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| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | pandar-msgs.spec | 86 | ||||
| -rw-r--r-- | sources | 1 |
3 files changed, 88 insertions, 0 deletions
@@ -0,0 +1 @@ +/pandar-msgs-1.2.0.tar.gz diff --git a/pandar-msgs.spec b/pandar-msgs.spec new file mode 100644 index 0000000..03d618f --- /dev/null +++ b/pandar-msgs.spec @@ -0,0 +1,86 @@ +%define ros_distro humble +%define RosPkgName pandar-msgs + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 1.2.0 +Release: 1%{?dist} +Summary: ROS message definitions for Hesai Pandar LiDAR sensors +License: Apache-2.0 +URL: https://github.com/tier4/nebula +%global commit 26749c80dff89f39000a9817141143c05ec151ab +Source0: https://github.com/tier4/nebula/archive/%{commit}.tar.gz#/pandar-msgs-%{version}.tar.gz + +# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），SIG 模板统一关闭 +%global debug_package %{nil} +# /opt 下 python 字节码编译会写标准 sitelib 路径，摘掉 brp-python-bytecompile +%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g') +# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代） +%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$ +%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$ + +BuildRequires: cmake +BuildRequires: gcc-c++ +BuildRequires: make +BuildRequires: ros-%{ros_distro}-ament-cmake +BuildRequires: ros-%{ros_distro}-autoware-cmake +BuildRequires: ros-%{ros_distro}-rosidl-default-generators +BuildRequires: ros-%{ros_distro}-builtin-interfaces +BuildRequires: ros-%{ros_distro}-std-msgs + +Requires: ros-%{ros_distro}-ros-workspace +Requires: ros-%{ros_distro}-ament-cmake +Requires: ros-%{ros_distro}-rosidl-default-runtime +Requires: ros-%{ros_distro}-builtin-interfaces +Requires: ros-%{ros_distro}-std-msgs + +Provides: %{name}-devel = %{version}-%{release} +Provides: %{name}-doc = %{version}-%{release} +Provides: %{name}-runtime = %{version}-%{release} + +%description +ROS message definition for the Hesai PandarQT/Pandar64/Pandar40P/Pandar20A/Pandar20B/Pandar40M +LiDAR sensor. + +This package provides the message interfaces (PandarPacket, PandarScan, +PandarJumboPacket) used by the nebula Hesai LiDAR driver stack. + +%prep +%autosetup -n %{RosPkgName}-%{version} + +%build +# ROS 基座环境（chroot 已配置 ROS SIG repo；无 ROS 依赖的包 buildroot 里 +# 可能没有 setup.sh，必须用 [ -f ] 守卫——直接 source 不存在的文件在 +# 严格 sh 下会中止整个 %build 脚本，|| true 挡不住） +[ -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} + +# pandar_msgs 是 nebula 单仓库内的子包，位于 src/nebula_hesai/pandar_msgs/ +cd src/nebula_hesai/pandar_msgs +mkdir -p .obj +cd .obj +# 显式 out-of-source 构建（spec-rules-ros.md §5：避免 openEuler %cmake 宏位置参数坑） +cmake .. \ + -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_build + +%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 src/nebula_hesai/pandar_msgs/.obj +%make_install + +%files +# 单包整树拥有（spec-rules-ros.md §7）：对「装了没打包」类错误免疫 +/opt/ros/%{ros_distro} + +%changelog +* Wed Sep 23 2026 ROS SIG <ros-sig@openeuler.org> - 1.2.0-1 +- Initial package for ros-humble-pandar-msgs (pandar_msgs 1.2.0) @@ -0,0 +1 @@ +6051125a0af93c87e433c197663dfd80 pandar-msgs-1.2.0.tar.gz |