%bcond_without tests
%bcond_without weak_deps

%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}/.*$

%define RosPkgName      cartographer-ros

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        2.0.9000
Release:        2%{?dist}%{?release_suffix}
Summary:        ROS cartographer-ros package

Url:            https://github.com/cartographer-project/cartographer_ros
License:        Apache 2.0
Source0:        %{name}_%{version}.orig.tar.gz
Patch0: cartographer-ros-fix-multiple-definition-error.patch
Patch1: cartographer-ros-fix-absl.patch
Patch2: cartographer-ros-adapt-glog-0.6.0.patch

Requires: ros-%{ros_distro}-builtin-interfaces
Requires: ros-%{ros_distro}-cartographer
Requires: ros-%{ros_distro}-cartographer-ros-msgs
Requires: eigen3-devel
Requires: ros-%{ros_distro}-geometry-msgs
Requires: abseil-cpp-devel
Requires: gflags-devel
Requires: glog-devel
Requires: pcl-devel
Requires: ros-%{ros_distro}-nav-msgs
Requires: ros-%{ros_distro}-pcl-conversions
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rosbag2-cpp
Requires: ros-%{ros_distro}-rosbag2-storage
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-std-msgs
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-tf2-eigen
Requires: ros-%{ros_distro}-tf2-msgs
Requires: ros-%{ros_distro}-tf2-ros
Requires: ros-%{ros_distro}-urdf
Requires: ros-%{ros_distro}-visualization-msgs
Requires: ros-%{ros_distro}-launch
Requires: ros-%{ros_distro}-robot-state-publisher
Requires: ros-%{ros_distro}-ros-workspace

BuildRequires: ros-%{ros_distro}-builtin-interfaces
BuildRequires: ros-%{ros_distro}-cartographer
BuildRequires: ros-%{ros_distro}-cartographer-ros-msgs
BuildRequires: eigen3-devel
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: abseil-cpp-devel
BuildRequires: gflags-devel
BuildRequires: glog-devel
BuildRequires: pcl-devel
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-pcl-conversions
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rosbag2-cpp
BuildRequires: ros-%{ros_distro}-rosbag2-storage
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-std-msgs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-tf2-eigen
BuildRequires: ros-%{ros_distro}-tf2-msgs
BuildRequires: ros-%{ros_distro}-tf2-ros
BuildRequires: ros-%{ros_distro}-urdf
BuildRequires: ros-%{ros_distro}-visualization-msgs
BuildRequires: gmock-devel
BuildRequires: python3-sphinx
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-ros-workspace

%if 0%{?with_tests}
%endif

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description

    Cartographer is a system that provides real-time simultaneous localization
    and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
    configurations. This package provides Cartographer's ROS integration.
  

%prep
%autosetup -p1

%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

%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}

%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
# 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"
else echo "RPM TESTS SKIPPED"; fi
%endif

%files
/opt/ros/%{ros_distro}

%changelog
* Wed Sep 12 2023 simonaxi <18701881329@163.com> - 2.0.9000-2
- fix: adapter absl patch
* Thu May 04 2023 Chris Lalancette clalancette@openrobotics.org - 2.0.9000-1
- Autogenerated by ros-porting-tools