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-rw-r--r--moveit-core.spec81
1 files changed, 25 insertions, 56 deletions
diff --git a/moveit-core.spec b/moveit-core.spec
index 4b298b2..3e808a4 100644
--- a/moveit-core.spec
+++ b/moveit-core.spec
@@ -1,8 +1,9 @@
-%bcond_without tests
+%bcond_with tests
%bcond_without weak_deps
%define ros_distro humble
+%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}/.*$
@@ -11,49 +12,45 @@
Name: ros-%{ros_distro}-%{RosPkgName}
Version: 2.5.9
-Release: 1%{?dist}%{?release_suffix}
+Release: 3%{?dist}%{?release_suffix}
Summary: Core libraries used by MoveIt
-Url: http://moveit.ros.org
-License: BSD-3-Clause
+Url: http://moveit.ai
+License: BSD
Source0: %{RosPkgName}-%{version}.tar.gz
-Patch0: moveit-core-fix-generate-parameter-library-include-path.patch
Requires: ros-%{ros_distro}-angles
Requires: assimp-devel
Requires: boost-devel
Requires: bullet-devel
Requires: ros-%{ros_distro}-common-interfaces
-Requires: eigen3-devel
Requires: ros-%{ros_distro}-eigen-stl-containers
+Requires: eigen3-devel
Requires: ros-%{ros_distro}-generate-parameter-library
Requires: ros-%{ros_distro}-geometric-shapes
Requires: ros-%{ros_distro}-geometry-msgs
-Requires: ros-%{ros_distro}-google-benchmark-vendor
Requires: ros-%{ros_distro}-kdl-parser
Requires: fcl-devel
Requires: ros-%{ros_distro}-moveit-common
Requires: ros-%{ros_distro}-moveit-msgs
-Requires: octomap-devel
Requires: ros-%{ros_distro}-octomap-msgs
-Requires: ros-%{ros_distro}-osqp-vendor
+Requires: ros-%{ros_distro}-octomap
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-random-numbers
Requires: ros-%{ros_distro}-rclcpp
-Requires: ros-%{ros_distro}-rsl
Requires: ros-%{ros_distro}-ruckig
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-shape-msgs
Requires: ros-%{ros_distro}-srdfdom
Requires: ros-%{ros_distro}-std-msgs
-Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-tf2-eigen
Requires: ros-%{ros_distro}-tf2-geometry-msgs
Requires: ros-%{ros_distro}-tf2-kdl
+Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-trajectory-msgs
Requires: ros-%{ros_distro}-urdf
-Requires: ros-%{ros_distro}-urdfdom
Requires: ros-%{ros_distro}-urdfdom-headers
+Requires: ros-%{ros_distro}-urdfdom
Requires: ros-%{ros_distro}-visualization-msgs
Requires: ros-%{ros_distro}-eigen3-cmake-module
Requires: ros-%{ros_distro}-ros-workspace
@@ -63,36 +60,33 @@ BuildRequires: assimp-devel
BuildRequires: boost-devel
BuildRequires: bullet-devel
BuildRequires: ros-%{ros_distro}-common-interfaces
-BuildRequires: eigen3-devel
BuildRequires: ros-%{ros_distro}-eigen-stl-containers
+BuildRequires: eigen3-devel
BuildRequires: ros-%{ros_distro}-generate-parameter-library
BuildRequires: ros-%{ros_distro}-geometric-shapes
BuildRequires: ros-%{ros_distro}-geometry-msgs
-BuildRequires: ros-%{ros_distro}-google-benchmark-vendor
BuildRequires: ros-%{ros_distro}-kdl-parser
BuildRequires: fcl-devel
BuildRequires: ros-%{ros_distro}-moveit-common
BuildRequires: ros-%{ros_distro}-moveit-msgs
-BuildRequires: octomap-devel
BuildRequires: ros-%{ros_distro}-octomap-msgs
-BuildRequires: ros-%{ros_distro}-osqp-vendor
+BuildRequires: ros-%{ros_distro}-octomap
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-random-numbers
BuildRequires: ros-%{ros_distro}-rclcpp
-BuildRequires: ros-%{ros_distro}-rsl
BuildRequires: ros-%{ros_distro}-ruckig
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-shape-msgs
BuildRequires: ros-%{ros_distro}-srdfdom
BuildRequires: ros-%{ros_distro}-std-msgs
-BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-tf2-eigen
BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires: ros-%{ros_distro}-tf2-kdl
+BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-trajectory-msgs
BuildRequires: ros-%{ros_distro}-urdf
-BuildRequires: ros-%{ros_distro}-urdfdom
BuildRequires: ros-%{ros_distro}-urdfdom-headers
+BuildRequires: ros-%{ros_distro}-urdfdom
BuildRequires: ros-%{ros_distro}-visualization-msgs
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: pkgconfig
@@ -104,13 +98,11 @@ BuildRequires: ros-%{ros_distro}-moveit-resources-panda-moveit-config
BuildRequires: ros-%{ros_distro}-moveit-resources-pr2-description
BuildRequires: ros-%{ros_distro}-angles
BuildRequires: ros-%{ros_distro}-orocos-kdl-vendor
-BuildRequires: ros-%{ros_distro}-ament-cmake-google-benchmark
BuildRequires: ros-%{ros_distro}-ament-cmake-gtest
BuildRequires: ros-%{ros_distro}-ament-cmake-gmock
BuildRequires: ros-%{ros_distro}-ament-index-cpp
-BuildRequires: ros-%{ros_distro}-launch-testing-ament-cmake
-BuildRequires: ros-%{ros_distro}-rclpy
-BuildRequires: ros-%{ros_distro}-rcl-interfaces
+BuildRequires: ros-%{ros_distro}-ament-lint-auto
+BuildRequires: ros-%{ros_distro}-ament-lint-common
%endif
Provides: %{name}-devel = %{version}-%{release}
@@ -121,58 +113,35 @@ Provides: %{name}-runtime = %{version}-%{release}
Core libraries used by MoveIt
%prep
-%autosetup -p1 -n moveit-core-2.5.9
+%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
-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
- ..
-
-%make_build
+cd %{RosPkgName}-%{version}
+%py3_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
-%make_install -C .obj-%{_target_platform}
+cd %{RosPkgName}-%{version}
+%py3_install -- --prefix "/opt/ros/%{ros_distro}"
%if 0%{?with_tests}
%check
-# 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 "$TEST_TARGET" ]; then
+# Look for a directory with a name indicating that it contains tests
+TEST_TARGET=$(ls -d * | grep -m1 "\(test\|tests\)" ||:)
+if [ -n "$TEST_TARGET" ] && %__python3 -m pytest --version; then
# 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
-CTEST_OUTPUT_ON_FAILURE=1 \
- %make_build -C .obj-%{_target_platform} $TEST_TARGET || echo "RPM TESTS FAILED"
+%__python3 -m pytest $TEST_TARGET || echo "RPM TESTS FAILED"
else echo "RPM TESTS SKIPPED"; fi
%endif
@@ -180,5 +149,5 @@ else echo "RPM TESTS SKIPPED"; fi
/opt/ros/%{ros_distro}
%changelog
-* Thu Apr 09 2026 Henning Kayser henningkayser@picknik.ai - 2.5.9-1
+* Tue Apr 14 2026 Henning Kayser henningkayser@picknik.ai - 2.5.9-1
- Autogenerated by ros-porting-tools
generated by cgit v1.2.3 (git 2.25.1) at 2026-04-30 13:18:59 +0000