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%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)
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