From 2f85c55a455ece7ef44d5043735c08f343ccdf6e Mon Sep 17 00:00:00 2001
From: CoprDistGit <infra@openeuler.org>
Date: Tue, 15 Sep 2026 11:22:08 +0000
Subject: automatic import of ros-humble-microstrain-inertial-msgs

---
 microstrain-inertial-msgs.spec | 57 +++++++++++++++++++++++++++++++++++++++---
 1 file changed, 54 insertions(+), 3 deletions(-)

diff --git a/microstrain-inertial-msgs.spec b/microstrain-inertial-msgs.spec
index 8f06633..de62eac 100644
--- a/microstrain-inertial-msgs.spec
+++ b/microstrain-inertial-msgs.spec
@@ -15,12 +15,14 @@ Source0:        %{RosPkgName}-4.9.0-1.tar.gz
 %global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
 
 BuildRequires:  cmake
-BuildRequires:  ros-%{ros_distro}-catkin
+BuildRequires:  ros-%{ros_distro}-ament-cmake
+BuildRequires:  ros-%{ros_distro}-rosidl-default-generators
 BuildRequires:  ros-%{ros_distro}-std-msgs
 BuildRequires:  ros-%{ros_distro}-geometry-msgs
 
 Requires:       ros-%{ros_distro}-ros-workspace
 Requires:       ros-%{ros_distro}-ament-cmake
+Requires:       ros-%{ros_distro}-rosidl-default-runtime
 Requires:       ros-%{ros_distro}-std-msgs
 Requires:       ros-%{ros_distro}-geometry-msgs
 
@@ -35,6 +37,55 @@ sensor message types, including IMU, GNSS, and filter output messages.
 %prep
 %autosetup -n %{RosPkgName}-4.9.0-1
 
+# 替换 ROS 1 构建文件为 ROS 2 ament_cmake 版本
+cat > microstrain_inertial_msgs/package.xml << 'PKGXML'
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>microstrain_inertial_msgs</name>
+  <version>4.9.0</version>
+  <description>A package that contains ROS messages corresponding to microstrain message types.</description>
+  <maintainer email="rob.fisher@parker.com">Rob Fisher</maintainer>
+  <license>MIT</license>
+  <url type="website">https://github.com/LORD-MicroStrain/microstrain_inertial</url>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+PKGXML
+
+cat > microstrain_inertial_msgs/CMakeLists.txt << 'CMAKELISTS'
+cmake_minimum_required(VERSION 3.8)
+project(microstrain_inertial_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+set(COMMON_DIR "${CMAKE_CURRENT_SOURCE_DIR}/microstrain_inertial_msgs_common")
+
+file(GLOB MSG_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}"
+    "${COMMON_DIR}/msg/*.msg")
+file(GLOB SRV_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}"
+    "${COMMON_DIR}/srv/*.srv")
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${MSG_FILES}
+  ${SRV_FILES}
+  DEPENDENCIES std_msgs geometry_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
+CMAKELISTS
+
 %build
 source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || true
 export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
@@ -55,8 +106,7 @@ make %{?_smp_mflags}
 source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || true
 export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
 export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
-cd microstrain_inertial_msgs
-cd .obj
+cd microstrain_inertial_msgs/.obj
 make install DESTDIR=%{buildroot}
 
 %files
@@ -65,3 +115,4 @@ make install DESTDIR=%{buildroot}
 %changelog
 * Tue Sep 15 2026 ai-importer <ai-importer@openeuler.org> - 4.9.0-1
 - Initial import (ROS batch)
+- Fix: replace ROS 1 catkin build system with ROS 2 ament_cmake + rosidl
-- 
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