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%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 的 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)
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