1 files changed, 97 insertions, 0 deletions
diff --git a/kuka-sunrise-fri-driver.spec b/kuka-sunrise-fri-driver.spec
new file mode 100644
index 0000000..b4fdeba
--- /dev/null
+++ b/kuka-sunrise-fri-driver.spec
@@ -0,0 +1,97 @@
+%define ros_distro humble
+%define RosPkgName kuka-sunrise-fri-driver
+%define src_version 1.1.0-1
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        1.1.0
+Release:        1%{?dist}
+Summary:        ROS2 KUKA sunrise interface
+License:        Apache-2.0
+URL:            https://github.com/kroshu/kuka_drivers/tree/humble
+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}-controller-manager-msgs
+BuildRequires:  ros-%{ros_distro}-effort-controllers
+BuildRequires:  ros-%{ros_distro}-hardware-interface
+BuildRequires:  ros-%{ros_distro}-joint-state-broadcaster
+BuildRequires:  ros-%{ros_distro}-joint-trajectory-controller
+BuildRequires:  ros-%{ros_distro}-std-msgs
+BuildRequires:  ros-%{ros_distro}-std-srvs
+BuildRequires:  ros-%{ros_distro}-fri-configuration-controller
+BuildRequires:  ros-%{ros_distro}-fri-state-broadcaster
+BuildRequires:  ros-%{ros_distro}-joint-group-impedance-controller
+BuildRequires:  ros-%{ros_distro}-kuka-control-mode-handler
+BuildRequires:  ros-%{ros_distro}-kuka-driver-interfaces
+BuildRequires:  ros-%{ros_distro}-kuka-drivers-core
+BuildRequires:  ros-%{ros_distro}-kuka-event-broadcaster
+BuildRequires:  ros-%{ros_distro}-kuka-lbr-iiwa-support
+BuildRequires:  libnanopb-dev
+
+Requires:       ros-%{ros_distro}-ros-workspace
+Requires:       ros-%{ros_distro}-ament-cmake
+Requires:       ros-%{ros_distro}-controller-manager
+Requires:       ros-%{ros_distro}-controller-manager-msgs
+Requires:       ros-%{ros_distro}-effort-controllers
+Requires:       ros-%{ros_distro}-hardware-interface
+Requires:       ros-%{ros_distro}-joint-state-broadcaster
+Requires:       ros-%{ros_distro}-joint-trajectory-controller
+Requires:       ros-%{ros_distro}-std-msgs
+Requires:       ros-%{ros_distro}-std-srvs
+Requires:       ros-%{ros_distro}-fri-configuration-controller
+Requires:       ros-%{ros_distro}-fri-state-broadcaster
+Requires:       ros-%{ros_distro}-joint-group-impedance-controller
+Requires:       ros-%{ros_distro}-kuka-control-mode-handler
+Requires:       ros-%{ros_distro}-kuka-driver-interfaces
+Requires:       ros-%{ros_distro}-kuka-drivers-core
+Requires:       ros-%{ros_distro}-kuka-event-broadcaster
+Requires:       ros-%{ros_distro}-kuka-lbr-iiwa-support
+Requires:       libnanopb-dev
+
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+%description
+ROS2 KUKA sunrise interface
+
+%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 kuka_sunrise_fri_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 kuka_sunrise_fri_driver
+cd .obj
+make install DESTDIR=%{buildroot}
+
+%files
+/opt/ros/%{ros_distro}
+
+%changelog
+* Mon Sep 28 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-1
+- Initial import (ROS batch)