%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}/.*$

%define RosPkgName      ompl
%global SourceArchive   %{RosPkgName}-%{version}.tar.gz
%global SourceRoot      %{RosPkgName}-%{version}

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.7.0
Release:        1%{?dist}%{?release_suffix}
Summary:        OMPL is a free sampling-based motion planning library.

Url:            http://ompl.kavrakilab.org
License:        BSD
Source100:        %{SourceArchive}.aa
Source101:        %{SourceArchive}.ab
Source102:        %{SourceArchive}.ac

Requires: boost-devel
Requires: eigen3-devel
Requires: ros-%{ros_distro}-ros-workspace

BuildRequires: cmake
BuildRequires: chrpath
BuildRequires: boost-devel
BuildRequires: eigen3-devel
BuildRequires: pkgconfig
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
OMPL is a free sampling-based motion planning library.

%prep
cat %{SOURCE100} %{SOURCE101} %{SOURCE102} > %{SourceArchive}
tar -xzf %{SourceArchive}
%autosetup -T -D -p1 -n %{SourceRoot}

%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}
export QA_RPATHS=0x0013

%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
* Sun Oct 25 2026 kuyan_kubuds <kuyan@kubuds.cn> - 1.7.0-1
- Sync ompl 1.7.0 from humble branch to master

* Mon Sep 21 2026 Wanming Hu <huwanming@huawei.com> - 1.7.0-1
- Upgrade ompl from 1.6.0 to 1.7.0 for ROS 2 Humble.

* Thu May 04 2023 Mark Moll mmoll@rice.edu - 1.6.0-1
- Autogenerated by ros-porting-tools