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%define ros_distro humble
%define RosPkgName irobot-create-nodes
%define src_version 2.0.0
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 2.0.0
Release: 1%{?dist}
Summary: ROS 2 Nodes for the simulated iRobot(R) Create(R) 3 Educational Robot.
License: BSD
URL: https://github.com/iRobotEducation/create3_sim/tree/main
Source0: %{RosPkgName}-%{src_version}.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: ros-%{ros_distro}-angles
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-control-msgs
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-irobot-create-msgs
BuildRequires: ros-%{ros_distro}-irobot-create-toolbox
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rclcpp-action
BuildRequires: ros-%{ros_distro}-rclcpp-components
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires: ros-%{ros_distro}-tf2-ros
BuildRequires: boost-devel
# 运行时依赖：/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}-angles
Requires: ros-%{ros_distro}-control-msgs
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-irobot-create-msgs
Requires: ros-%{ros_distro}-irobot-create-toolbox
Requires: ros-%{ros_distro}-nav-msgs
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rclcpp-action
Requires: ros-%{ros_distro}-rclcpp-components
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-tf2-geometry-msgs
Requires: ros-%{ros_distro}-tf2-ros
Requires: boost-devel
# 单包策略：ROS 包严禁拆实体子包，用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
ROS 2 Nodes for the simulated iRobot(R) Create(R) 3 Educational Robot.
%prep
%autosetup -n %{RosPkgName}-%{src_version}
%build
# ROS 基座环境（chroot 已配置 ROS SIG repo；无 ROS 依赖的包 buildroot 里
# 可能没有 setup.sh，必须用 [ -f ] 守卫）
[ -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 irobot_create_common/irobot_create_nodes
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 irobot_create_common/irobot_create_nodes
cd .obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.0.0-1
- Initial import (ROS batch)
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