%define ros_distro humble
%define RosPkgName kuka-rsi-driver
%define src_version 1.1.0-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        1.1.0
Release:        1%{?dist}
Summary:        A ROS2 hardware interface for use with KUKA RSI
License:        Apache-2.0
URL:            https://github.com/kroshu/kuka_drivers/tree/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}-ament-cmake-python
BuildRequires:  ros-%{ros_distro}-controller-manager
BuildRequires:  ros-%{ros_distro}-controller-manager-msgs
BuildRequires:  ros-%{ros_distro}-hardware-interface
BuildRequires:  ros-%{ros_distro}-joint-state-broadcaster
BuildRequires:  ros-%{ros_distro}-joint-trajectory-controller
BuildRequires:  ros-%{ros_distro}-pluginlib
BuildRequires:  ros-%{ros_distro}-rclpy
BuildRequires:  ros-%{ros_distro}-std-msgs
BuildRequires:  ros-%{ros_distro}-tinyxml-vendor
BuildRequires:  ros-%{ros_distro}-kuka-control-mode-handler
BuildRequires:  ros-%{ros_distro}-kuka-drivers-core
BuildRequires:  ros-%{ros_distro}-kuka-event-broadcaster
BuildRequires:  ros-%{ros_distro}-kuka-external-control-sdk
BuildRequires:  ros-%{ros_distro}-kuka-kss-message-handler
BuildRequires:  yaml-cpp-devel
BuildRequires:  python3-psutil
BuildRequires:  python3-scapy
BuildRequires:  python3-yaml

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-controller-manager
Requires:       ros-%{ros_distro}-controller-manager-msgs
Requires:       ros-%{ros_distro}-hardware-interface
Requires:       ros-%{ros_distro}-joint-state-broadcaster
Requires:       ros-%{ros_distro}-joint-trajectory-controller
Requires:       ros-%{ros_distro}-pluginlib
Requires:       ros-%{ros_distro}-rclpy
Requires:       ros-%{ros_distro}-std-msgs
Requires:       ros-%{ros_distro}-tinyxml-vendor
Requires:       ros-%{ros_distro}-kuka-control-mode-handler
Requires:       ros-%{ros_distro}-kuka-drivers-core
Requires:       ros-%{ros_distro}-kuka-event-broadcaster
Requires:       ros-%{ros_distro}-kuka-external-control-sdk
Requires:       ros-%{ros_distro}-kuka-kss-message-handler
Requires:       yaml-cpp-devel
Requires:       python3-psutil
Requires:       python3-scapy
Requires:       python3-yaml

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

%description
A ROS2 hardware interface for use with KUKA RSI

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

%files
/opt/ros/%{ros_distro}

%changelog
* Tue Sep 29 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-1
- Initial import (ROS batch)