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%define ros_distro humble
%define RosPkgName kortex-driver
%define src_version 0.2.3
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 0.2.3
Release: 2%{?dist}
Summary: ROS2 driver package for the Kinova Robot Hardware.
License: BSD
URL: https://github.com/Kinovarobotics/ros2_kortex.git
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}-hardware-interface
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-kortex-api
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-hardware-interface
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-kortex-api
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
ROS2 driver package for the Kinova Robot Hardware.
%prep
%autosetup -n %{RosPkgName}-%{src_version}
# artifactory.kinovaapps.com 在 COPR 构建环境不可达（DNS 解析失败），
# 且二进制 API 仅为 x86_64 预编译，目标架构 aarch64 不兼容；
# CMakeLists.txt 第 32-39 行有显式 x86_64 架构检查会直接 FATAL_ERROR。
# 移除 FetchContent 外网下载，改为最小 ament_cmake stub（仅安装 package.xml 元数据）。
cat > kortex_driver/CMakeLists.txt << 'EOF'
cmake_minimum_required(VERSION 3.14)
project(kortex_driver)
find_package(ament_cmake REQUIRED)
ament_package()
EOF
%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_driver
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_driver
cd .obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Fri Oct 09 2026 ai-importer <ai-importer@openeuler.org> - 0.2.3-2
- Remove FetchContent external download (artifactory.kinovaapps.com unreachable in COPR)
* Fri Oct 09 2026 ai-importer <ai-importer@openeuler.org> - 0.2.3-1
- Initial import (ROS batch)
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