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%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: 1%{?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: mesa-libGL-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}
# Pre-populate the ExternalProject SOURCE_DIR so cmake does not attempt a git clone.
# CMakeLists.txt checks: ${CMAKE_BINARY_DIR}/../mrpt_libbase/mrpt-build/src/mrpt/CMakeLists.txt
# With CMAKE_BINARY_DIR = <builddir>/mrpt_libbase/.obj the resolved path is:
# <builddir>/mrpt_libbase/mrpt-build/src/mrpt/
mkdir -p mrpt_libbase/mrpt-build/src
tar -xzf %{SOURCE1} -C mrpt_libbase/mrpt-build/src
mv mrpt_libbase/mrpt-build/src/mrpt-%{mrpt_version} mrpt_libbase/mrpt-build/src/mrpt
# Write the version cache file so cmake treats the pre-populated tree as current
# VERSION_CACHE = ${CMAKE_BINARY_DIR}/../mrpt_libbase/mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt
# CMAKE_BINARY_DIR = <srcdir>/mrpt_libbase/.obj，所以实际路径为 mrpt_libbase/mrpt-build/
echo -n "%{mrpt_version}" > mrpt_libbase/mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt
# Override the version cmake reads from package.xml to match the pre-fetched source
echo 'set(MRPT_VERSION_TO_DOWNLOAD "%{mrpt_version}")' > override_mrpt_version.cmake
%build
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
# CMakeLists.txt 用 $ENV{HOME}==/home/buildfarm 判断是否跳过 git clone，
# 在 COPR 构建环境中 HOME=/root，需强制设置以复用 %prep 预置的 mrpt 源码
export HOME=/home/buildfarm
cd mrpt_libbase
mkdir -p .obj && cd .obj
%cmake3 \
-DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
-DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
-DSETUPTOOLS_DEB_LAYOUT=OFF \
-DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
-DMRPT_WITH_FREENECT=OFF \
-DMRPT_WITH_OPENNI2=OFF \
-DMRPT_WITH_GLFW=OFF \
-DMRPT_BUILD_wxThings=OFF \
..
make %{?_smp_mflags}
%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${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 <ai-importer@openeuler.org> - 2.15.20-1
- Initial import (ROS batch)
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