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%define ros_distro humble
%define RosPkgName opennav-docking
# 上游 monorepo 归档根目录用下划线，与 RPM 名（连字符）解耦
%define src_name opennav_docking
%define src_version 0.0.2
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 0.0.2
Release: 1%{?dist}
Summary: A Task Server for robot charger docking
License: Apache-2.0
URL: https://github.com/open-navigation/opennav_docking
Source0: https://github.com/open-navigation/opennav_docking/archive/refs/tags/%{src_version}.tar.gz#/%{src_name}-%{src_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: cmake
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-angles
BuildRequires: ros-%{ros_distro}-builtin-interfaces
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-nav-2d-utils
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-nav2-costmap-2d
BuildRequires: ros-%{ros_distro}-nav2-msgs
BuildRequires: ros-%{ros_distro}-nav2-util
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rclcpp-action
BuildRequires: ros-%{ros_distro}-rclcpp-lifecycle
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-tf2-ros
BuildRequires: ros-%{ros_distro}-yaml-cpp-vendor
BuildRequires: ros-%{ros_distro}-nav2-graceful-controller
BuildRequires: ros-%{ros_distro}-opennav-docking-core
BuildRequires: ros-%{ros_distro}-opennav-docking-msgs
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-angles
Requires: ros-%{ros_distro}-builtin-interfaces
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-nav-2d-utils
Requires: ros-%{ros_distro}-nav-msgs
Requires: ros-%{ros_distro}-nav2-costmap-2d
Requires: ros-%{ros_distro}-nav2-msgs
Requires: ros-%{ros_distro}-nav2-util
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rclcpp-action
Requires: ros-%{ros_distro}-rclcpp-lifecycle
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-tf2-ros
Requires: ros-%{ros_distro}-yaml-cpp-vendor
Requires: ros-%{ros_distro}-nav2-graceful-controller
Requires: ros-%{ros_distro}-opennav-docking-core
Requires: ros-%{ros_distro}-opennav-docking-msgs
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
A Task Server for robot charger docking
%prep
# 归档根目录为 opennav_docking-0.0.2（下划线，monorepo tag 归档实测）
%autosetup -n %{src_name}-%{src_version}
%build
source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || 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}
# monorepo：进入 opennav_docking 子包目录构建
cd %{src_name}
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 \
..
make %{?_smp_mflags}
%install
source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || 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 %{src_name}/.obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Fri Sep 18 2026 ai-importer <ai-importer@openeuler.org> - 0.0.2-1
- Initial import (ROS batch)
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