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%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: 4%{?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}
export CFLAGS="${CFLAGS:-} -I/usr/include/nanopb -fPIC"
export CXXFLAGS="${CXXFLAGS:-} -I/usr/include/nanopb -fPIC"
# COPR 复用的 ros-humble-kuka-drivers-core 旧版包未打包 joint_interface_validator.hpp，
# 从 tarball 源码补充到 buildroot include 路径
mkdir -p /opt/ros/%{ros_distro}/include/kuka_drivers_core/
cp -f kuka_drivers_core/include/kuka_drivers_core/*.hpp /opt/ros/%{ros_distro}/include/kuka_drivers_core/
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}" \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-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
* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-4
- Copy missing kuka_drivers_core headers (joint_interface_validator.hpp) from tarball source to buildroot include path; COPR reuse package built from older source lacks this header
* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-3
- Add -fPIC to CFLAGS/CXXFLAGS and CMAKE_POSITION_INDEPENDENT_CODE=ON to fix aarch64 R_AARCH64_ADR_PREL_PG_HI21 relocation error
* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-2
- Add -I/usr/include/nanopb to CFLAGS/CXXFLAGS to fix pb.h not found
* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-1
- Initial import (ROS batch)
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