%define ros_distro humble
%define RosPkgName qb-softhand-industry-ros2-control
%define src_version 2.1.2-4

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        2.1.2
Release:        1%{?dist}
Summary:        Package of `ros2_control` hardware for qbSoftHand Industry with transmission in
License:        BSD 3-Clause
URL:            https://bitbucket.org/qbrobotics/qbshin-ros/tree/production-humble
Source0:        %{RosPkgName}-%{src_version}.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:  cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-controller-manager
BuildRequires:  ros-%{ros_distro}-forward-command-controller
BuildRequires:  ros-%{ros_distro}-hardware-interface
BuildRequires:  ros-%{ros_distro}-joint-state-broadcaster
BuildRequires:  ros-%{ros_distro}-joint-state-publisher-gui
BuildRequires:  ros-%{ros_distro}-joint-trajectory-controller
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-lifecycle
BuildRequires:  ros-%{ros_distro}-robot-state-publisher
BuildRequires:  ros-%{ros_distro}-ros2-controllers-test-nodes
BuildRequires:  ros-%{ros_distro}-ros2controlcli
BuildRequires:  ros-%{ros_distro}-ros2launch
BuildRequires:  ros-%{ros_distro}-rviz2
BuildRequires:  ros-%{ros_distro}-transmission-interface
BuildRequires:  ros-%{ros_distro}-xacro
BuildRequires:  ros-%{ros_distro}-qb-softhand-industry-msgs
BuildRequires:  ros-%{ros_distro}-qb-softhand-industry-srvs

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-controller-manager
Requires:       ros-%{ros_distro}-forward-command-controller
Requires:       ros-%{ros_distro}-hardware-interface
Requires:       ros-%{ros_distro}-joint-state-broadcaster
Requires:       ros-%{ros_distro}-joint-state-publisher-gui
Requires:       ros-%{ros_distro}-joint-trajectory-controller
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-lifecycle
Requires:       ros-%{ros_distro}-robot-state-publisher
Requires:       ros-%{ros_distro}-ros2-controllers-test-nodes
Requires:       ros-%{ros_distro}-ros2controlcli
Requires:       ros-%{ros_distro}-ros2launch
Requires:       ros-%{ros_distro}-rviz2
Requires:       ros-%{ros_distro}-transmission-interface
Requires:       ros-%{ros_distro}-xacro
Requires:       ros-%{ros_distro}-qb-softhand-industry-msgs
Requires:       ros-%{ros_distro}-qb-softhand-industry-srvs

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

%description
Package of `ros2_control` hardware for qbSoftHand Industry with transmission interface.

%prep
%autosetup -n %{RosPkgName}-%{src_version}

%build
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || 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 qb_softhand_industry_ros2_control
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
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || 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 qb_softhand_industry_ros2_control
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Sat Oct 10 2026 ai-importer <ai-importer@openeuler.org> - 2.1.2-1
- Initial import (ROS batch)