Name: ros-lyrical-nav2-voxel-grid Version: 1.5.2 Release: 1%{?dist} Summary: ROS package nav2-voxel-grid License: BSD-3-Clause URL: http://www.ros.org/ Source0: https://github.com/ros2-gbp/navigation2-release/archive/release/lyrical/nav2_voxel_grid/1.5.2-2.tar.gz#/ros-lyrical-nav2-voxel-grid-1.5.2-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-lyrical-ament-cmake BuildRequires: ros-lyrical-ament-package BuildRequires: ros-lyrical-backward-ros BuildRequires: ros-lyrical-nav2-common BuildRequires: ros-lyrical-rclcpp Requires: ros-lyrical-backward-ros Requires: ros-lyrical-rclcpp Requires: ros-lyrical-ament-cmake Requires: ros-lyrical-ament-package Requires: ros-lyrical-backward-ros Requires: ros-lyrical-nav2-common Requires: ros-lyrical-rclcpp Provides: ros-lyrical-nav2-voxel-grid = 1.5.2-1 Obsoletes: ros-lyrical-nav2-voxel-grid < 1.5.2-1 %description voxel_grid provides an implementation of an efficient 3D voxel grid. The occupancy grid can support 3 different representations for the state of a cell: marked, free, or unknown. Due to the underlying implementation relying on bitwise and and or integer operations, the voxel grid only supports 16 different levels per voxel column. However, this limitation yields raytracing and cell marking performance in the grid comparable to standard 2D structures making it quite fast compared to most 3D structures. %prep %setup -c -T tar --strip-components=1 -xf %{SOURCE0} %build # nothing to do here %install PYTHONUNBUFFERED=1 ; export PYTHONUNBUFFERED GZ_BUILD_FROM_SOURCE=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="${LDFLAGS:-%__global_ldflags}" ; export LDFLAGS ;} \ source %{_libdir}/ros-lyrical/setup.bash # substitute shebang before install block because we run the local catkin script %py3_shebang_fix . # DESTDIR=%{buildroot} ; export DESTDIR CMAKE_POLICY_VERSION_MINIMUM=3.5 \ colcon \ build \ --merge-install \ --cmake-args -DPYTHON_EXECUTABLE="/usr/bin/python" \ -DTHIRDPARTY_Asio=ON \ -DCMAKE_BUILD_TYPE=RelWithDebInfo \ -DCMAKE_CXX_FLAGS="$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-lyrical/opt/" \ --base-paths . \ --install-base %{buildroot}/%{_libdir}/ros-lyrical/ \ --packages-select nav2_voxel_grid # remove wrong buildroot prefixes # find %{buildroot}/%{_libdir}/ros-lyrical/ -type f -exec sed -i "s:%{buildroot}::g" {} \; # we should exclude binaries from that as it might corrupt shared libraries find %{buildroot}/%{_libdir}/ros-lyrical/ -type f ! -name '*.so*' -exec sh -c 'file "{}" | grep -q text && sed -i "s:%{buildroot}::g" "{}"' \; rm -rf %{buildroot}/%{_libdir}/ros-lyrical/{.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-lyrical/opt/share/nav2_voxel_grid/{.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-lyrical/{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-lyrical/lib*/ -mindepth 1 -maxdepth 1 \ ! -name pkgconfig ! -name "python*" \ | sed "s:%{buildroot}/::" >> files.list # paths for vendor packages find %{buildroot}/%{_libdir}/ros-lyrical/nav2_voxel_grid/{bin,etc,tools,lib64/python*,lib/python*,share} \ ! -name cmake ! -name include \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/opt/nav2_voxel_grid/{bin,etc,tools,lib64/python*,lib/python*,share} \ ! -name cmake ! -name include \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/nav2_voxel_grid/lib*/ -mindepth 1 -maxdepth 1 \ ! -name pkgconfig ! -name "python*" \ | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/opt/nav2_voxel_grid/lib*/ -mindepth 1 -maxdepth 1 \ ! -name pkgconfig ! -name "python*" \ | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/opt/share/nav2_voxel_grid \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/{lib*/pkgconfig,include/,cmake/,nav2_voxel_grid/include/,share/nav2_voxel_grid/cmake} \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list # paths for vendor packages find %{buildroot}/%{_libdir}/ros-lyrical/nav2_voxel_grid/{lib*/pkgconfig,include/,cmake/,extra_cmake/,nav2_voxel_grid/include/,share/cmake} \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/opt/nav2_voxel_grid/extra_cmake \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/opt/nav2_voxel_grid/{lib*/pkgconfig,include/,cmake/,nav2_voxel_grid/include/,/share/cmake,/extra_cmake} \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/opt/share/ament_index/resource_index \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/opt/share/colcon-core/packages/ \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/opt/share/nav2_voxel_grid/{hook,environment,cmake} \ -mindepth 1 -maxdepth 1 | sed "s:%{buildroot}/::" >> files.list find . -maxdepth 1 -type f -iname "*license*" | sed "s:^:%%license :" >> files.list echo "=== DEBUG: checking for src/ directory ===" find %{buildroot}/%{_libdir}/ros-lyrical/src/ -ls 2>&1 || echo "src/ directory does not exist" echo "=== DEBUG: full buildroot layout ===" find %{buildroot}/%{_libdir}/ros-lyrical/ -maxdepth 4 -ls 2>&1 echo "=== DEBUG: files.list contents so far ===" cat files.list echo "=== DEBUG: end ===" # collect vendor source trees (e.g. gtest_vendor) find %{buildroot}/%{_libdir}/ros-lyrical/src/ \ -mindepth 1 -maxdepth 1 \ | sed "s:%{buildroot}/::" >> files.list find %{buildroot}/%{_libdir}/ros-lyrical/ -name *__rosidl_generator_py.so -type f -exec patchelf --remove-rpath {} \; # find %{buildroot}/%{_libdir}/ros-lyrical/ -name *__rosidl_generator_py.so -type f -exec patchelf --force-rpath --add-rpath "%{_libdir}/ros2/lib" {} \; find %{buildroot}/%{_libdir}/ros-lyrical/ -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 Sep 23 2026 Tarik Viehmann - lyrical.1.5.2-1 - Update to latest release