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%define ros_distro humble
%define RosPkgName cartographer-ros
%define src_version 2.0.9002-1
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 2.0.9002
Release: 4%{?dist}
Summary: Cartographer is a system that provides real-time simultaneous localization and
License: Apache 2.0
URL: https://github.com/ros2/cartographer_ros/tree/ros2
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}-builtin-interfaces
BuildRequires: ros-%{ros_distro}-cartographer
BuildRequires: ros-%{ros_distro}-cartographer-ros-msgs
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-launch
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-pcl-conversions
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-robot-state-publisher
BuildRequires: ros-%{ros_distro}-ros-environment
BuildRequires: ros-%{ros_distro}-rosbag2-cpp
BuildRequires: ros-%{ros_distro}-rosbag2-storage
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-std-msgs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-tf2-eigen
BuildRequires: ros-%{ros_distro}-tf2-msgs
BuildRequires: ros-%{ros_distro}-tf2-ros
BuildRequires: ros-%{ros_distro}-urdf
BuildRequires: ros-%{ros_distro}-visualization-msgs
BuildRequires: abseil-cpp-devel
BuildRequires: cairo-devel
BuildRequires: eigen3-devel
BuildRequires: gflags-devel
BuildRequires: glog-devel
BuildRequires: gmock-devel
BuildRequires: pcl-devel
BuildRequires: python3-sphinx
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-builtin-interfaces
Requires: ros-%{ros_distro}-cartographer
Requires: ros-%{ros_distro}-cartographer-ros-msgs
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-launch
Requires: ros-%{ros_distro}-nav-msgs
Requires: ros-%{ros_distro}-pcl-conversions
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-robot-state-publisher
Requires: ros-%{ros_distro}-rosbag2-cpp
Requires: ros-%{ros_distro}-rosbag2-storage
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-std-msgs
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-tf2-eigen
Requires: ros-%{ros_distro}-tf2-msgs
Requires: ros-%{ros_distro}-tf2-ros
Requires: ros-%{ros_distro}-urdf
Requires: ros-%{ros_distro}-visualization-msgs
Requires: abseil-cpp-devel
Requires: cairo-devel
Requires: eigen3-devel
Requires: gflags-devel
Requires: glog-devel
Requires: pcl-devel
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
Cartographer is a system that provides real-time simultaneous localization
and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
configurations. This package provides Cartographer's ROS integration.
%prep
%autosetup -n %{RosPkgName}-%{src_version}
cat > cartographer_ros/include/cartographer_ros/thread_safety_shim.h << 'SHIM'
#ifndef THREAD_SAFETY_SHIM_H
#define THREAD_SAFETY_SHIM_H
#ifndef GUARDED_BY
#define GUARDED_BY(x)
#endif
#ifndef EXCLUSIVE_LOCKS_REQUIRED
#define EXCLUSIVE_LOCKS_REQUIRED(x)
#endif
#ifndef LOCKS_EXCLUDED
#define LOCKS_EXCLUDED(x)
#endif
#ifndef EXCLUSIVE_LOCK_FUNCTION
#define EXCLUSIVE_LOCK_FUNCTION(x)
#endif
#ifndef UNLOCK_FUNCTION
#define UNLOCK_FUNCTION(x)
#endif
#ifndef SHARED_LOCKS_REQUIRED
#define SHARED_LOCKS_REQUIRED(x)
#endif
#ifndef ASSERT_EXCLUSIVE_LOCK
#define ASSERT_EXCLUSIVE_LOCK(x)
#endif
#ifndef NO_THREAD_SAFETY_ANALYSIS
#define NO_THREAD_SAFETY_ANALYSIS
#endif
#endif
SHIM
for f in cartographer_ros/include/cartographer_ros/node.h \
cartographer_ros/include/cartographer_ros/map_builder_bridge.h \
cartographer_ros/include/cartographer_ros/metrics/internal/histogram.h \
cartographer_ros/include/cartographer_ros/metrics/internal/gauge.h; do
sed -i '1i#include "cartographer_ros/thread_safety_shim.h"' "$f"
done
%build
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd cartographer_ros
mkdir -p .obj && cd .obj
%cmake3 \
-DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
-DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
-DSETUPTOOLS_DEB_LAYOUT=OFF \
-DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
..
make %{?_smp_mflags}
%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd cartographer_ros
cd .obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9002-4
- Define thread safety annotation macros via shim header (GUARDED_BY etc.)
* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9002-3
- Force-include absl/base/thread_annotations.h for GUARDED_BY macro definition
* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9002-2
- Remove obsolete fix-multiple-definition-error patch (already applied upstream)
- Bump Release to avoid NVR conflict with failed EUR SRPM rebuild
* Sun Sep 20 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9002-1
- Initial import (ROS batch)
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