1 files changed, 85 insertions, 0 deletions
diff --git a/tiago-dual-description.spec b/tiago-dual-description.spec
new file mode 100644
index 0000000..3324d7b
--- /dev/null
+++ b/tiago-dual-description.spec
@@ -0,0 +1,85 @@
+%define ros_distro humble
+%define RosPkgName tiago-dual-description
+%define src_version 3.1.2
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        3.1.2
+Release:        1%{?dist}
+Summary:        This package contains the description (mechanical, kinematic, visual, etc.) of 
+License:        Apache License 2.0
+URL:            https://github.com/pal-robotics/tiago_dual_robot.git
+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}-ament-cmake-python
+BuildRequires:  ros-%{ros_distro}-pal-gripper-description
+BuildRequires:  ros-%{ros_distro}-pmb2-description
+BuildRequires:  ros-%{ros_distro}-robot-state-publisher
+BuildRequires:  ros-%{ros_distro}-tiago-description
+BuildRequires:  ros-%{ros_distro}-xacro
+BuildRequires:  ros-%{ros_distro}-pal-hey5-description
+BuildRequires:  ros-%{ros_distro}-pal-robotiq-description
+# pal_module_cmake 在 package.xml 中受 condition="$PAL_DISTRO >= alum" 约束，
+# 该变量在 openEuler 构建环境未定义 → 依赖不生效，上游 CMakeLists 亦为静默降级
+# （仅 DEFINED ENV{PAL_DISTRO} 时才 FATAL_ERROR）。故不引入，见 waived_deps.txt
+
+Requires:       ros-%{ros_distro}-ros-workspace
+Requires:       ros-%{ros_distro}-ament-cmake
+Requires:       ros-%{ros_distro}-pal-gripper-description
+Requires:       ros-%{ros_distro}-pmb2-description
+Requires:       ros-%{ros_distro}-robot-state-publisher
+Requires:       ros-%{ros_distro}-tiago-description
+Requires:       ros-%{ros_distro}-xacro
+Requires:       ros-%{ros_distro}-pal-hey5-description
+Requires:       ros-%{ros_distro}-pal-robotiq-description
+
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+%description
+This package contains the description (mechanical, kinematic, visual,
+      etc.) of the TIAGO robot.  The files in this package are parsed and used by
+      a variety of other components.  Most users will not interact directly
+      with this package.
+
+%prep
+%autosetup -n %{RosPkgName}-%{src_version}
+
+%build
+[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
+export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
+export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
+cd tiago_dual_description
+mkdir -p .obj && cd .obj
+%cmake3 \
+    -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
+    -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
+    -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
+    -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
+    ..
+make %{?_smp_mflags}
+
+%install
+[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
+export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
+export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
+cd tiago_dual_description
+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)