Name: ros-jazzy-nav2-costmap-2d Version: 1.3.6 Release: 1%{?dist} Summary: ROS package nav2-costmap-2d License: BSD-3-Clause URL: http://www.ros.org/ Source0: https://github.com/SteveMacenski/navigation2-release/archive/release/jazzy/nav2_costmap_2d/1.3.6-1.tar.gz#/ros-jazzy-nav2-costmap-2d-1.3.6-source0.tar.gz # common BRs BuildRequires: patchelf BuildRequires: coreutils 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: ros-jazzy-ament-cmake BuildRequires: ros-jazzy-ament-package BuildRequires: ros-jazzy-angles BuildRequires: ros-jazzy-geometry-msgs BuildRequires: ros-jazzy-laser-geometry BuildRequires: ros-jazzy-map-msgs BuildRequires: ros-jazzy-message-filters BuildRequires: ros-jazzy-nav2-common BuildRequires: ros-jazzy-nav2-msgs BuildRequires: ros-jazzy-nav2-util BuildRequires: ros-jazzy-nav2-voxel-grid BuildRequires: ros-jazzy-nav-msgs BuildRequires: ros-jazzy-pluginlib BuildRequires: ros-jazzy-rclcpp BuildRequires: ros-jazzy-rclcpp-lifecycle BuildRequires: ros-jazzy-sensor-msgs BuildRequires: ros-jazzy-std-msgs BuildRequires: ros-jazzy-std-srvs BuildRequires: ros-jazzy-tf2 BuildRequires: ros-jazzy-tf2-geometry-msgs BuildRequires: ros-jazzy-tf2-ros BuildRequires: ros-jazzy-tf2-sensor-msgs BuildRequires: ros-jazzy-visualization-msgs Requires: ros-jazzy-angles Requires: ros-jazzy-geometry-msgs Requires: ros-jazzy-laser-geometry Requires: ros-jazzy-map-msgs Requires: ros-jazzy-message-filters Requires: ros-jazzy-nav2-msgs Requires: ros-jazzy-nav2-util Requires: ros-jazzy-nav2-voxel-grid Requires: ros-jazzy-nav-msgs Requires: ros-jazzy-pluginlib Requires: ros-jazzy-rclcpp Requires: ros-jazzy-rclcpp-lifecycle Requires: ros-jazzy-sensor-msgs Requires: ros-jazzy-std-msgs Requires: ros-jazzy-std-srvs Requires: ros-jazzy-tf2 Requires: ros-jazzy-tf2-geometry-msgs Requires: ros-jazzy-tf2-ros Requires: ros-jazzy-tf2-sensor-msgs Requires: ros-jazzy-visualization-msgs Requires: ros-jazzy-ament-cmake Requires: ros-jazzy-ament-package Requires: ros-jazzy-angles Requires: ros-jazzy-geometry-msgs Requires: ros-jazzy-laser-geometry Requires: ros-jazzy-map-msgs Requires: ros-jazzy-message-filters Requires: ros-jazzy-nav2-common Requires: ros-jazzy-nav2-msgs Requires: ros-jazzy-nav2-util Requires: ros-jazzy-nav2-voxel-grid Requires: ros-jazzy-nav-msgs Requires: ros-jazzy-pluginlib Requires: ros-jazzy-rclcpp Requires: ros-jazzy-rclcpp-lifecycle Requires: ros-jazzy-sensor-msgs Requires: ros-jazzy-std-msgs Requires: ros-jazzy-std-srvs Requires: ros-jazzy-tf2 Requires: ros-jazzy-tf2-geometry-msgs Requires: ros-jazzy-tf2-ros Requires: ros-jazzy-tf2-sensor-msgs Requires: ros-jazzy-visualization-msgs Provides: ros-jazzy-nav2-costmap-2d = 1.3.6-1 Obsoletes: ros-jazzy-nav2-costmap-2d < 1.3.6-1 %description This package provides an implementation of a 2D costmap that takes in sensor data from the world, builds a 2D or 3D occupancy grid of the data (depending on whether a voxel based implementation is used), and inflates costs in a 2D costmap based on the occupancy grid and a user specified inflation radius. This package also provides support for map_server based initialization of a costmap, rolling window based costmaps, and parameter based subscription to and configuration of sensor topics. %prep %setup -c -T tar --strip-components=1 -xf %{SOURCE0} %build # nothing to do here %install PYTHONUNBUFFERED=1 ; export PYTHONUNBUFFERED GZ_BUILD_FROM_SURCE=1; export GZ_BUILD_FROM_SOURCE export GZ_VERSION=harmonic; 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="${LDFLAGS:-%__global_ldflags}" ; export LDFLAGS ;} \ source %{_libdir}/ros-jazzy/setup.bash # substitute shebang before install block because we run the local catkin script %py3_shebang_fix . # DESTDIR=%{buildroot} ; export DESTDIR colcon \ build \ --merge-install \ --cmake-args -DPYTHON_EXECUTABLE="/usr/bin/python" \ -DTHIRDPARTY_Asio=ON \ -DCMAKE_BUILD_TYPE=RelWithDebInfo \ -DCMAKE_CXX_FLAGS="$CXXFLAGS" \ -DCMAKE_C_FLAGS="$CFLAGS" \ -DCMAKE_LD_FLAGS="$LDFLAGS" \ -DBUILD_TESTING=OFF \ -Dgz_add_get_install_prefix_impl_OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE="%{_libdir}/ros-jazzy/opt/" \ --base-paths . \ --install-base %{buildroot}/%{_libdir}/ros-jazzy/ \ --packages-select nav2_costmap_2d # remove wrong buildroot prefixes # find %{buildroot}/%{_libdir}/ros-jazzy/ -type f -exec sed -i "s:%{buildroot}::g" {} \; # we should exclude binaries from that as it might corrupt shared libraries find %{buildroot}/%{_libdir}/ros-jazzy/ -type f ! -name '*.so*' -exec sh -c 'file "{}" | grep -q text && sed -i "s:%{buildroot}::g" "{}"' \; # # Move include directory if source path exists # if [ -d %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/include ]; then # # If destination path does not exist, create it # if [ ! -d %{buildroot}/%{_libdir}/ros-jazzy/include/nav2_costmap_2d ]; then # mkdir -p %{buildroot}/%{_libdir}/ros-jazzy/include/nav2_costmap_2d # fi # # Move the directory # cp -r %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/include/* %{buildroot}/%{_libdir}/ros-jazzy/include/nav2_costmap_2d/ # rm -rd %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/include # fi # if [ -d %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/extra_cmake ]; then # # If destination path does not exist, create it # if [ ! -d %{buildroot}/%{_libdir}/ros-jazzy/nav2_costmap_2d/extra_cmake ]; then # mkdir -p %{buildroot}/%{_libdir}/ros-jazzy/nav2_costmap_2d/extra_cmake # fi # # Move the directory # cp -r %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/extra_cmake/* %{buildroot}/%{_libdir}/ros-jazzy/nav2_costmap_2d/extra_cmake/ # rm -rd %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/extra_cmake # fi # if [ -d %{buildroot}/%{_libdir}/ros-jazzy/nav2_costmap_2d/share ]; then # # If destination path does not exist, create it # if [ ! -d %{buildroot}/%{_libdir}/ros-jazzy/share/nav2_costmap_2d ]; then # mkdir -p %{buildroot}/%{_libdir}/ros-jazzy/share/nav2_costmap_2d # fi # # Move the directory # cp -r %{buildroot}/%{_libdir}/ros-jazzy/nav2_costmap_2d/share/* %{buildroot}/%{_libdir}/ros-jazzy/share/nav2_costmap_2d/ # rm -rd %{buildroot}/%{_libdir}/ros-jazzy/nav2_costmap_2d/share # fi # # Move other opt path if source path exists # if [ -d %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d]; then # # If destination path does not exist, create it # if [ ! -d %{buildroot}/%{_libdir}/ros-jazzy ]; then # mkdir -p %{buildroot}/%{_libdir}/ros-jazzy # fi # # Move the directory # cp -r %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/* %{buildroot}/%{_libdir}/ros-jazzy/ # rm -rd %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d # fi rm -rf %{buildroot}/%{_libdir}/ros-jazzy/{.catkin,.rosinstall,_setup*,local_setup*,setup*,env.sh,.colcon_install_layout,COLCON_IGNORE,_local_setup*,_local_setup*} # vendor pkg removal rm -rf %{buildroot}/%{_libdir}/ros-jazzy/opt/share/nav2_costmap_2d/{.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}/ros-jazzy/{share,bin,etc,tools,lib64/python*,lib/python*/site-packages,lib/python*/dist-packages} \ ! -name cmake ! -name include \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" > files.list find %{buildroot}/%{_libdir}/ros-jazzy/lib*/ -mindepth 1 -maxdepth 1 \ ! -name pkgconfig ! -name "python*" \ | sed "s:%{buildroot}/::" >> files.list # paths for vendor packages find %{buildroot}/%{_libdir}/ros-jazzy/nav2_costmap_2d/{bin,etc,tools,lib64/python*,lib/python*/site-packages,share} \ ! -name cmake ! -name include \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/{bin,etc,tools,lib64/python*,lib/python*/site-packages,share} \ ! -name cmake ! -name include \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/nav2_costmap_2d/lib*/ -mindepth 1 -maxdepth 1 \ ! -name pkgconfig ! -name "python*" \ | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/lib*/ -mindepth 1 -maxdepth 1 \ ! -name pkgconfig ! -name "python*" \ | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/opt/share/nav2_costmap_2d \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/{lib*/pkgconfig,include/,cmake/,nav2_costmap_2d/include/,share/nav2_costmap_2d/cmake} \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list # paths for vendor packages find %{buildroot}/%{_libdir}/ros-jazzy/nav2_costmap_2d/{lib*/pkgconfig,include/,cmake/,extra_cmake/,nav2_costmap_2d/include/,share/cmake} \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/extra_cmake \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/opt/nav2_costmap_2d/{lib*/pkgconfig,include/,cmake/,nav2_costmap_2d/include/,/share/cmake,/extra_cmake} \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/opt/share/ament_index/resource_index \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/opt/share/colcon-core/packages/ \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/opt/share/nav2_costmap_2d/{hook,environment,cmake} \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find . -maxdepth 1 -type f -iname "*license*" | sed "s:^:%%license :" >> files.list find %{buildroot}/%{_libdir}/ros-jazzy/ -name *__rosidl_generator_py.so -type f -exec patchelf --remove-rpath {} \; # find %{buildroot}/%{_libdir}/ros-jazzy/ -name *__rosidl_generator_py.so -type f -exec patchelf --force-rpath --add-rpath "%{_libdir}/ros2/lib" {} \; find %{buildroot}/%{_libdir}/ros-jazzy/ -name "*.so*" -type f -exec patchelf --shrink-rpath --allowed-rpath-prefixes %{_libdir} {} \; # 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/TarikViehmann/rosfed for more information." >> README_FEDORA install -m 0644 -p -D -t %{buildroot}/%{_docdir}/%{name} README_FEDORA echo %{_docdir}/%{name} >> files.list %py3_shebang_fix %{buildroot} # Also fix .py.in files for pyfile in $(grep -rIl '^#!.*python.*$' %{buildroot}) ; do %py3_shebang_fix $pyfile done sort files.list | uniq > files.list.tmp && mv files.list.tmp files.list %files -f files.list %changelog * Wed Apr 30 2025 Tarik Viehmann - jazzy.1.3.6-1 - Update to latest release * Fri Apr 18 2025 Tarik Viehmann - jazzy.1.3.5-1 - Update to latest release