%define ros_distro humble
%define RosPkgName as2-behaviors-perception
%global commit 19c397309c6a41b279e6b551818ec12605cfcecc

Name:       ros-%{ros_distro}-%{RosPkgName}
Version:    1.1.3
Release:    1%{?dist}
Summary:    AS2 Behavior for object perception using a modular plugin-based pipeline
License:    BSD-3-Clause
URL:        https://github.com/aerostack2/aerostack2
Source0:    https://github.com/aerostack2/aerostack2/archive/%{commit}.tar.gz#/%{commit}.tar.gz

%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}/.*$

BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake-ros
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-action
BuildRequires:  ros-%{ros_distro}-action-msgs
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-visualization-msgs
BuildRequires:  ros-%{ros_distro}-cv-bridge
BuildRequires:  ros-%{ros_distro}-tf2
BuildRequires:  ros-%{ros_distro}-as2-core
BuildRequires:  ros-%{ros_distro}-as2-behavior
BuildRequires:  ros-%{ros_distro}-as2-msgs
BuildRequires:  ros-%{ros_distro}-as2-usb-camera-interface
BuildRequires:  opencv
BuildRequires:  cmake
BuildRequires:  gcc-c++

Requires:   ros-%{ros_distro}-ros-workspace
Requires:   ros-%{ros_distro}-ament-cmake
Requires:   ros-%{ros_distro}-rclcpp
Requires:   ros-%{ros_distro}-rclcpp-action
Requires:   ros-%{ros_distro}-action-msgs
Requires:   ros-%{ros_distro}-pluginlib
Requires:   ros-%{ros_distro}-sensor-msgs
Requires:   ros-%{ros_distro}-geometry-msgs
Requires:   ros-%{ros_distro}-std-msgs
Requires:   ros-%{ros_distro}-visualization-msgs
Requires:   ros-%{ros_distro}-cv-bridge
Requires:   ros-%{ros_distro}-tf2
Requires:   ros-%{ros_distro}-as2-core
Requires:   ros-%{ros_distro}-as2-behavior
Requires:   ros-%{ros_distro}-as2-msgs
Requires:   ros-%{ros_distro}-as2-usb-camera-interface
Requires:   opencv

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

%description
AS2 Behavior for object perception using a modular plugin-based pipeline.
Part of the Aerostack2 framework (aerostack2/aerostack2), built from commit %{commit}.

%prep
%autosetup -n %{commit}
# monorepo：进入目标子包目录
cd as2_behaviors/as2_behaviors_object_perception

%build
source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}

cd as2_behaviors/as2_behaviors_object_perception
mkdir -p .obj
cd .obj
%cmake3 \
  -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
  -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
  -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
  -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR \
  -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
  -DSETUPTOOLS_DEB_LAYOUT=OFF \
  -DBUILD_TESTING=OFF \
  -DTESTING=OFF \
  -DCMAKE_SUPPRESS_REGENERATION=ON \
  ..
make %{?_smp_mflags}

%install
source /opt/ros/%{ros_distro}/setup.sh 2>/dev/null || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}

cd as2_behaviors/as2_behaviors_object_perception/.obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}/

%changelog
* Sat Sep 19 2026 ROS SIG <ros@openeuler.org> - 1.1.3-1
- Initial package for ros-humble-as2-behaviors-perception
- Built from aerostack2/aerostack2 commit 19c397309c6a41b279e6b551818ec12605cfcecc