From 759c1700ddf31045a846fd102f99802d892848fe Mon Sep 17 00:00:00 2001
From: CoprDistGit <infra@openeuler.org>
Date: Thu, 24 Sep 2026 02:38:33 +0000
Subject: automatic import of ros-humble-pick-ik

---
 .gitignore                     |  1 +
 pick-ik-fix-Catch2-error.patch | 19 +++++++++
 pick-ik.spec                   | 87 ++++++++++++++++++++++++++++++++++++++++++
 sources                        |  1 +
 4 files changed, 108 insertions(+)
 create mode 100644 pick-ik-fix-Catch2-error.patch
 create mode 100644 pick-ik.spec
 create mode 100644 sources

diff --git a/.gitignore b/.gitignore
index e69de29..8ddad3a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1 @@
+/pick-ik-1.1.2-2.tar.gz
diff --git a/pick-ik-fix-Catch2-error.patch b/pick-ik-fix-Catch2-error.patch
new file mode 100644
index 0000000..5c7fc64
--- /dev/null
+++ b/pick-ik-fix-Catch2-error.patch
@@ -0,0 +1,19 @@
+--- ros-humble-pick-ik-1.0.1_org/tests/CMakeLists.txt	2023-05-11 17:43:27.366923785 +0800
++++ ros-humble-pick-ik-1.0.1/tests/CMakeLists.txt	2023-05-11 17:44:51.517452612 +0800
+@@ -1,7 +1,8 @@
+-list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+ 
+ find_package(Catch2 3.3.0 REQUIRED)
+-
++if (NOT Catch2_FOUND)
++	list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
++endif()
+ add_executable(test-pick_ik
+     goal_tests.cpp
+     ik_tests.cpp
+@@ -14,4 +15,5 @@
+     Catch2::Catch2WithMain
+     moveit_core::moveit_test_utils
+ )
++include(Catch)
+ catch_discover_tests(test-pick_ik)
diff --git a/pick-ik.spec b/pick-ik.spec
new file mode 100644
index 0000000..6f810e2
--- /dev/null
+++ b/pick-ik.spec
@@ -0,0 +1,87 @@
+%define ros_distro humble
+%define RosPkgName pick-ik
+%define src_version 1.1.2-2
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        1.1.2
+Release:        1%{?dist}
+Summary:        Inverse Kinematics solver for MoveIt
+License:        BSD-3-Clause
+URL:            https://github.com/PickNikRobotics/pick_ik/tree/main
+Source0:        %{RosPkgName}-%{src_version}.tar.gz
+Patch0: pick-ik-fix-Catch2-error.patch
+
+%global debug_package %{nil}
+%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!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}-ament-cmake-ros
+BuildRequires:  ros-%{ros_distro}-generate-parameter-library
+BuildRequires:  ros-%{ros_distro}-moveit-core
+BuildRequires:  ros-%{ros_distro}-pluginlib
+BuildRequires:  ros-%{ros_distro}-rclcpp
+BuildRequires:  ros-%{ros_distro}-rsl
+BuildRequires:  ros-%{ros_distro}-tf2
+BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
+BuildRequires:  ros-%{ros_distro}-tf2-kdl
+BuildRequires:  fmt-devel
+BuildRequires:  range-v3-devel
+BuildRequires:  libexpected-dev
+BuildRequires:  Catch2-devel
+
+Requires:       ros-%{ros_distro}-ros-workspace
+Requires:       ros-%{ros_distro}-ament-cmake
+Requires:       ros-%{ros_distro}-generate-parameter-library
+Requires:       ros-%{ros_distro}-moveit-core
+Requires:       ros-%{ros_distro}-pluginlib
+Requires:       ros-%{ros_distro}-rclcpp
+Requires:       ros-%{ros_distro}-rsl
+Requires:       ros-%{ros_distro}-tf2
+Requires:       ros-%{ros_distro}-tf2-geometry-msgs
+Requires:       ros-%{ros_distro}-tf2-kdl
+Requires:       fmt-devel
+Requires:       range-v3-devel
+Requires:       libexpected-dev
+
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+%description
+Inverse Kinematics solver for MoveIt
+
+%prep
+%autosetup -n %{RosPkgName}-%{src_version}
+%patch0 -p1
+
+%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}
+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 .obj
+make install DESTDIR=%{buildroot}
+
+%files
+/opt/ros/%{ros_distro}
+
+%changelog
+* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 1.1.2-1
+- Initial import (ROS batch)
diff --git a/sources b/sources
new file mode 100644
index 0000000..86063ea
--- /dev/null
+++ b/sources
@@ -0,0 +1 @@
+ad217afd3c3129f23f7ac0db93f0605f  pick-ik-1.1.2-2.tar.gz
-- 
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