%define ros_distro humble
%define RosPkgName plansys2-planner
%define src_version 2.0.9

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        2.0.9
Release:        2%{?dist}
Summary:        This package contains the PDDL-based Planner module for the ROS2 Planning Syste
License:        Apache License, Version 2.0
URL:            https://github.com/IntelligentRoboticsLabs/ros2_planning_system/tree/humble-devel
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}-ament-index-cpp
BuildRequires:  ros-%{ros_distro}-lifecycle-msgs
BuildRequires:  ros-%{ros_distro}-plansys2-core
BuildRequires:  ros-%{ros_distro}-plansys2-domain-expert
BuildRequires:  ros-%{ros_distro}-plansys2-msgs
BuildRequires:  ros-%{ros_distro}-plansys2-pddl-parser
BuildRequires:  ros-%{ros_distro}-plansys2-problem-expert
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-action
BuildRequires:  ros-%{ros_distro}-rclcpp-lifecycle
BuildRequires:  ros-%{ros_distro}-std-msgs

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-ament-index-cpp
Requires:       ros-%{ros_distro}-lifecycle-msgs
Requires:       ros-%{ros_distro}-plansys2-core
Requires:       ros-%{ros_distro}-plansys2-domain-expert
Requires:       ros-%{ros_distro}-plansys2-msgs
Requires:       ros-%{ros_distro}-plansys2-pddl-parser
Requires:       ros-%{ros_distro}-plansys2-problem-expert
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-action
Requires:       ros-%{ros_distro}-rclcpp-lifecycle
Requires:       ros-%{ros_distro}-std-msgs

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

%description
This package contains the PDDL-based Planner module for the ROS2 Planning System

%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 plansys2_planner
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 plansys2_planner
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9-2
- Remove ros-humble-plansys2-popf-plan-solver from BuildRequires/Requires;
  the popf_plan_solver library, headers and cmake config are provided by
  ros-humble-plansys2-domain-expert (bundled from the same source tree in
  build 113131). The additional-repo plansys2-popf-plan-solver RPM requires
  unavailable ros-humble-popf (exec_depend only, not a build dep) and
  cannot be installed, breaking dnf builddep.

* Thu Sep 24 2026 ai-importer <ai-importer@openeuler.org> - 2.0.9-1
- Initial import (ROS batch)