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%define ros_distro humble
%define RosPkgName tiago-dual-controller-configuration
%define src_version 3.1.2-1
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 3.1.2
Release: 1%{?dist}
Summary: Configuration and launch files of TIAGo Dual 's controllers
License: Apache License 2.0
URL: https://github.com/pal-robotics/tiago_dual_robot/tree/humble-devel
Source0: %{RosPkgName}-%{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}-ament-cmake-auto
BuildRequires: ros-%{ros_distro}-launch
BuildRequires: ros-%{ros_distro}-launch-pal
BuildRequires: ros-%{ros_distro}-ros2controlcli
BuildRequires: ros-%{ros_distro}-tiago-controller-configuration
# 上游 package.xml 的 pal_module_cmake 是条件依赖（PAL 自家 distro 变量）：
# <build_depend condition="$PAL_DISTRO >= alum">pal_module_cmake</build_depend>
# 本构建环境（openEuler COPR，非 PAL_DISTRO）该条件不成立，依赖语义上不生效；
# 上游 CMakeLists.txt 亦将其写作可选依赖（if(pal_module_cmake_FOUND) ...
# elseif(DEFINED ENV{PAL_DISTRO}) message(FATAL_ERROR)），PAL_DISTRO 未定义时
# 静默跳过 module 注册，不 find_package、不报错——官方 buildfarm 的 humble
# 二进制包同样是在无该包的前提下构建的。pal_module_cmake 既不在 ros-projects.list
# 也不在 ros-upstream.list（rosdistro humble 无此包），openEuler 全部已配置源
# 均无 provider，不能凭猜测引入。故按 waived_deps.txt 显式豁免，不写进 spec。
Requires: ros-%{ros_distro}-ros-workspace
Requires: ros-%{ros_distro}-ament-cmake
Requires: ros-%{ros_distro}-launch
Requires: ros-%{ros_distro}-launch-pal
Requires: ros-%{ros_distro}-ros2controlcli
Requires: ros-%{ros_distro}-tiago-controller-configuration
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%description
Configuration and launch files of TIAGo Dual 's controllers
%prep
%autosetup -n %{RosPkgName}-%{src_version}
%build
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd tiago_dual_controller_configuration
mkdir -p .obj && cd .obj
%cmake3 \
-DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
-DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
-UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
-DSETUPTOOLS_DEB_LAYOUT=OFF \
-DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
..
make %{?_smp_mflags}
%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd tiago_dual_controller_configuration
cd .obj
make install DESTDIR=%{buildroot}
%files
/opt/ros/%{ros_distro}
%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 3.1.2-1
- Initial import (ROS batch)
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