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Diffstat (limited to 'microstrain-inertial-driver.spec')
| -rw-r--r-- | microstrain-inertial-driver.spec | 106 |
1 files changed, 106 insertions, 0 deletions
diff --git a/microstrain-inertial-driver.spec b/microstrain-inertial-driver.spec new file mode 100644 index 0000000..73da647 --- /dev/null +++ b/microstrain-inertial-driver.spec @@ -0,0 +1,106 @@ +%define ros_distro humble +%define RosPkgName microstrain-inertial-driver + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 3.0.1 +Release: 1%{?dist} +Summary: ROS 2 driver for LORD/MicroStrain inertial products +License: MIT +URL: https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros2 +Source0: %{RosPkgName}-%{version}-1.tar.gz#/%{RosPkgName}-%{version}-1.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: git +BuildRequires: eigen3-devel +BuildRequires: GeographicLib-devel +BuildRequires: ros-%{ros_distro}-ament-cmake +BuildRequires: ros-%{ros_distro}-ros-environment +BuildRequires: ros-%{ros_distro}-rosidl-default-generators +BuildRequires: ros-%{ros_distro}-rclcpp +BuildRequires: ros-%{ros_distro}-rclcpp-lifecycle +BuildRequires: ros-%{ros_distro}-rclcpp-components +BuildRequires: ros-%{ros_distro}-lifecycle-msgs +BuildRequires: ros-%{ros_distro}-std-msgs +BuildRequires: ros-%{ros_distro}-std-srvs +BuildRequires: ros-%{ros_distro}-geometry-msgs +BuildRequires: ros-%{ros_distro}-sensor-msgs +BuildRequires: ros-%{ros_distro}-nav-msgs +BuildRequires: ros-%{ros_distro}-nmea-msgs +BuildRequires: ros-%{ros_distro}-rtcm-msgs +BuildRequires: ros-%{ros_distro}-tf2 +BuildRequires: ros-%{ros_distro}-tf2-ros +BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs +BuildRequires: ros-%{ros_distro}-diagnostic-updater +BuildRequires: ros-%{ros_distro}-diagnostic-aggregator +BuildRequires: ros-%{ros_distro}-microstrain-inertial-msgs + +Requires: ros-%{ros_distro}-ros-workspace +Requires: ros-%{ros_distro}-ament-cmake +Requires: ros-%{ros_distro}-rosidl-default-runtime +Requires: ros-%{ros_distro}-rclcpp +Requires: ros-%{ros_distro}-rclcpp-lifecycle +Requires: ros-%{ros_distro}-rclcpp-components +Requires: ros-%{ros_distro}-lifecycle-msgs +Requires: ros-%{ros_distro}-std-msgs +Requires: ros-%{ros_distro}-std-srvs +Requires: ros-%{ros_distro}-geometry-msgs +Requires: ros-%{ros_distro}-sensor-msgs +Requires: ros-%{ros_distro}-nav-msgs +Requires: ros-%{ros_distro}-nmea-msgs +Requires: ros-%{ros_distro}-rtcm-msgs +Requires: ros-%{ros_distro}-tf2 +Requires: ros-%{ros_distro}-tf2-ros +Requires: ros-%{ros_distro}-tf2-geometry-msgs +Requires: ros-%{ros_distro}-diagnostic-updater +Requires: ros-%{ros_distro}-diagnostic-aggregator +Requires: ros-%{ros_distro}-microstrain-inertial-msgs + +Provides: %{name}-devel = %{version}-%{release} +Provides: %{name}-doc = %{version}-%{release} +Provides: %{name}-runtime = %{version}-%{release} + +%description +ROS 2 driver for LORD/MicroStrain inertial products (GX5, GQ7, CV5, etc.). +Provides node and lifecycle node executables built on top of the MIP SDK. + +%prep +%autosetup -n %{RosPkgName}-%{version}-1 + +%build +source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || 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 ROS_VERSION=2 +export ROS_DISTRO=%{ros_distro} +cd microstrain_inertial_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 \ + -DBUILD_SHARED_LIBS=OFF \ + -DBUILD_EXAMPLES=OFF \ + .. +make %{?_smp_mflags} + +%install +source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || 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 microstrain_inertial_driver/.obj +make install DESTDIR=%{buildroot} + +%files +/opt/ros/%{ros_distro} + +%changelog +* Mon Sep 15 2026 ai-importer <ai-importer@openeuler.org> - 3.0.1-1 +- Initial import (ROS batch) |