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%define ros_distro humble
%define RosPkgName as2-behaviors-perception
%global release_num 1
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 1.1.3
Release: %{release_num}%{?dist}
Summary: AS2 Behavior for object perception using a modular plugin-based pipeline
License: BSD-3-Clause
URL: https://github.com/aerostack2/aerostack2
Source0: as2-behaviors-perception-%{version}-%{release_num}.tar.gz
# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），SIG 模板统一关闭
%global debug_package %{nil}
# /opt 下 python 字节码编译会写标准 sitelib 路径，摘掉 brp-python-bytecompile
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
BuildRequires: cmake
BuildRequires: gcc-c++
BuildRequires: make
# ROS 构建工具
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-ament-cmake-ros
# ROS 依赖（SIG 源已有）
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rclcpp-action
BuildRequires: ros-%{ros_distro}-action-msgs
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-cv-bridge
BuildRequires: ros-%{ros_distro}-visualization-msgs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-std-msgs
# ROS 依赖（同 COPR project / additional_repos，aerostack2 monorepo 同源包）
BuildRequires: ros-%{ros_distro}-as2-core
BuildRequires: ros-%{ros_distro}-as2-behavior
BuildRequires: ros-%{ros_distro}-as2-msgs
BuildRequires: ros-%{ros_distro}-as2-usb-camera-interface
# 系统依赖
BuildRequires: opencv
# 运行时 Requires（/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写）
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rclcpp-action
Requires: ros-%{ros_distro}-action-msgs
Requires: ros-%{ros_distro}-as2-core
Requires: ros-%{ros_distro}-as2-behavior
Requires: ros-%{ros_distro}-as2-msgs
Requires: ros-%{ros_distro}-as2-usb-camera-interface
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-cv-bridge
Requires: ros-%{ros_distro}-visualization-msgs
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-std-msgs
# 单包策略：虚拟别名兼容依赖方
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
AS2 Behavior for object perception using a modular plugin-based pipeline.
This package is part of the Aerostack2 framework, a ROS 2 framework for
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
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}
# Workaround: openEuler opencv 包未安装 contrib 模块 (face, wechat_qrcode,
# xfeatures2d) 的 .so 文件，但 OpenCV CMake config 传递性引用这些模块。
# 在可写构建目录创建指向 libopencv_core 的符号链接，通过 LIBRARY_PATH 让
# 链接器解析 -lopencv_face 等。本包不调用这三个模块的任何函数（仅传递性引入）。
mkdir -p opencv-lib-fix
for mod in opencv_face opencv_wechat_qrcode opencv_xfeatures2d; do
[ -e /usr/lib64/lib${mod}.so ] || ln -sf "$(ls /usr/lib64/libopencv_core.so.* 2>/dev/null | head -1)" opencv-lib-fix/lib${mod}.so
done
export LIBRARY_PATH="$PWD/opencv-lib-fix${LIBRARY_PATH:+:$LIBRARY_PATH}"
export LD_LIBRARY_PATH="$PWD/opencv-lib-fix${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
# monorepo 子包，进入实际构建目录
cd as2_behaviors/as2_behaviors_object_perception
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 \
..
make %{?_smp_mflags}
%install
cd as2_behaviors/as2_behaviors_object_perception/.obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Sat Oct 10 2026 ROS SIG <ros-sig@openeuler.org> - 1.1.3-1
- Initial RPM package for as2-behaviors-perception (Aerostack2 monorepo)
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