%define ros_distro humble %define RosPkgName cartographer-ros %define src_version 2.0.9002-1 Name: ros-%{ros_distro}-%{RosPkgName} Version: 2.0.9002 Release: 5%{?dist} Summary: Cartographer is a system that provides real-time simultaneous localization and License: Apache 2.0 URL: https://github.com/ros2/cartographer_ros/tree/ros2 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}-builtin-interfaces BuildRequires: ros-%{ros_distro}-cartographer BuildRequires: ros-%{ros_distro}-cartographer-ros-msgs BuildRequires: ros-%{ros_distro}-geometry-msgs BuildRequires: ros-%{ros_distro}-launch BuildRequires: ros-%{ros_distro}-nav-msgs BuildRequires: ros-%{ros_distro}-pcl-conversions BuildRequires: ros-%{ros_distro}-rclcpp BuildRequires: ros-%{ros_distro}-robot-state-publisher BuildRequires: ros-%{ros_distro}-ros-environment BuildRequires: ros-%{ros_distro}-rosbag2-cpp BuildRequires: ros-%{ros_distro}-rosbag2-storage BuildRequires: ros-%{ros_distro}-sensor-msgs BuildRequires: ros-%{ros_distro}-std-msgs BuildRequires: ros-%{ros_distro}-tf2 BuildRequires: ros-%{ros_distro}-tf2-eigen BuildRequires: ros-%{ros_distro}-tf2-msgs BuildRequires: ros-%{ros_distro}-tf2-ros BuildRequires: ros-%{ros_distro}-urdf BuildRequires: ros-%{ros_distro}-visualization-msgs BuildRequires: abseil-cpp-devel BuildRequires: cairo-devel BuildRequires: eigen3-devel BuildRequires: gflags-devel BuildRequires: glog-devel BuildRequires: gmock-devel BuildRequires: pcl-devel BuildRequires: python3-sphinx Requires: ros-%{ros_distro}-ros-workspace Requires: ros-%{ros_distro}-ament-cmake Requires: ros-%{ros_distro}-builtin-interfaces Requires: ros-%{ros_distro}-cartographer Requires: ros-%{ros_distro}-cartographer-ros-msgs Requires: ros-%{ros_distro}-geometry-msgs Requires: ros-%{ros_distro}-launch Requires: ros-%{ros_distro}-nav-msgs Requires: ros-%{ros_distro}-pcl-conversions Requires: ros-%{ros_distro}-rclcpp Requires: ros-%{ros_distro}-robot-state-publisher Requires: ros-%{ros_distro}-rosbag2-cpp Requires: ros-%{ros_distro}-rosbag2-storage Requires: ros-%{ros_distro}-sensor-msgs Requires: ros-%{ros_distro}-std-msgs Requires: ros-%{ros_distro}-tf2 Requires: ros-%{ros_distro}-tf2-eigen Requires: ros-%{ros_distro}-tf2-msgs Requires: ros-%{ros_distro}-tf2-ros Requires: ros-%{ros_distro}-urdf Requires: ros-%{ros_distro}-visualization-msgs Requires: abseil-cpp-devel Requires: cairo-devel Requires: eigen3-devel Requires: gflags-devel Requires: glog-devel Requires: pcl-devel Provides: %{name}-devel = %{version}-%{release} Provides: %{name}-doc = %{version}-%{release} Provides: %{name}-runtime = %{version}-%{release} %description Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This package provides Cartographer's ROS integration. %prep %autosetup -n %{RosPkgName}-%{src_version} cat > cartographer_ros/include/cartographer_ros/thread_safety_shim.h << 'SHIM' #ifndef THREAD_SAFETY_SHIM_H #define THREAD_SAFETY_SHIM_H #ifndef GUARDED_BY #define GUARDED_BY(x) #endif #ifndef EXCLUSIVE_LOCKS_REQUIRED #define EXCLUSIVE_LOCKS_REQUIRED(x) #endif #ifndef LOCKS_EXCLUDED #define LOCKS_EXCLUDED(x) #endif #ifndef EXCLUSIVE_LOCK_FUNCTION #define EXCLUSIVE_LOCK_FUNCTION(x) #endif #ifndef UNLOCK_FUNCTION #define UNLOCK_FUNCTION(x) #endif #ifndef SHARED_LOCKS_REQUIRED #define SHARED_LOCKS_REQUIRED(x) #endif #ifndef ASSERT_EXCLUSIVE_LOCK #define ASSERT_EXCLUSIVE_LOCK(x) #endif #ifndef NO_THREAD_SAFETY_ANALYSIS #define NO_THREAD_SAFETY_ANALYSIS #endif #endif SHIM for f in cartographer_ros/include/cartographer_ros/node.h \ cartographer_ros/include/cartographer_ros/map_builder_bridge.h \ cartographer_ros/include/cartographer_ros/metrics/internal/histogram.h \ cartographer_ros/include/cartographer_ros/metrics/internal/gauge.h \ cartographer_ros/src/occupancy_grid_node_main.cpp; do sed -i '1i#include "cartographer_ros/thread_safety_shim.h"' "$f" done %build [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} cd cartographer_ros mkdir -p .obj && cd .obj %cmake3 \ -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \ -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \ -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \ -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \ -DSETUPTOOLS_DEB_LAYOUT=OFF \ -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \ .. make %{?_smp_mflags} %install [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} cd cartographer_ros cd .obj make install DESTDIR=%{buildroot} %files /opt/ros/%{ros_distro} %changelog * Tue Sep 29 2026 ai-importer - 2.0.9002-5 - Add shim to occupancy_grid_node_main.cpp (also uses GUARDED_BY) * Tue Sep 29 2026 ai-importer - 2.0.9002-4 - Define thread safety annotation macros via shim header (GUARDED_BY etc.) * Tue Sep 29 2026 ai-importer - 2.0.9002-3 - Force-include absl/base/thread_annotations.h for GUARDED_BY macro definition * Tue Sep 29 2026 ai-importer - 2.0.9002-2 - Remove obsolete fix-multiple-definition-error patch (already applied upstream) - Bump Release to avoid NVR conflict with failed EUR SRPM rebuild * Sun Sep 20 2026 ai-importer - 2.0.9002-1 - Initial import (ROS batch)