automatic import of ros-humble-as2-behaviors-perceptionopeneuler24.03_LTS_SP3

1 files changed, 91 insertions, 0 deletions

diff --git a/as2-behaviors-perception.spec b/as2-behaviors-perception.spec
index 7a7b31f..7d918c6 100644
--- a/as2-behaviors-perception.spec
+++ b/as2-behaviors-perception.spec
@@ -79,6 +79,97 @@ autonomous multi-aerial-robot systems.
 %prep
 %autosetup -n as2-behaviors-perception-%{version}-%{release_num}
 
+# 兼容性修复：本地源码（main 分支）使用 as2::Node::getParameter<T>(...) 模板方法，
+# 但已安装的 as2-core（旧版 tag）node.hpp 不含此方法。创建等价自由函数
+# as2_compat::getParameter 并替换所有调用点（3 文件 / 25 处）。
+python3 - << 'PYEOF'
+import os, re
+
+base = "as2_behaviors/as2_behaviors_object_perception"
+
+# 1. 创建兼容头文件
+compat_path = os.path.join(base, "include/as2_behaviors_object_perception/as2_compat.hpp")
+if not os.path.exists(compat_path):
+    with open(compat_path, 'w') as f:
+        f.write(
+            '#ifndef AS2_BEHAVIORS_OBJECT_PERCEPTION__AS2_COMPAT_HPP_\n'
+            '#define AS2_BEHAVIORS_OBJECT_PERCEPTION__AS2_COMPAT_HPP_\n'
+            '\n'
+            '#include <string>\n'
+            '#include <rclcpp/rclcpp.hpp>\n'
+            '\n'
+            'namespace as2_compat {\n'
+            '\n'
+            'template<typename T>\n'
+            'T getParameter(rclcpp::Node * node, const std::string & name, const T & default_value)\n'
+            '{\n'
+            '  if (!node->has_parameter(name)) {\n'
+            '    node->declare_parameter<T>(name, default_value);\n'
+            '  }\n'
+            '  const rclcpp::Parameter parameter = node->get_parameter(name);\n'
+            '  return parameter.template get_value<T>();\n'
+            '}\n'
+            '\n'
+            'template<typename T>\n'
+            'T getParameter(rclcpp::Node * node, const std::string & name)\n'
+            '{\n'
+            '  if (!node->has_parameter(name)) {\n'
+            '    node->declare_parameter<T>(name);\n'
+            '  }\n'
+            '  const rclcpp::Parameter parameter = node->get_parameter(name);\n'
+            '  return parameter.template get_value<T>();\n'
+            '}\n'
+            '\n'
+            '}  // namespace as2_compat\n'
+            '#endif  // AS2_BEHAVIORS_OBJECT_PERCEPTION__AS2_COMPAT_HPP_\n'
+        )
+    print("[fix] Created as2_compat.hpp")
+else:
+    print("[fix] as2_compat.hpp already exists")
+
+# 2. 需要修改的文件
+patch_files = [
+    os.path.join(base, "src/as2_behaviors_object_perception.cpp"),
+    os.path.join(base, "plugins/aruco/src/aruco.cpp"),
+    os.path.join(base, "include/as2_behaviors_object_perception/common/common.hpp"),
+]
+
+# 3. 正则替换: <receiver>->getParameter<<type>>(<args>)
+#    => as2_compat::getParameter<<type>>(<receiver>, <args>)
+pat = re.compile(
+    r'(\w+)->getParameter<((?:[^<>]|<[^<>]*>)*)>+\(([^)]*)\)'
+)
+
+for fp in patch_files:
+    with open(fp) as f:
+        content = f.read()
+
+    # 添加 include（在最后一个 #include 之后）
+    if 'as2_compat.hpp' not in content:
+        lines = content.split('\n')
+        last_inc = -1
+        for i, ln in enumerate(lines):
+            if ln.strip().startswith('#include'):
+                last_inc = i
+        if last_inc >= 0:
+            lines.insert(last_inc + 1, '#include "as2_behaviors_object_perception/as2_compat.hpp"')
+            content = '\n'.join(lines)
+
+    # 替换调用
+    new_content, count = pat.subn(
+        lambda m: 'as2_compat::getParameter<' + m.group(2) + '>(' + m.group(1) + ', ' + m.group(3) + ')',
+        content
+    )
+
+    if count > 0:
+        with open(fp, 'w') as f:
+            f.write(new_content)
+        print("[fix] %s: replaced %d getParameter calls" % (fp, count))
+    else:
+        print("[fix] %s: no getParameter calls found" % fp)
+
+PYEOF
+
 %build
 # ROS 基座环境
 [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true