            https://github.com/naturerobots/move_base_flex.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}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-nav-msgs
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-action
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-std-srvs
BuildRequires:  ros-%{ros_distro}-tf2
BuildRequires:  ros-%{ros_distro}-tf2-ros
BuildRequires:  ros-%{ros_distro}-mbf-abstract-core
BuildRequires:  ros-%{ros_distro}-mbf-abstract-nav
BuildRequires:  ros-%{ros_distro}-mbf-msgs
BuildRequires:  ros-%{ros_distro}-mbf-simple-core
BuildRequires:  ros-%{ros_distro}-mbf-utility

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-nav-msgs
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-action
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-std-srvs
Requires:       ros-%{ros_distro}-tf2
Requires:       ros-%{ros_distro}-tf2-ros
Requires:       ros-%{ros_distro}-mbf-abstract-core
Requires:       ros-%{ros_distro}-mbf-abstract-nav
Requires:       ros-%{ros_distro}-mbf-msgs
Requires:       ros-%{ros_distro}-mbf-simple-core
Requires:       ros-%{ros_distro}-mbf-utility

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
The mbf_simple_nav package contains a simple navigation server implementation of Move Base Flex (MBF). The simple navigation server is bound to no map representation. It provides actions for planning, controlling and recovering. MBF loads all defined plugins which are defined in the lists *planners*, *controllers* and *recovery_behaviors*. Each list holds a pair of a *name* and a *type*. The *type* defines which kind of plugin to load. The *name* defines under which name the plugin should be callable by the actions. 

      It tries to load the defined plugins which implements the defined interfaces in

%prep
%autosetup -n %{RosPkgName}-%{src_version}

%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}
cd mbf_simple_nav
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 -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 mbf_simple_nav
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 1.2.1-1
- Initial import (ROS batch)