%define ros_distro humble
%define RosPkgName rko-lio
%define src_version 0.4.0-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        0.4.0
Release:        1%{?dist}
Summary:        A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modelling
License:        MIT
URL:            https://github.com/PRBonn/rko_lio/tree/master
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}-geometry-msgs
BuildRequires:  ros-%{ros_distro}-nav-msgs
BuildRequires:  ros-%{ros_distro}-rclcpp
BuildRequires:  ros-%{ros_distro}-rclcpp-components
BuildRequires:  ros-%{ros_distro}-rclpy
BuildRequires:  ros-%{ros_distro}-rosbag2-cpp
BuildRequires:  ros-%{ros_distro}-rosbag2-py
BuildRequires:  ros-%{ros_distro}-rosbag2-storage
BuildRequires:  ros-%{ros_distro}-rosidl-runtime-py
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-sophus
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-tf2
BuildRequires:  ros-%{ros_distro}-tf2-ros
BuildRequires:  ros-%{ros_distro}-tf2-ros-py
BuildRequires:  eigen3-devel
BuildRequires:  spdlog-devel
BuildRequires:  tbb-devel
BuildRequires:  robin-map-dev

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-nav-msgs
Requires:       ros-%{ros_distro}-rclcpp
Requires:       ros-%{ros_distro}-rclcpp-components
Requires:       ros-%{ros_distro}-rclpy
Requires:       ros-%{ros_distro}-rosbag2-cpp
Requires:       ros-%{ros_distro}-rosbag2-py
Requires:       ros-%{ros_distro}-rosbag2-storage
Requires:       ros-%{ros_distro}-rosidl-runtime-py
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-sophus
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-tf2
Requires:       ros-%{ros_distro}-tf2-ros
Requires:       ros-%{ros_distro}-tf2-ros-py
Requires:       eigen3-devel
Requires:       spdlog-devel
Requires:       tbb-devel
Requires:       robin-map-dev

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

%description
A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modelling

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

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Sep 28 2026 ai-importer <ai-importer@openeuler.org> - 0.4.0-1
- Initial import (ROS batch)