%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      naoqi-driver
%define ros_distro      humble
%define with_tests 0

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        2.1.1
Release:        1%{?dist}%{?release_suffix}
Summary:        Driver module between Aldebaran's NAOqiOS and ROS2. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

License:        BSD
Source0:        %{name}_%{version}.orig.tar.gz

Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-rclcpp_action
Requires: ros-%{ros_distro}-action-msgs
Requires: ros-%{ros_distro}-cv-bridge
Requires: ros-%{ros_distro}-image-transport
Requires: kdl_parser
Requires: ros-%{ros_distro}-naoqi-bridge-msgs
Requires: ros-%{ros_distro}-naoqi-libqi
Requires: ros-%{ros_distro}-naoqi-libqicore
Requires: ros-%{ros_distro}-robot-state-publisher
Requires: ros-%{ros_distro}-tf2-ros
Requires: boost-devel

BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-rclcpp_action
BuildRequires: ros-%{ros_distro}-action-msgs
BuildRequires: ros-%{ros_distro}-cv-bridge
BuildRequires: ros-%{ros_distro}-image-transport
BuildRequires: kdl_parser
BuildRequires: ros-%{ros_distro}-naoqi-bridge-msgs
BuildRequires: ros-%{ros_distro}-naoqi-libqi
BuildRequires: ros-%{ros_distro}-naoqi-libqicore
BuildRequires: ros-%{ros_distro}-robot-state-publisher
BuildRequires: ros-%{ros_distro}-tf2-ros
BuildRequires: boost-devel
BuildRequires: diagnostic_msgs
BuildRequires: diagnostic_updater
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires: ros-%{ros_distro}-tf2_msgs
BuildRequires: ros-%{ros_distro}-ament-cmake
BuildRequires: ros-%{ros_distro}-rosidl-default-generators

%if 0%{?with_tests}
BuildRequires: ros-%{ros_distro}-ament-lint-auto
BuildRequires: ros-%{ros_distro}-ament-common
%endif

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

%description
Driver module between Aldebaran's NAOqiOS and ROS2. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

%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

export ROS_DISTRO=%{ros_distro}
export ROS_PYTHON_VERSION=%{python3_version}

# 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}" \
    -DCMAKE_INSTALL_LIBDIR="/opt/ros/%{ros_distro}/lib" \
    -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
* 三 12月 04 2024 Victor Paléologue victor.paleologue@palaio.eu - 2.1.1-1
- Autogenerated by ros-porting-tools