%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-geometry-msgs
BuildRequires:  ros-%{ros_distro}-tf2-kdl
BuildRequires:  ros-%{ros_distro}-tl-expected
BuildRequires:  fmt-devel
BuildRequires:  range-v3-devel
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-geometry-msgs
Requires:       ros-%{ros_distro}-tf2-kdl
Requires:       ros-%{ros_distro}-tl-expected
Requires:       fmt-devel
Requires:       range-v3-devel

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)