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%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
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