diff options
| -rw-r--r-- | .gitignore | 4 | ||||
| -rw-r--r-- | mrpt-libtclap.spec | 166 | ||||
| -rw-r--r-- | sources | 4 |
3 files changed, 174 insertions, 0 deletions
@@ -0,0 +1,4 @@ +/mrpt-2.15.21.tar.gz +/mrpt-libtclap-2.15.21-2.tar.gz +/nanoflann-1.5.5.tar.gz +/simpleini-4.22.tar.gz diff --git a/mrpt-libtclap.spec b/mrpt-libtclap.spec new file mode 100644 index 0000000..b1f489e --- /dev/null +++ b/mrpt-libtclap.spec @@ -0,0 +1,166 @@ +%define ros_distro humble +%define RosPkgName mrpt-libtclap +%define src_version 2.15.21-2 +%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: 2.15.21 +Release: 1%{?dist} +Summary: Mobile Robot Programming Toolkit (MRPT) libraries (tclap C++ library) +License: BSD +URL: https://github.com/MRPT/mrpt_ros/tree/main +Source0: %{RosPkgName}-%{src_version}.tar.gz +# mrpt upstream source: 预取，避免 ExternalProject 在构建期 git clone（COPR chroot 无外网） +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，构建期无法克隆，须随 SRPM 携带）： +# nanoflann —— script_nanoflann.cmake 在找不到系统包时对 3rdparty/nanoflann 跑 +# cmake，而 GitHub archive tarball 里该目录为空目录 → FATAL_ERROR +# simpleini —— mrpt-config 的 include 目录（与已成功构建的 mrpt-libbase 同款处置） +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}/.*$ + +BuildRequires: ros-%{ros_distro}-mrpt-libbase +BuildRequires: assimp-devel +BuildRequires: cmake +BuildRequires: eigen3-devel +BuildRequires: ffmpeg-devel +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 + +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 (tclap C++ library). + This package contains: mrpt-tclap + +%prep +%autosetup -n %{RosPkgName}-%{src_version} +# --- 复用预置 mrpt 源码，避免 ExternalProject 在构建期 git clone ----------------- +# mrpt_libtclap/CMakeLists.txt 用 ExternalProject_Add(mrpt ...) 拉取上游 mrpt，本地 +# 复用路径写成 ${CMAKE_BINARY_DIR}/../mrpt_libbase/mrpt-build/...，那是 ROS 官方 +# buildfarm 的目录布局（build 目录 = <ws>/build/mrpt_libtclap，故其 .. 即 <ws>/build）。 +# 本 spec 的 CMAKE_BINARY_DIR = <top>/mrpt_libtclap/.obj，同一表达式会多出一层 +# mrpt_libtclap（<top>/mrpt_libtclap/mrpt_libtclap/mrpt-build），EXISTS 检查必然 +# 失败而退回 git clone；COPR chroot 无外网，clone 100% 失败。统一改写成相对 +# CMakeLists.txt 自身目录的 ../mrpt-build，与下面预置的 <top>/mrpt-build 对齐。 +sed -i 's|\${CMAKE_BINARY_DIR}/\.\./mrpt_libbase/mrpt-build|${CMAKE_CURRENT_LIST_DIR}/../mrpt-build|g' \ + mrpt_libtclap/CMakeLists.txt +# 去掉 HOME==/home/buildfarm 守卫：该条件只对官方 buildfarm 屏蔽本地复用，COPR 里 +# HOME 并非 /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_libtclap/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 +# 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） +sed -i 's|^\(\s*-DDISABLE_JSONCPP=ON\)$|\1\n -DMRPT_HAS_LIBFYAML=OFF\n -DMRPT_WITH_KINECT=OFF\n -DMRPT_HAS_OPENNI2=OFF\n -DMRPT_BUILD_OCTOMAP=OFF|' \ + mrpt_libtclap/CMakeLists.txt +# 预置 ExternalProject 的 SOURCE_DIR：<top>/mrpt-build/src/mrpt +mkdir -p mrpt-build/src +tar -xzf %{SOURCE1} -C mrpt-build/src +mv mrpt-build/src/mrpt-%{mrpt_version} mrpt-build/src/mrpt +echo -n "%{mrpt_version}" > mrpt-build/MRPT_VERSION_TO_DOWNLOAD.txt +# GitHub archive tarball 不含 git submodule 内容，而上游 mrpt 顶层 CMakeLists.txt +# 有无条件存在性检查（3rdparty/nanogui/include、3rdparty/rplidar_sdk/sdk/src）， +# 缺失即 FATAL_ERROR "git submodules missing!"。补空目录绕过；两个子项目在内层 +# CMAKE_ARGS 里已分别用 -DMRPT_BUILD_nanogui=OFF / -DMRPT_BUILD_rplidar_sdk=OFF 关闭。 +mkdir -p mrpt-build/src/mrpt/3rdparty/nanogui/include \ + mrpt-build/src/mrpt/3rdparty/rplidar_sdk/sdk/src +# 填充 mrpt 的两个必需 submodule（见 Source2/Source3 说明） +rm -rf mrpt-build/src/mrpt/3rdparty/nanoflann mrpt-build/src/mrpt/3rdparty/simpleini +mkdir -p mrpt-build/src/mrpt/3rdparty/nanoflann mrpt-build/src/mrpt/3rdparty/simpleini +tar -xzf %{SOURCE2} -C mrpt-build/src/mrpt/3rdparty/nanoflann --strip-components=1 +tar -xzf %{SOURCE3} -C mrpt-build/src/mrpt/3rdparty/simpleini --strip-components=1 +# Override the version cmake reads from package.xml to match the pre-fetched source +echo 'set(MRPT_VERSION_TO_DOWNLOAD "%{mrpt_version}")' > override_mrpt_version.cmake + +%build +[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true +export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} +export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} +cd mrpt_libtclap +mkdir -p .obj && cd .obj +%cmake3 \ + -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \ + -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \ + -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \ + -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \ + -DMRPT_WITH_FREENECT=OFF \ + -DMRPT_WITH_OPENNI2=OFF \ + -DMRPT_WITH_GLFW=OFF \ + -DMRPT_BUILD_wxThings=OFF \ + .. +# 闸门：cmake 生成 mrpt-gitclone.cmake 即表示未复用 %prep 预置的 mrpt 源码，构建期 +# 将 git clone（COPR chroot 无外网，必然失败）。提前失败并给出明确原因，避免白烧 +# 一轮 COPR 构建。 +if [ -e mrpt-build/tmp/mrpt-gitclone.cmake ]; then + echo "ERROR: cmake 准备 git clone mrpt —— %prep 预置源码未被复用，请检查预置路径" >&2 + exit 1 +fi +make %{?_smp_mflags} + +%install +[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true +export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} +export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} +cd mrpt_libtclap +cd .obj +make install DESTDIR=%{buildroot} + +%files +/opt/ros/%{ros_distro} + +%changelog +* Tue Sep 22 2026 ai-importer <ai-importer@openeuler.org> - 2.15.21-1 +- Rebase to 2.15.21-2 (ROS batch import) +* Tue Sep 22 2026 ai-importer <ai-importer@openeuler.org> - 2.15.21-1 +- 依赖预检修复：删除在 openEuler 全部已配置源（官方 everything/update/EPOL + + ROS SIG 外挂源）均无 provider 的 rosdep 键/裸名（libfreenect-devel、 + libglfw3-dev、libopenni2-dev、libxxf86vm、libjpeg、nanoflann_vendor、 + wx-common、wxwidgets、freeglut、python3-pip）——mrpt 上游 cmake 对它们均为 + 可选特性探测，本包只构建 mrpt-tclap 粒度用不到；对应豁免见 waived_deps.txt。 + 改名补入 openEuler 真实包：freeglut-devel、libjpeg-devel、libXxf86vm-devel、 + libglvnd-devel、mesa-libGLU-devel、libzstd-devel、tbb-devel、gtest-devel、git。 +- 离线构建支持（对齐已成功构建的 mrpt-libbase）：Source1 预取 mrpt 2.15.21 源码 + 喂 ExternalProject 的 SOURCE_DIR，避免 COPR chroot 无外网时 git clone 失败； + Source2/Source3 补 nanoflann 1.5.5 与 simpleini 4.22 两个 submodule。 +- 内层 mrpt 注入 -DMRPT_HAS_LIBFYAML=OFF / -DMRPT_WITH_KINECT=OFF / + -DMRPT_HAS_OPENNI2=OFF / -DMRPT_BUILD_OCTOMAP=OFF。
\ No newline at end of file @@ -0,0 +1,4 @@ +9f9a7c42d30f686dc66bc7df3c984d65 mrpt-2.15.21.tar.gz +2fcd536474b61728cd8a30f0109ac2a1 mrpt-libtclap-2.15.21-2.tar.gz +b7bc9c01f1408a3646a5b57feb1b7225 nanoflann-1.5.5.tar.gz +440bd308bbc5e1c39ab0ac3db14971f1 simpleini-4.22.tar.gz |