%define ros_distro humble
%define RosPkgName swri-transform-util
%define src_version 3.9.0

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        3.9.0
Release:        1%{?dist}
Summary:        The swri_transform_util package contains utility functions and classes for tran
License:        BSD
URL:            https://github.com/swri-robotics/marti_common.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}-ament-cmake-python
BuildRequires:  ros-%{ros_distro}-cv-bridge
BuildRequires:  ros-%{ros_distro}-diagnostic-msgs
BuildRequires:  ros-%{ros_distro}-diagnostic-updater
BuildRequires:  ros-%{ros_distro}-geographic-msgs
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-gps-msgs
BuildRequires:  ros-%{ros_distro}-marti-nav-msgs
BuildRequires:  ros-%{ros_distro}-rcl-interfaces
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-rclpy
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-swri-math-util
BuildRequires:  ros-%{ros_distro}-tf2
BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires:  ros-%{ros_distro}-tf2-ros
BuildRequires:  ros-%{ros_distro}-yaml-cpp-vendor
BuildRequires:  opencv
BuildRequires:  pkgconfig
BuildRequires:  proj-devel
BuildRequires:  geographiclib
BuildRequires:  geos
BuildRequires:  python3-numpy
BuildRequires:  python3-yaml

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-cv-bridge
Requires:       ros-%{ros_distro}-diagnostic-msgs
Requires:       ros-%{ros_distro}-diagnostic-updater
Requires:       ros-%{ros_distro}-geographic-msgs
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-gps-msgs
Requires:       ros-%{ros_distro}-marti-nav-msgs
Requires:       ros-%{ros_distro}-rcl-interfaces
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-components
Requires:       ros-%{ros_distro}-rclpy
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-swri-math-util
Requires:       ros-%{ros_distro}-tf2
Requires:       ros-%{ros_distro}-tf2-geometry-msgs
Requires:       ros-%{ros_distro}-tf2-ros
Requires:       ros-%{ros_distro}-yaml-cpp-vendor
Requires:       opencv
Requires:       proj-devel
Requires:       geographiclib
Requires:       geos
Requires:       python3-numpy
Requires:       python3-yaml

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

%description
The swri_transform_util package contains utility functions and classes for
     transforming between coordinate frames.

%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 swri_transform_util
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 swri_transform_util
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Sun Sep 20 2026 ai-importer <ai-importer@openeuler.org> - 3.9.0-1
- Initial import (ROS batch)