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%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
Patch0: 0001-adapt-GeographicLib-discovery-for-openEuler.patch
%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 -p1
%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)
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