Name: ros2-iron-slam_toolbox
Version: 2.7.4
Release: 1%{?dist}
Summary: ROS package slam_toolbox
License: LGPL
URL: http://www.ros.org/
Source0: https://github.com/SteveMacenski/slam_toolbox-release/archive/release/iron/slam_toolbox/2.7.4-1.tar.gz#/ros2-iron-slam_toolbox-2.7.4-source0.tar.gz
Patch0: ros.slam_toolbox.ceres.patch
# common BRs
BuildRequires: patchelf
BuildRequires: cmake
BuildRequires: gcc-c++
BuildRequires: git
BuildRequires: make
BuildRequires: patch
BuildRequires: python3-devel
BuildRequires: python-unversioned-command
BuildRequires: python3-colcon-common-extensions
BuildRequires: python3-pip
BuildRequires: python3-pydocstyle
BuildRequires: python3-pytest
BuildRequires: python3-pytest-repeat
BuildRequires: python3-pytest-rerunfailures
BuildRequires: python3-rosdep
BuildRequires: python3-setuptools
BuildRequires: python3-vcstool
# BuildRequires: boost-devel
# BuildRequires: console-bridge-devel
# BuildRequires: gtest-devel
# BuildRequires: log4cxx-devel
# BuildRequires: python3-devel
# BuildRequires: python3-colcon-common-extensions
# BuildRequires: python-unversioned-command
BuildRequires: boost-devel
BuildRequires: ceres-solver-devel suitesparse-devel flexiblas-devel
BuildRequires: eigen3-devel
BuildRequires: lapack-devel
BuildRequires: qt5-qtbase
BuildRequires: qt5-qtbase-devel
BuildRequires: suitesparse-devel
BuildRequires: tbb-devel
BuildRequires: ros2-iron-ament_cmake-devel
BuildRequires: ros2-iron-ament_cmake_cpplint-devel
BuildRequires: ros2-iron-ament_cmake_flake8-devel
BuildRequires: ros2-iron-ament_cmake_gtest-devel
BuildRequires: ros2-iron-ament_cmake_uncrustify-devel
BuildRequires: ros2-iron-ament_lint_auto-devel
BuildRequires: ros2-iron-ament_package-devel
BuildRequires: ros2-iron-builtin_interfaces-devel
BuildRequires: ros2-iron-interactive_markers-devel
BuildRequires: ros2-iron-launch-devel
BuildRequires: ros2-iron-launch_testing-devel
BuildRequires: ros2-iron-message_filters-devel
BuildRequires: ros2-iron-nav_msgs-devel
BuildRequires: ros2-iron-pluginlib-devel
BuildRequires: ros2-iron-rclcpp-devel
BuildRequires: ros2-iron-rosidl_default_generators-devel
BuildRequires: ros2-iron-rviz_common-devel
BuildRequires: ros2-iron-rviz_default_plugins-devel
BuildRequires: ros2-iron-rviz_ogre_vendor-devel
BuildRequires: ros2-iron-rviz_rendering-devel
BuildRequires: ros2-iron-sensor_msgs-devel
BuildRequires: ros2-iron-std_msgs-devel
BuildRequires: ros2-iron-std_srvs-devel
BuildRequires: ros2-iron-tf2-devel
BuildRequires: ros2-iron-tf2_geometry_msgs-devel
BuildRequires: ros2-iron-tf2_ros-devel
BuildRequires: ros2-iron-tf2_sensor_msgs-devel
BuildRequires: ros2-iron-visualization_msgs-devel
Requires: qt5-qtbase
Requires: qt5-qtbase-gui
Requires: ros2-iron-builtin_interfaces
Requires: ros2-iron-interactive_markers
Requires: ros2-iron-message_filters
Requires: ros2-iron-nav2_map_server
Requires: ros2-iron-nav_msgs
Requires: ros2-iron-pluginlib
Requires: ros2-iron-rclcpp
Requires: ros2-iron-rosidl_default_generators
Requires: ros2-iron-rviz_common
Requires: ros2-iron-rviz_default_plugins
Requires: ros2-iron-rviz_ogre_vendor
Requires: ros2-iron-rviz_rendering
Requires: ros2-iron-sensor_msgs
Requires: ros2-iron-std_msgs
Requires: ros2-iron-std_srvs
Requires: ros2-iron-tf2
Requires: ros2-iron-tf2_geometry_msgs
Requires: ros2-iron-tf2_ros
Requires: ros2-iron-tf2_sensor_msgs
Requires: ros2-iron-visualization_msgs
Provides: ros2-iron-slam_toolbox = 2.7.4-1
Obsoletes: ros2-iron-slam_toolbox < 2.7.4-1
%description
This package provides a sped up improved slam karto with updated SDK
and visualization and modification toolsets
%package devel
Summary: Development files for %{name}
Requires: %{name}%{?_isa} = %{version}-%{release}
Requires: ros2-iron-ament_cmake-devel
Requires: boost-devel
Requires: ceres-solver-devel suitesparse-devel flexiblas-devel
Requires: eigen3-devel
Requires: lapack-devel
Requires: qt5-qtbase
Requires: qt5-qtbase-devel
Requires: suitesparse-devel
Requires: tbb-devel
Requires: ros2-iron-ament_cmake_cpplint-devel
Requires: ros2-iron-ament_cmake_flake8-devel
Requires: ros2-iron-ament_cmake_gtest-devel
Requires: ros2-iron-ament_cmake_uncrustify-devel
Requires: ros2-iron-ament_lint_auto-devel
Requires: ros2-iron-ament_package-devel
Requires: ros2-iron-builtin_interfaces-devel
Requires: ros2-iron-interactive_markers-devel
Requires: ros2-iron-launch-devel
Requires: ros2-iron-launch_testing-devel
Requires: ros2-iron-message_filters-devel
Requires: ros2-iron-nav_msgs-devel
Requires: ros2-iron-pluginlib-devel
Requires: ros2-iron-rclcpp-devel
Requires: ros2-iron-rosidl_default_generators-devel
Requires: ros2-iron-rviz_common-devel
Requires: ros2-iron-rviz_default_plugins-devel
Requires: ros2-iron-rviz_ogre_vendor-devel
Requires: ros2-iron-rviz_rendering-devel
Requires: ros2-iron-sensor_msgs-devel
Requires: ros2-iron-std_msgs-devel
Requires: ros2-iron-std_srvs-devel
Requires: ros2-iron-tf2-devel
Requires: ros2-iron-tf2_geometry_msgs-devel
Requires: ros2-iron-tf2_ros-devel
Requires: ros2-iron-tf2_sensor_msgs-devel
Requires: ros2-iron-visualization_msgs-devel
Requires: ros2-iron-nav2_map_server-devel
Provides: ros2-iron-slam_toolbox-devel = 2.7.4-1
Obsoletes: ros2-iron-slam_toolbox-devel < 2.7.4-1
%description devel
The %{name}-devel package contains libraries and header files for developing
applications that use %{name}.
%prep
%setup -c -T
tar --strip-components=1 -xf %{SOURCE0}
%patch 0 -p1
%build
# nothing to do here
%install
PYTHONUNBUFFERED=1 ; export PYTHONUNBUFFERED
GZ_BUILD_FROM_SURCE=1; export GZ_BUILD_FROM_SOURCE
CFLAGS=" -Wno-error ${CFLAGS:-%optflags} -Wno-error -w -Wno-error=int-conversion" ; export CFLAGS ; \
CXXFLAGS=" -Wno-error ${CXXFLAGS:-%optflags} -Wno-error -w -Wno-error=int-conversion" ; export CXXFLAGS ; \
FFLAGS=" -Wno-error ${FFLAGS:-%optflags%{?_fmoddir: -I%_fmoddir}} -w -Wno-error=int-conversion" ; export FFLAGS ; \
FCFLAGS="${FCFLAGS:-%optflags%{?_fmoddir: -I%_fmoddir}} -w -Wno-error=int-conversion" ; export FCFLAGS ; \
%{?__global_ldflags:LDFLAGS="${LDFLAGS:-%__global_ldflags}" ; export LDFLAGS ;} \
source %{_libdir}/ros2-iron/setup.bash
# substitute shebang before install block because we run the local catkin script
%py3_shebang_fix .
# DESTDIR=%{buildroot} ; export DESTDIR
colcon \
build \
--merge-install \
--cmake-args -DPYTHON_EXECUTABLE="/usr/bin/python" \
-DTHIRDPARTY_Asio=ON \
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
-DCMAKE_CXX_FLAGS="$CXXFLAGS" \
-DCMAKE_C_FLAGS="$CFLAGS" \
-DCMAKE_LD_FLAGS="$LDFLAGS" \
-DBUILD_TESTING=OFF \
--base-paths . \
--install-base %{buildroot}/%{_libdir}/ros2-iron/ \
--packages-select slam_toolbox
# remove wrong buildroot prefixes
find %{buildroot}/%{_libdir}/ros2-iron/ -type f -exec sed -i "s:%{buildroot}::g" {} \;
# # Move include directory if source path exists
# if [ -d %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/include ]; then
# # If destination path does not exist, create it
# if [ ! -d %{buildroot}/%{_libdir}/ros2-iron/include/slam_toolbox ]; then
# mkdir -p %{buildroot}/%{_libdir}/ros2-iron/include/slam_toolbox
# fi
# # Move the directory
# mv -f %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/include/* %{buildroot}/%{_libdir}/ros2-iron/include/slam_toolbox
# fi
#
# # Move share directory if source path exists
# if [ -d %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/share ]; then
# # If destination path does not exist, create it
# if [ ! -d %{buildroot}/%{_libdir}/ros2-iron/share ]; then
# mkdir -p %{buildroot}/%{_libdir}/ros2-iron/share
# fi
# # Move the directory
# mv -f %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/share %{buildroot}/%{_libdir}/ros2-iron/
# find %{buildroot}/%{_libdir}/ros2-iron/share -type f -exec sed -i "s:opt/slam_toolbox/::g" {} \;
# fi
#
# # Move bin directory if source path exists
# if [ -d %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/bin ]; then
# # If destination path does not exist, create it
# if [ ! -d %{buildroot}/%{_libdir}/ros2-iron/bin ]; then
# mkdir -p %{buildroot}/%{_libdir}/ros2-iron/bin
# fi
# # Move the directory
# mv -f %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/bin %{buildroot}/%{_libdir}/ros2-iron/
# fi
#
# # Move extra_cmake directory if source path exists
# if [ -d %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/extra_cmake ]; then
# # If destination path does not exist, create it
# if [ ! -d %{buildroot}/%{_libdir}/ros2-iron/extra_cmake ]; then
# mkdir -p %{buildroot}/%{_libdir}/ros2-iron/extra_cmake
# fi
# # Move the directory
# mv -f %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/extra_cmake %{buildroot}/%{_libdir}/ros2-iron/
# find %{buildroot}/%{_libdir}/ros2-iron/extra_cmake -type f -exec sed -i "s:opt/slam_toolbox/::g" {} \;
# fi
#
# # Move lib directory if source path exists
# if [ -d %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/lib ]; then
# # If destination path does not exist, create it
# if [ ! -d %{buildroot}/%{_libdir}/ros2-iron/lib ]; then
# mkdir -p %{buildroot}/%{_libdir}/ros2-iron/lib
# fi
# # Move the directory
# mv -f %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/lib %{buildroot}/%{_libdir}/ros2-iron/lib
# fi
#
# # Move lib64 directory if source path exists
# if [ -d %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/lib64 ]; then
# # If destination path does not exist, create it
# if [ ! -d %{buildroot}/%{_libdir}/ros2-iron/lib64 ]; then
# mkdir -p %{buildroot}/%{_libdir}/ros2-iron/lib64
# fi
# # Move the directory
# mv -f %{buildroot}/%{_libdir}/ros2-iron/opt/slam_toolbox/lib64 %{buildroot}/%{_libdir}/ros2-iron/lib64
# fi
rm -rf %{buildroot}/%{_libdir}/ros2-iron/{.catkin,.rosinstall,_setup*,local_setup*,setup*,env.sh,.colcon_install_layout,COLCON_IGNORE,_local_setup*,_local_setup*}
# remove __pycache__
find %{buildroot} -type d -name '__pycache__' -exec rm -rf {} +
find . -name '*.pyc' -delete
touch files.list
find %{buildroot}/%{_libdir}/ros2-iron/{opt,bin,etc,tools,lib64/python*,lib/python*/site-packages,share} \
-mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" > files.list
find %{buildroot}/%{_libdir}/ros2-iron/lib*/ -mindepth 1 -maxdepth 1 \
! -name pkgconfig ! -name "python*" \
| sed "s:%{buildroot}/::" >> files.list
touch files_devel.list
find %{buildroot}/%{_libdir}/ros2-iron/{lib*/pkgconfig,include/,cmake/,slam_toolbox/include/,share/slam_toolbox/cmake} \
-mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" > files_devel.list
find . -maxdepth 1 -type f -iname "*readme*" | sed "s:^:%%doc :" >> files.list
find . -maxdepth 1 -type f -iname "*license*" | sed "s:^:%%license :" >> files.list
find %{buildroot}/%{_libdir}/ros2-iron/ -name *__rosidl_generator_py.so -type f -exec patchelf --remove-rpath {} \;
# find %{buildroot}/%{_libdir}/ros2-iron/ -name *__rosidl_generator_py.so -type f -exec patchelf --force-rpath --add-rpath "%{_libdir}/ros2/lib" {} \;
# replace cmake python macro in shebang
for file in $(grep -rIl '^#!.*@PYTHON_EXECUTABLE@.*$' %{buildroot}) ; do
sed -i.orig 's:^#!\s*@PYTHON_EXECUTABLE@\s*:%{__python3}:' $file
touch -r $file.orig $file
rm $file.orig
done
echo "This is a package automatically generated with rosfed." >> README_FEDORA
echo "See https://github.com/morxa/rosfed for more information." >> README_FEDORA
install -m 0644 -p -D -t %{buildroot}/%{_docdir}/%{name} README_FEDORA
echo %{_docdir}/%{name} >> files.list
install -m 0644 -p -D -t %{buildroot}/%{_docdir}/%{name}-devel README_FEDORA
echo %{_docdir}/%{name}-devel >> files_devel.list
%py3_shebang_fix %{buildroot}
# Also fix .py.in files
for pyfile in $(grep -rIl '^#!.*python.*$' %{buildroot}) ; do
%py3_shebang_fix $pyfile
done
%files -f files.list
%files devel -f files_devel.list
%changelog
* Fri Apr 26 2024 Tarik Viehmann <viehmann@kbsg.rwth-aachen.de> - iron.2.7.4-1
- Update to latest release