%global ros_distro jazzy
%global pkg_name rmf_ros2
%global upstream_name rmf-ros2

%global debug_package %{nil}
Name:           ros-jazzy-rmf-ros2
Version:        2.7.2
Release:        1%{?dist}
Summary:        ROS2 integration packages for RMF including fleet adapter, task and traffic management

License:        Apache License 2.0
URL:            https://github.com/open-rmf/rmf_ros2
Source0:        https://github.com/open-rmf/rmf_ros2/archive/refs/tags/2.7.2.tar.gz#/rmf_ros2-2.7.2.tar.gz

Patch0:        rmf_ros2-gcc15-only-ep-nonconst.patch
# Build dependencies
BuildRequires:  cmake
BuildRequires:  gcc-c++
BuildRequires:  pkgconfig

BuildRequires:  python3-colcon-core
BuildRequires:  python3-colcon-ros
BuildRequires:  python3-colcon-common-extensions
BuildRequires:  ros-jazzy-ament-cmake
BuildRequires:  cmake
BuildRequires:  gcc-c++
BuildRequires:  ros2-jazzy-ament_cmake-devel
BuildRequires:  ros-jazzy-rclcpp-components
BuildRequires:  ros2-jazzy-eigen3_cmake_module-devel
BuildRequires:  ros-jazzy-rmf-utils
BuildRequires:  ros-jazzy-rmf-traffic
BuildRequires:  ros-jazzy-rmf-task
BuildRequires:  ros-jazzy-rmf-battery
BuildRequires:  ros-jazzy-rmf-api-msgs
BuildRequires:  ros-jazzy-rmf-building-map-msgs
BuildRequires:  ros-jazzy-rmf-internal-msgs
BuildRequires:  ros2-jazzy-backward_ros
BuildRequires:  ros-jazzy-nlohmann-json-schema-validator-vendor
BuildRequires:  boost-devel
BuildRequires:  eigen3-devel
BuildRequires:  json-devel
BuildRequires:  nlohmann-json-devel
BuildRequires:  zlib-devel
BuildRequires:  libuuid-devel
BuildRequires:  proj-devel
BuildRequires:  python3-jinja2
BuildRequires:  websocketpp-devel
BuildRequires:  yaml-cpp-devel
BuildRequires:  pybind11-devel
BuildRequires:  ros2-jazzy-pybind11_vendor-devel
BuildRequires:  ros-jazzy-pybind11-json-vendor
BuildRequires:  python3-colcon-core
BuildRequires:  python3-colcon-ros
BuildRequires:  python3-colcon-common-extensions
# Runtime dependencies
Requires:       ros-jazzy-rclcpp
%description
ROS2 integration packages for RMF including fleet adapter, task and traffic management

%prep
%autosetup -n rmf_ros2-2.7.2 -p1
%build
export PYTHONPATH=/usr/lib64/ros2-jazzy/lib/python3.13/site-packages
export AMENT_PREFIX_PATH=/usr/lib64/ros2-jazzy
export CMAKE_PREFIX_PATH=/usr/lib64/ros2-jazzy:/usr
export PKG_CONFIG_PATH=/usr/lib64/ros2-jazzy/lib/pkgconfig
export LD_LIBRARY_PATH=/usr/lib64/ros2-jazzy/lib
# Build with colcon into a temporary local install directory
set -e
source /usr/lib64/ros2-jazzy/setup.bash || true
colcon build \
  --merge-install \
  --base-paths . \
  --install-base install \
  --cmake-args \
    -DPYTHON_EXECUTABLE=/usr/bin/python3 \
    -DCMAKE_BUILD_TYPE=RelWithDebInfo \
    -DBUILD_TESTING=OFF
%install
# Copy the built files from the local install dir to the buildroot
mkdir -p %{buildroot}/%{_libdir}/ros2-jazzy
if [ -d install/include ]; then cp -a install/include %{buildroot}/%{_libdir}/ros2-jazzy/; fi
if [ -d install/lib ]; then cp -a install/lib %{buildroot}/%{_libdir}/ros2-jazzy/; fi
if [ -d install/lib64 ]; then cp -a install/lib64 %{buildroot}/%{_libdir}/ros2-jazzy/; fi
if [ -d install/share ]; then cp -a install/share %{buildroot}/%{_libdir}/ros2-jazzy/; fi

%check
# Tests disabled
%files
%{_libdir}/ros2-jazzy/include/rmf_*/*
%{_libdir}/ros2-jazzy/lib*/librmf_*.so*
%{_libdir}/ros2-jazzy/share/rmf_*/*
%{_libdir}/ros2-jazzy/lib/python*/site-packages/rmf_*
%{_libdir}/ros2-jazzy/lib/python*/site-packages/rmf_*/*
%{_libdir}/ros2-jazzy/lib/rmf_*/*
%{_libdir}/ros2-jazzy/share/ament_index/resource_index/rclcpp_components/rmf_*
%{_libdir}/ros2-jazzy/lib/librobot_state_aggregator_main.so
%{_libdir}/ros2-jazzy/share/ament_index/resource_index/packages/rmf_*
%{_libdir}/ros2-jazzy/share/ament_index/resource_index/package_run_dependencies/rmf_*
%{_libdir}/ros2-jazzy/share/ament_index/resource_index/parent_prefix_path/rmf_*
%{_libdir}/ros2-jazzy/share/colcon-core/packages/rmf_*
%changelog
* Thu Aug 14 2025 Sayan Paul <paul.sayan@gmail.com> - jazzy.2.7.2-1
- Updated from distro/jazzy.repo