%define ros_distro humble
%define RosPkgName irobot-create-ignition-toolbox
%define src_version 2.0.0

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        2.0.0
Release:        1%{?dist}
Summary:        Nodes and tools for simulating the iRobot(R) Create(R) 3 in Ignition
License:        BSD
URL:            https://github.com/iRobotEducation/create3_sim/tree/main
Source0:        %{RosPkgName}-%{src_version}.tar.gz

# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），SIG 模板统一关闭
%global debug_package %{nil}
# /opt 下 python 字节码编译会写标准 sitelib 路径，摘掉 brp-python-bytecompile
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires:  cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-control-msgs
BuildRequires:  ros-%{ros_distro}-irobot-create-msgs
BuildRequires:  ros-%{ros_distro}-irobot-create-toolbox
BuildRequires:  ros-%{ros_distro}-nav-msgs
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-action
BuildRequires:  ros-%{ros_distro}-rcutils
BuildRequires:  ros-%{ros_distro}-ros-ign-interfaces
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-tf2
BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
# 以下三项 package.xml 未声明，但 CMakeLists.txt 为 find_package(... REQUIRED)，
# 缺失即 configure 失败；三者均在 ros-projects.list（SIG 源已有），非臆造名
BuildRequires:  ros-%{ros_distro}-ament-cmake-python
BuildRequires:  ros-%{ros_distro}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-tf2-ros

# 运行时依赖：/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写
Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-control-msgs
Requires:       ros-%{ros_distro}-irobot-create-msgs
Requires:       ros-%{ros_distro}-irobot-create-toolbox
Requires:       ros-%{ros_distro}-nav-msgs
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-action
Requires:       ros-%{ros_distro}-rcutils
Requires:       ros-%{ros_distro}-ros-ign-interfaces
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-tf2
Requires:       ros-%{ros_distro}-tf2-geometry-msgs
# 与 BuildRequires 对应：三个 .so 的目标均 ament_target_dependencies 到 geometry_msgs / tf2_ros
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-tf2-ros

# 单包策略：ROS 包严禁拆实体子包，用虚拟别名兼容依赖方
Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
Nodes and tools for simulating in Ignition iRobot(R) Create(R) 3 Educational Robot.

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

%build
# ROS 基座环境（chroot 已配置 ROS SIG repo；无 ROS 依赖的包 buildroot 里
# 可能没有 setup.sh，必须用 [ -f ] 守卫）
[ -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 irobot_create_ignition/irobot_create_ignition_toolbox
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 irobot_create_ignition/irobot_create_ignition_toolbox
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Sep 21 2026 ai-importer <ai-importer@openeuler.org> - 2.0.0-1
- Initial import (ROS batch)