%define ros_distro humble
%define RosPkgName microstrain-inertial-msgs

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        4.9.0
Release:        1%{?dist}
Summary:        ROS messages corresponding to MicroStrain inertial sensor message types
License:        MIT
URL:            https://github.com/LORD-MicroStrain/microstrain_inertial
Source0:        %{RosPkgName}-4.9.0-1.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:  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

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
A package that contains ROS messages corresponding to MicroStrain inertial
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}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd microstrain_inertial_msgs
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
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/.obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%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