%define ros_distro humble %define RosPkgName mrpt-libbase %define src_version 2.15.20 %define mrpt_version 2.15.21 Name: ros-%{ros_distro}-%{RosPkgName} Version: 2.15.20 Release: 2%{?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 %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: assimp-devel BuildRequires: eigen3-devel BuildRequires: ffmpeg-devel BuildRequires: freeglut BuildRequires: git BuildRequires: libXrandr-devel BuildRequires: libXxf86vm-devel BuildRequires: libpcap-devel BuildRequires: libudev-devel BuildRequires: libusbx-devel BuildRequires: libjpeg-devel BuildRequires: libzstd-devel BuildRequires: libglvnd-devel BuildRequires: mesa-libGL-devel BuildRequires: mesa-libGLU-devel BuildRequires: opencv BuildRequires: pkgconfig BuildRequires: pybind11-devel BuildRequires: suitesparse-devel BuildRequires: tbb-devel BuildRequires: tinyxml2-devel BuildRequires: zlib-devel BuildRequires: cmake Requires: ros-%{ros_distro}-ros-workspace Provides: %{name}-devel = %{version}-%{release} Provides: %{name}-doc = %{version}-%{release} Provides: %{name}-runtime = %{version}-%{release} %description Mobile Robot Programming Toolkit (MRPT) libraries (core C++ libraries). This package contains: mrpt-io, mrpt-serialization, mrpt-random, mrpt-system, mrpt-rtti, mrpt-containers, mrpt-typemeta, mrpt-core, mrpt-random, mrpt-config, mrpt-expr %prep %autosetup -n %{RosPkgName}-%{src_version} # --- 复用预置 mrpt 源码，避免 ExternalProject 在构建期 git clone ------------- # mrpt_libbase/CMakeLists.txt 用 ExternalProject_Add(mrpt ...) 拉取上游 mrpt， # 本地复用路径写成 ${CMAKE_BINARY_DIR}/../mrpt_libbase/mrpt-build/...，那是 ROS # 官方 buildfarm 的目录布局（build 目录 = /build/mrpt_libbase，故其 .. 即 # /build）。本 spec 的 CMAKE_BINARY_DIR = /mrpt_libbase/.obj，同一表达式 # 会多出一层 mrpt_libbase（/mrpt_libbase/mrpt_libbase/mrpt-build），EXISTS # 检查必然失败而退回 git clone；COPR chroot 无外网，clone 100% 失败 # （build 112429/112431/112435/112438 连续四轮的根因，日志均为 # "Could not resolve host: github.com"）。 # 统一改写成相对 CMakeLists.txt 自身目录的 ../mrpt-build，与下面 %prep 的预置 # 目录 /mrpt-build 对齐（VERSION_CACHE / EXISTS 检查 / SOURCE_DIR 三处）。 sed -i 's|\${CMAKE_BINARY_DIR}/\.\./mrpt_libbase/mrpt-build|${CMAKE_CURRENT_LIST_DIR}/../mrpt-build|g' \ mrpt_libbase/CMakeLists.txt # 去掉 HOME==/home/buildfarm 守卫：该条件只对 buildfarm 屏蔽本地复用，COPR 里 # 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 # 预置 ExternalProject 的 SOURCE_DIR：/mrpt-build/src/mrpt mkdir -p mrpt-build/src tar -xzf %{SOURCE1} -C mrpt-build/src mv mrpt-build/src/mrpt-%{mrpt_version} mrpt-build/src/mrpt # 版本缓存：cmake 读取 /mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt，内容必须与 # MRPT_VERSION_TO_DOWNLOAD 完全一致（无换行）才走复用分支。 echo -n "%{mrpt_version}" > mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt # GitHub archive tarball 不含 git submodule 内容，而上游 mrpt 顶层 CMakeLists.txt # 第 49-55 行有无条件存在性检查（3rdparty/nanogui/include、3rdparty/rplidar_sdk/ # sdk/src），缺失即 FATAL_ERROR "git submodules missing!"。补空目录绕过；两个 # 子项目在内层 CMAKE_ARGS 里已分别用 -DMRPT_BUILD_nanogui=OFF / # -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 # 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 %build [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || 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 mrpt_libbase 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 \ -DMRPT_WITH_FREENECT=OFF \ -DMRPT_WITH_OPENNI2=OFF \ -DMRPT_WITH_GLFW=OFF \ -DMRPT_BUILD_wxThings=OFF \ .. # 闸门：cmake 生成 mrpt-gitclone.cmake 即表示未复用 %prep 预置的 mrpt 源码， # 构建期将 git clone（COPR chroot 无外网，必然失败）。这里提前失败并给出明确 # 原因，避免又白烧一轮 COPR 构建。 if [ -e mrpt-build/tmp/mrpt-gitclone.cmake ]; then echo "ERROR: cmake 准备 git clone mrpt —— %prep 预置源码未被复用，请检查预置路径" >&2 exit 1 fi make %{?_smp_mflags} %install [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || 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 mrpt_libbase cd .obj make install DESTDIR=%{buildroot} %files /opt/ros/%{ros_distro} %changelog * Mon Sep 21 2026 ai-importer - 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/ mrpt-build 改写为 ${CMAKE_CURRENT_LIST_DIR}/../mrpt-build，并把预置 mrpt 源码 放到与之对齐的 /mrpt-build/（原路径多一层 mrpt_libbase，EXISTS 检查必然 失败）；保留去掉 HOME==/home/buildfarm 守卫的补丁。 - 补 3rdparty/nanogui/include 与 3rdparty/rplidar_sdk/sdk/src 空目录，绕过上游 mrpt 顶层 CMakeLists.txt:51 的 "git submodules missing!" 致命检查（GitHub archive tarball 不含 submodule 内容；两者内层已 MRPT_BUILD_*=OFF）。 - 新增 BuildRequires: libglvnd-devel、mesa-libGLU-devel（mesa-libGL-devel 已有）， 满足 mrpt 对 OpenGL/GLU 的 find_package 探测。 - %build 增加闸门：若 cmake 生成 mrpt-gitclone.cmake 则立即失败并提示原因。 * Mon Sep 21 2026 ai-importer - 2.15.20-1 - Initial import (ROS batch)