automatic import of ros-humble-mrpt-libbaseopeneuler24.03_LTS_SP3

3 files changed, 52 insertions, 2 deletions

diff --git a/.gitignore b/.gitignore
index 2bff02a..afb443c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,4 @@
 /mrpt-libbase-2.15.20.tar.gz
 /mrpt-2.15.21.tar.gz
+/nanoflann-1.5.5.tar.gz
+/simpleini-4.22.tar.gz
diff --git a/mrpt-libbase.spec b/mrpt-libbase.spec
index b5d8c86..e3bf581 100644
--- a/mrpt-libbase.spec
+++ b/mrpt-libbase.spec
@@ -2,16 +2,26 @@
 %define RosPkgName mrpt-libbase
 %define src_version 2.15.20
 %define mrpt_version 2.15.21
+# mrpt 的 git submodule 内容（GitHub archive tarball 不含），按需手工补：
+%define nanoflann_version 1.5.5
+%define simpleini_version 4.22
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        2.15.20
-Release:        2%{?dist}
+Release:        3%{?dist}
 Summary:        Mobile Robot Programming Toolkit (MRPT) libraries (core C++ libraries)
 License:        BSD
 URL:            https://github.com/MRPT/mrpt_ros.git
 Source0:        %{RosPkgName}-%{src_version}.tar.gz
 # mrpt upstream source, pre-fetched to avoid ExternalProject git clone at build time
 Source1:        https://github.com/MRPT/mrpt/archive/refs/tags/%{mrpt_version}.tar.gz#/mrpt-%{mrpt_version}.tar.gz
+# mrpt 的两个 submodule（COPR chroot 无外网，构建期无法下载/克隆，须随 SRPM 携带）：
+#   nanoflann —— mrpt 强制依赖（script_nanoflann.cmake: FATAL_ERROR if not found），
+#                openEuler 无系统包，只能喂 3rdparty/nanoflann 让内层自建（头文件库）
+#   simpleini —— mrpt-config 编译 CConfigFile.cpp 需要 SimpleIni.h（script_simpleini.cmake
+#                回退到 3rdparty/simpleini 作为 include 目录）
+Source2:        https://github.com/jlblancoc/nanoflann/archive/refs/tags/v%{nanoflann_version}.tar.gz#/nanoflann-%{nanoflann_version}.tar.gz
+Source3:        https://github.com/brofield/simpleini/archive/refs/tags/v%{simpleini_version}.tar.gz#/simpleini-%{simpleini_version}.tar.gz
 
 %global debug_package %{nil}
 %global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
@@ -21,8 +31,9 @@ Source1:        https://github.com/MRPT/mrpt/archive/refs/tags/%{mrpt_version}.t
 BuildRequires:  assimp-devel
 BuildRequires:  eigen3-devel
 BuildRequires:  ffmpeg-devel
-BuildRequires:  freeglut
+BuildRequires:  freeglut-devel
 BuildRequires:  git
+BuildRequires:  gtest-devel
 BuildRequires:  libXrandr-devel
 BuildRequires:  libXxf86vm-devel
 BuildRequires:  libpcap-devel
@@ -71,6 +82,21 @@ sed -i 's|\${CMAKE_BINARY_DIR}/\.\./mrpt_libbase/mrpt-build|${CMAKE_CURRENT_LIST
 # HOME 非 /home/buildfarm，去掉后复用分支在任何构建环境都成立。
 sed -i 's/AND (NOT "\$ENV{HOME}" STREQUAL "\/home\/buildfarm")//' \
     mrpt_libbase/CMakeLists.txt
+# 给内层 mrpt 追加开关（外层 cmake 命令行传的 MRPT_WITH_xxx 落在 ROS 包装工程上，
+# 而包装工程只把它们原样忽略——真正生效的是写死在 ExternalProject_Add 的
+# CMAKE_ARGS，必须在此注入）：
+#   MRPT_HAS_LIBFYAML=OFF  openEuler 无 libfyaml，内置分支要 3rdparty/libfyaml
+#                          （submodule 空目录）且会 file(READ .tarball-version) 报错；
+#                          该特性只影响 mrpt::containers::yaml，关掉即可（ROS 包
+#                          package.xml 里 libfyaml-dev 也被上游注释掉了）
+#   MRPT_WITH_KINECT=OFF   libusb 存在时默认开启 Kinect，会去编译空的
+#                          3rdparty/libfreenect（openEuler 无 libfreenect-devel）
+#   MRPT_HAS_OPENNI2=OFF   无 libopenni2
+#   MRPT_BUILD_OCTOMAP=OFF 无系统 octomap 时 ExternalProject 会从 GitHub 下载
+#                          octomap（构建期无外网必失败）；octomap 只被 maps/obs/
+#                          opengl 使用，本包（libbase 粒度）全部为 OFF
+sed -i 's|^\(\s*-DDISABLE_JSONCPP=ON\)$|\1\n    -DMRPT_HAS_LIBFYAML=OFF\n    -DMRPT_WITH_KINECT=OFF\n    -DMRPT_HAS_OPENNI2=OFF\n    -DMRPT_BUILD_OCTOMAP=OFF|' \
+    mrpt_libbase/CMakeLists.txt
 # 预置 ExternalProject 的 SOURCE_DIR：<top>/mrpt-build/src/mrpt
 mkdir -p mrpt-build/src
 tar -xzf %{SOURCE1} -C mrpt-build/src
@@ -85,6 +111,12 @@ echo -n "%{mrpt_version}" > mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt
 # -DMRPT_BUILD_rplidar_sdk=OFF 关闭，不会被真正编译。
 mkdir -p mrpt-build/src/mrpt/3rdparty/nanogui/include \
          mrpt-build/src/mrpt/3rdparty/rplidar_sdk/sdk/src
+# 填充 mrpt 的两个必需 submodule（见 Source2/Source3 说明）：nanoflann 供内层
+# CMake 自建（头文件库），simpleini 仅作为 mrpt-config 的 include 目录。
+rm -rf mrpt-build/src/mrpt/3rdparty/nanoflann mrpt-build/src/mrpt/3rdparty/simpleini
+mkdir -p mrpt-build/src/mrpt/3rdparty/nanoflann mrpt-build/src/mrpt/3rdparty/simpleini
+tar -xzf %{SOURCE2} -C mrpt-build/src/mrpt/3rdparty/nanoflann --strip-components=1
+tar -xzf %{SOURCE3} -C mrpt-build/src/mrpt/3rdparty/simpleini --strip-components=1
 # Override the version cmake reads from package.xml to match the pre-fetched source
 echo 'set(MRPT_VERSION_TO_DOWNLOAD "%{mrpt_version}")' > override_mrpt_version.cmake
 
@@ -127,6 +159,20 @@ make install DESTDIR=%{buildroot}
 /opt/ros/%{ros_distro}
 
 %changelog
+* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.15.20-3
+- 内层 mrpt 配置期剩余的 "无 submodule" 阻断逐个消除：
+  * 注入 -DMRPT_HAS_LIBFYAML=OFF / -DMRPT_WITH_KINECT=OFF / -DMRPT_HAS_OPENNI2=OFF
+    / -DMRPT_BUILD_OCTOMAP=OFF（外层 cmake 传的 MRPT_WITH_* 是空转，必须写进
+    包装工程的 ExternalProject CMAKE_ARGS）。
+  * 新增 Source2(nanoflann 1.5.5)、Source3(simpleini 4.22) 并在 %prep 填入
+    3rdparty/nanoflann、3rdparty/simpleini（mrpt 强制依赖 nanoflann；mrpt-config
+    需要 SimpleIni.h）。
+- BuildRequires: freeglut → freeglut-devel（openEuler 的 freeglut 只有运行库，
+  头文件/so 链接在 -devel；找不到系统 GLUT 时 mrpt 编内置 freeglut，会因
+  -Werror=implicit-function-declaration 失败）；新增 gtest-devel（避免编译内置
+  googletest）。
+- 本地按同一组 CMAKE_ARGS 完整验证：内层 mrpt 配置 + mrpt-config/containers/core/
+  io/random/rtti/serialization/system/expr/typemeta 全部编译通过。
 * Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.15.20-2
 - 修复 %build 期 ExternalProject 退回 git clone 导致构建失败（COPR 无外网）：
   %prep 将 CMakeLists.txt 的本地复用路径 ${CMAKE_BINARY_DIR}/../mrpt_libbase/
diff --git a/sources b/sources
index f9366ee..9bfd6f2 100644
--- a/sources
+++ b/sources
@@ -1,2 +1,4 @@
 9f9a7c42d30f686dc66bc7df3c984d65  mrpt-2.15.21.tar.gz
 a281ecc4691e3992241aa296c1f93b94  mrpt-libbase-2.15.20.tar.gz
+b7bc9c01f1408a3646a5b57feb1b7225  nanoflann-1.5.5.tar.gz
+440bd308bbc5e1c39ab0ac3db14971f1  simpleini-4.22.tar.gz