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%define ros_distro humble
%define RosPkgName vrpn-mocap
%define src_version 1.1.0-1
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 1.1.0
Release: 1%{?dist}
Summary: ROS2
License: MIT
URL: https://github.com/alvinsunyixiao/vrpn_mocap/tree/main
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}-eigen3-cmake-module
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-std-msgs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-vrpn
BuildRequires: eigen3-devel
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-std-msgs
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-vrpn
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
ROS2
%prep
%autosetup -n %{RosPkgName}-%{src_version}
# 适配 openEuler/eulermaker 的 ros-humble-vrpn：
# 该包只提供 libvrpn.so 与 /opt/ros/%{ros_distro}/include 下的头文件，
# 没有安装 VRPNConfig.cmake / vrpn-config.cmake，导致上游 CMakeLists.txt
# 第 20 行的 find_package(VRPN REQUIRED) 配置期直接失败。
# 这里补一个 FindVRPN.cmake 模块，经 CMAKE_MODULE_PATH 注入，
# 导出 ament_target_dependencies 需要的 VRPN::VRPN imported target
# 以及 VRPN_INCLUDE_DIRS / VRPN_LIBRARIES 变量。
mkdir -p %{_builddir}/%{RosPkgName}-%{src_version}/cmake-modules
cat > %{_builddir}/%{RosPkgName}-%{src_version}/cmake-modules/FindVRPN.cmake << 'VRPNEOF'
# 由 ros-humble-vrpn-mocap 打包流程注入：桥接未导出 CMake 配置的 vrpn 安装。
find_path(VRPN_INCLUDE_DIR
NAMES vrpn_Connection.h
PATHS /opt/ros/%{ros_distro}/include
NO_DEFAULT_PATH)
find_library(VRPN_LIBRARY
NAMES vrpn
PATHS /opt/ros/%{ros_distro}/lib
NO_DEFAULT_PATH)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(VRPN
REQUIRED_VARS VRPN_INCLUDE_DIR VRPN_LIBRARY)
if(VRPN_FOUND)
set(VRPN_INCLUDE_DIRS "${VRPN_INCLUDE_DIR}")
set(VRPN_LIBRARIES "${VRPN_LIBRARY}")
if(NOT TARGET VRPN::VRPN)
add_library(VRPN::VRPN UNKNOWN IMPORTED)
set_target_properties(VRPN::VRPN PROPERTIES
IMPORTED_LOCATION "${VRPN_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${VRPN_INCLUDE_DIR}")
endif()
set(VRPN_TARGETS VRPN::VRPN)
endif()
VRPNEOF
%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}" \
-DCMAKE_MODULE_PATH="%{_builddir}/%{RosPkgName}-%{src_version}/cmake-modules" \
-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
* Tue Sep 22 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-1
- Initial import (ROS batch)
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