1 files changed, 32 insertions, 8 deletions
diff --git a/moveit-core.spec b/moveit-core.spec
index 3e808a4..82a9d52 100644
--- a/moveit-core.spec
+++ b/moveit-core.spec
@@ -116,35 +116,59 @@ Core libraries used by MoveIt
 %autosetup -c -n %{name}-%{version}
 
 %build
+# Needed to bootstrap since the ros_workspace package does not yet exist.
+export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
 
 # In case we're installing to a non-standard location, look for a setup.sh
 # in the install tree and source it.  It will set things like
 # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi
-cd %{RosPkgName}-%{version}
-%py3_build
+mkdir -p .obj-%{_target_platform} && cd .obj-%{_target_platform}
+%cmake3 \
+    -UINCLUDE_INSTALL_DIR \
+    -ULIB_INSTALL_DIR \
+    -USYSCONF_INSTALL_DIR \
+    -USHARE_INSTALL_PREFIX \
+    -ULIB_SUFFIX \
+    -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
+    -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
+    -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+%if !0%{?with_tests}
+    -DBUILD_TESTING=OFF \
+%endif
+    ../%{RosPkgName}-%{version}
+
+%make_build
 
 %install
+# Needed to bootstrap since the ros_workspace package does not yet exist.
+export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
+
 # In case we're installing to a non-standard location, look for a setup.sh
 # in the install tree and source it.  It will set things like
 # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi
-cd %{RosPkgName}-%{version}
-%py3_install -- --prefix "/opt/ros/%{ros_distro}"
+%make_install -C .obj-%{_target_platform}
 
 %if 0%{?with_tests}
 %check
-# Look for a directory with a name indicating that it contains tests
-TEST_TARGET=$(ls -d * | grep -m1 "\(test\|tests\)" ||:)
-if [ -n "$TEST_TARGET" ] && %__python3 -m pytest --version; then
+# Needed to bootstrap since the ros_workspace package does not yet exist.
+export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages
+
+# Look for a Makefile target with a name indicating that it runs tests
+TEST_TARGET=$(%__make -qp -C .obj-%{_target_platform} | sed "s/^\(test\|check\):.*/\\1/;t f;d;:f;q0")
+if [ -n "$TEST_TARGET" ]; then
 # In case we're installing to a non-standard location, look for a setup.sh
 # in the install tree and source it.  It will set things like
 # CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi
-%__python3 -m pytest $TEST_TARGET || echo "RPM TESTS FAILED"
+CTEST_OUTPUT_ON_FAILURE=1 \
+    %make_build -C .obj-%{_target_platform} $TEST_TARGET || echo "RPM TESTS FAILED"
 else echo "RPM TESTS SKIPPED"; fi
 %endif
 
+
 %files
 /opt/ros/%{ros_distro}