diff options
Diffstat (limited to 'mrpt-libmath.spec')
| -rw-r--r-- | mrpt-libmath.spec | 200 |
1 files changed, 200 insertions, 0 deletions
diff --git a/mrpt-libmath.spec b/mrpt-libmath.spec new file mode 100644 index 0000000..a68cff0 --- /dev/null +++ b/mrpt-libmath.spec @@ -0,0 +1,200 @@ +%define ros_distro humble +%define RosPkgName mrpt-libmath +%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: 1%{?dist} +Summary: Mobile Robot Programming Toolkit (MRPT) libraries (math 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； +# mrpt-math 的 target_link_libraries 也直接链 nanoflann::nanoflann）， +# openEuler 官方源无系统包，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:]].*$!!g') +%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$ +%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$ + +# 本包向上依赖 ros-humble-mrpt-libbase：内层 mrpt 里 mrpt-math 直接依赖 +# mrpt-serialization / mrpt-random / mrpt-system（见 libs/math/CMakeLists.txt 的 +# define_mrpt_lib 参数），这三者由 mrpt-libbase 提供；本包内层 BUILD_mrpt-*=OFF， +# 靠 DeclareMRPTLib.cmake 的 find_package(mrpt-XXX) 分支复用已安装版本。 +BuildRequires: ros-%{ros_distro}-mrpt-libbase +BuildRequires: assimp-devel +BuildRequires: eigen3-devel +BuildRequires: ffmpeg-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 会去编内置 freeglut，因 -Werror=implicit-function-declaration 失败 +BuildRequires: freeglut-devel +BuildRequires: git +BuildRequires: gtest-devel +BuildRequires: libXrandr-devel +BuildRequires: libXxf86vm-devel +BuildRequires: libglvnd-devel +BuildRequires: libjpeg-devel +BuildRequires: libpcap-devel +BuildRequires: libudev-devel +BuildRequires: libusbx-devel +BuildRequires: libzstd-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 +Requires: ros-%{ros_distro}-mrpt-libbase +Requires: eigen3-devel +Requires: suitesparse-devel + +Provides: %{name}-devel = %{version}-%{release} +Provides: %{name}-doc = %{version}-%{release} +Provides: %{name}-runtime = %{version}-%{release} + +%description +Mobile Robot Programming Toolkit (MRPT) libraries (math C++ libraries). + This package contains: mrpt-math + +%prep +%autosetup -n %{RosPkgName}-%{src_version} +# --- 复用预置 mrpt 源码，避免 ExternalProject 在构建期 git clone ------------- +# mrpt_libmath/CMakeLists.txt 用 ExternalProject_Add(mrpt ...) 拉取上游 mrpt， +# 本地复用路径写成 ${CMAKE_BINARY_DIR}/../mrpt_libbase/mrpt-build/...，那是 ROS +# 官方 buildfarm 的目录布局（build 目录 = <ws>/build/mrpt_libmath，故其 .. 即 +# <ws>/build）。本 spec 的 CMAKE_BINARY_DIR = <top>/mrpt_libmath/.obj，同一表达式 +# 会多出一层 mrpt_libmath（<top>/mrpt_libmath/mrpt_libbase/mrpt-build），EXISTS +# 检查必然失败而退回 git clone；COPR chroot 无外网，clone 100% 失败 +# （"Could not resolve host: github.com"）。 +# 统一改写成相对 CMakeLists.txt 自身目录的 ../mrpt-build，与下面预置的 +# <top>/mrpt-build 对齐（EXISTS 检查 / SOURCE_DIR 两处）。 +sed -i 's|\${CMAKE_BINARY_DIR}/\.\./mrpt_libbase/mrpt-build|${CMAKE_CURRENT_LIST_DIR}/../mrpt-build|g' \ + mrpt_libmath/CMakeLists.txt +# 去掉 HOME==/home/buildfarm 守卫：该条件只对 buildfarm 屏蔽本地复用，去掉后 +# 复用分支在任何构建环境都成立。注意本仓库 mrpt_libmath 的条件是裸 "AND NOT +# ..."（mrpt_libbase 是 "AND (NOT ...)"，多一层括号），模式须与之逐字对应。 +sed -i 's/ AND NOT "\$ENV{HOME}" STREQUAL "\/home\/buildfarm"//' \ + mrpt_libmath/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 里的 +# 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） +# CMAKE_PREFIX_PATH 内层 mrpt 对 BUILD_mrpt-*=OFF 的兄弟库走 +# DeclareMRPTLib.cmake 的 find_package(mrpt-XXX) 分支， +# 必须能搜到 mrpt-libbase 装到 /opt/ros/<distro> 的 +# mrpt-*-config.cmake；缺了它 mrpt-math 会被静默地 +# "Disabling compilation of lib mrpt-math" 而产出空包 +sed -i 's|^\(\s*-DDISABLE_JSONCPP=ON\)$|\1\n -DMRPT_HAS_LIBFYAML=OFF\n -DMRPT_WITH_KINECT=OFF\n -DMRPT_HAS_OPENNI2=OFF\n -DMRPT_BUILD_OCTOMAP=OFF\n -DCMAKE_PREFIX_PATH=/opt/ros/%{ros_distro}|' \ + mrpt_libmath/CMakeLists.txt +# 预置 ExternalProject 的 SOURCE_DIR：<top>/mrpt-build/src/mrpt +mkdir -p mrpt-build/src +tar -xzf %{SOURCE1} -C mrpt-build/src +mv mrpt-build/src/mrpt-%{mrpt_version} mrpt-build/src/mrpt +# GitHub archive tarball 不含 git submodule 内容，而上游 mrpt 顶层 CMakeLists.txt +# 有无条件存在性检查（3rdparty/nanogui/include、3rdparty/rplidar_sdk/sdk/src）， +# 缺失即 FATAL_ERROR "git submodules missing!"。补空目录绕过；这两个子项目在内层 +# CMAKE_ARGS 里已分别用 -DMRPT_BUILD_nanogui=OFF / -DMRPT_BUILD_rplidar_sdk=OFF +# 关闭，不会被真正编译。 +mkdir -p mrpt-build/src/mrpt/3rdparty/nanogui/include \ + mrpt-build/src/mrpt/3rdparty/rplidar_sdk/sdk/src +# 填充 mrpt 的两个必需 submodule（见 Source2/Source3 说明）：nanoflann 供内层 +# CMake 自建（头文件库，mrpt-math 直接链接），simpleini 仅作为 mrpt-config 的 +# include 目录。 +rm -rf mrpt-build/src/mrpt/3rdparty/nanoflann mrpt-build/src/mrpt/3rdparty/simpleini +mkdir -p mrpt-build/src/mrpt/3rdparty/nanoflann mrpt-build/src/mrpt/3rdparty/simpleini +tar -xzf %{SOURCE2} -C mrpt-build/src/mrpt/3rdparty/nanoflann --strip-components=1 +tar -xzf %{SOURCE3} -C mrpt-build/src/mrpt/3rdparty/simpleini --strip-components=1 +# Override the version cmake reads from package.xml to match the pre-fetched source +echo 'set(MRPT_VERSION_TO_DOWNLOAD "%{mrpt_version}")' > override_mrpt_version.cmake + +%build +[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true +export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} +export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} +cd mrpt_libmath +mkdir -p .obj && cd .obj +%cmake3 \ + -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \ + -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \ + -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \ + -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \ + -DMRPT_WITH_FREENECT=OFF \ + -DMRPT_WITH_OPENNI2=OFF \ + -DMRPT_WITH_GLFW=OFF \ + -DMRPT_BUILD_wxThings=OFF \ + .. +# 闸门：cmake 生成 mrpt-gitclone.cmake 即表示未复用 %prep 预置的 mrpt 源码， +# 构建期将 git clone（COPR chroot 无外网，必然失败）。这里提前失败并给出明确 +# 原因，避免又白烧一轮 COPR 构建。 +if [ -e mrpt-build/tmp/mrpt-gitclone.cmake ]; then + echo "ERROR: cmake 准备 git clone mrpt —— %prep 预置源码未被复用，请检查预置路径" >&2 + exit 1 +fi +make %{?_smp_mflags} + +%install +[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true +export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} +export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} +cd mrpt_libmath +cd .obj +make install DESTDIR=%{buildroot} + +%files +/opt/ros/%{ros_distro} + +%changelog +* Tue Sep 22 2026 ai-importer <ai-importer@openeuler.org> - 2.15.20-1 +- 依赖预检无 provider 修复（7 个缺口全部对齐既有的 + ros-humble-mrpt-libbase-2.15.20-3 处置方式；这些名字在 openEuler 官方源 / + EPOL / ROS SIG 外挂源均查无 provider）： + * Debian 名修正：libxxf86vm → libXxf86vm-devel。 + * libfreenect-devel / libopenni2-dev / libglfw3-dev / wx-common / wxwidgets / + nanoflann_vendor 从 BuildRequires 移除，改为关掉内层 mrpt 对应特性： + -DMRPT_WITH_KINECT=OFF / -DMRPT_HAS_OPENNI2=OFF / -DMRPT_WITH_GLFW=OFF / + -DMRPT_BUILD_wxThings=OFF；nanoflann 改用 Source2 喂 3rdparty/nanoflann + （mrpt 的强制依赖，openEuler 无系统包）。这些条目在 mrpt_libmath/package.xml + 里本就自注为 "not actually required by this ROS package, but we need them + for the mrpt/config.h to reflect we have such feature"，只影响 config.h 的 + 特性开关，mrpt-math 本体并不使用。 + * 按既有基线补齐 openEuler 实际可用的 devel 包：freeglut → freeglut-devel、 + libjpeg → libjpeg-devel，新增 libglvnd-devel / mesa-libGLU-devel / + libzstd-devel / tbb-devel / gtest-devel / git。 +- 修复构建期 ExternalProject 退回 git clone（COPR chroot 无外网必失败）： + %prep 预置 mrpt 源码到 <top>/mrpt-build/src/mrpt，并把 CMakeLists.txt 的本地 + 复用路径改写为 ${CMAKE_CURRENT_LIST_DIR}/../mrpt-build、移除 buildfarm HOME + 守卫；补 3rdparty/nanogui/include 与 3rdparty/rplidar_sdk/sdk/src 空目录绕过 + 上游 "git submodules missing!" 致命检查；Source2/Source3 填入 nanoflann 与 + simpleini；%build 增加 gitclone 闸门。 +- 内层 mrpt 的 CMAKE_ARGS 注入 -DCMAKE_PREFIX_PATH=/opt/ros/%{ros_distro}： + mrpt-math 依赖 mrpt-serialization/mrpt-random/mrpt-system，而本包内层 + BUILD_mrpt-*=OFF，靠 DeclareMRPTLib.cmake 的 find_package(mrpt-XXX) 复用 + mrpt-libbase 已安装版本；命中不了时 mrpt-math 会被静默禁用、产出空包。 |