1 files changed, 103 insertions, 0 deletions
diff --git a/kinova-gen3-lite-moveit-config.spec b/kinova-gen3-lite-moveit-config.spec
new file mode 100644
index 0000000..62b8ca8
--- /dev/null
+++ b/kinova-gen3-lite-moveit-config.spec
@@ -0,0 +1,103 @@
+%define ros_distro humble
+%define RosPkgName kinova-gen3-lite-moveit-config
+%define src_version 0.2.3-1
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        0.2.3
+Release:        1%{?dist}
+Summary:        An automatically generated package with all the configuration and launch files
+License:        BSD
+URL:            https://github.com/Kinovarobotics/ros2_kortex/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}-controller-manager
+BuildRequires:  ros-%{ros_distro}-joint-state-publisher
+BuildRequires:  ros-%{ros_distro}-joint-state-publisher-gui
+BuildRequires:  ros-%{ros_distro}-moveit-configs-utils
+BuildRequires:  ros-%{ros_distro}-moveit-kinematics
+BuildRequires:  ros-%{ros_distro}-moveit-planners
+BuildRequires:  ros-%{ros_distro}-moveit-ros-move-group
+BuildRequires:  ros-%{ros_distro}-moveit-ros-visualization
+BuildRequires:  ros-%{ros_distro}-moveit-ros-warehouse
+BuildRequires:  ros-%{ros_distro}-moveit-setup-assistant
+BuildRequires:  ros-%{ros_distro}-moveit-simple-controller-manager
+BuildRequires:  ros-%{ros_distro}-robot-state-publisher
+BuildRequires:  ros-%{ros_distro}-rviz-common
+BuildRequires:  ros-%{ros_distro}-rviz-default-plugins
+BuildRequires:  ros-%{ros_distro}-rviz2
+BuildRequires:  ros-%{ros_distro}-tf2-ros
+BuildRequires:  ros-%{ros_distro}-xacro
+BuildRequires:  ros-%{ros_distro}-kortex-description
+BuildRequires:  ros-%{ros_distro}-picknik-reset-fault-controller
+BuildRequires:  ros-%{ros_distro}-picknik-twist-controller
+
+Requires:       ros-%{ros_distro}-ros-workspace
+Requires:       ros-%{ros_distro}-ament-cmake
+Requires:       ros-%{ros_distro}-controller-manager
+Requires:       ros-%{ros_distro}-joint-state-publisher
+Requires:       ros-%{ros_distro}-joint-state-publisher-gui
+Requires:       ros-%{ros_distro}-moveit-configs-utils
+Requires:       ros-%{ros_distro}-moveit-kinematics
+Requires:       ros-%{ros_distro}-moveit-planners
+Requires:       ros-%{ros_distro}-moveit-ros-move-group
+Requires:       ros-%{ros_distro}-moveit-ros-visualization
+Requires:       ros-%{ros_distro}-moveit-ros-warehouse
+Requires:       ros-%{ros_distro}-moveit-setup-assistant
+Requires:       ros-%{ros_distro}-moveit-simple-controller-manager
+Requires:       ros-%{ros_distro}-robot-state-publisher
+Requires:       ros-%{ros_distro}-rviz-common
+Requires:       ros-%{ros_distro}-rviz-default-plugins
+Requires:       ros-%{ros_distro}-rviz2
+Requires:       ros-%{ros_distro}-tf2-ros
+Requires:       ros-%{ros_distro}-xacro
+Requires:       ros-%{ros_distro}-kortex-description
+Requires:       ros-%{ros_distro}-picknik-reset-fault-controller
+Requires:       ros-%{ros_distro}-picknik-twist-controller
+
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+%description
+An automatically generated package with all the configuration and launch files for using the gen3_lite with the MoveIt Motion Planning Framework
+
+%prep
+%autosetup -n %{RosPkgName}-%{src_version}
+
+%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 kortex_moveit_config/kinova_gen3_lite_moveit_config
+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 kortex_moveit_config/kinova_gen3_lite_moveit_config
+cd .obj
+make install DESTDIR=%{buildroot}
+
+%files
+/opt/ros/%{ros_distro}
+
+%changelog
+* Fri Oct 09 2026 ai-importer <ai-importer@openeuler.org> - 0.2.3-1
+- Initial import (ROS batch)