Summary: Libraries and programs for mobile robot SLAM and navigation

Name: mrpt

Version: 0.9.0

Release: 0.5%{?dist}

License: GPLv3+

Group: Development/Libraries

URL: http://www.mrpt.org/

# Tarballs at the same that the official ones at SourceForge: 

# http://sourceforge.net/projects/mrpt/files/MRPT-all/MRPT-0.X.Y/mrpt-0.X.Y.tar.gz/download

# but without the directory "sift-hess", which contains code with a 

# patent pending for approval.

# The source for this package was pulled from upstream's vcs, or 

#  download from: http://babel.isa.uma.es/mrpt/src-repo/

#

Source: http://archive.mrpt.org/fedora-packages/mrpt-0.9.0-20100606svn1885.tar.bz2

BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)

BuildRequires: cmake

BuildRequires: wxGTK-devel, opencv-devel, freeglut-devel

BuildRequires: doxygen, ghostscript, graphviz

BuildRequires: tex(latex), tex(dvips)

BuildRequires: libdc1394-devel

BuildRequires: libftdi-devel, libusb-devel

BuildRequires: libjpeg-devel

BuildRequires: desktop-file-utils

%description

The Mobile Robot Programming Toolkit (MRPT) is an extensive, cross-platform,

and open source C++ library aimed to help robotics researchers to design and

implement algorithms in the fields of Simultaneous Localization and Mapping 

(SLAM), computer vision, and motion planning (obstacle avoidance).

The libraries include classes for easily managing 3D(6D) geometry, 

probability density functions (pdfs) over many predefined variables (points 

and poses, landmarks, maps), Bayesian inference (Kalman filters, particle 

filters), image processing, path planning and obstacle avoidance, 3D 

visualization of all kind of maps (points, occupancy grids, landmarks,...), 

etc.

Gathering, manipulating and inspecting very large robotic datasets (Rawlogs)

efficiently is another goal of MRPT, supported by several classes and 

applications.

The MRPT is free software and is released under the GPL. 

# Subpackages "base", "opengl",... are provided in order to minimize

# dependencies of future packages that might depend on a subset only 

# of all the MRPT libraries. 

# The subpackage "libs" can be used as a shortcut for all the libraries.

%package base

Summary: Mobile Robot Programming Toolkit - base library

Group: Development/Libraries

%description base

The Mobile Robot Programming Toolkit (MRPT) library mrpt-base.

%package opengl

Summary: Mobile Robot Programming Toolkit - opengl library

Group: Development/Libraries

Requires: %{name}-base = %{version}-%{release}

%description opengl

The Mobile Robot Programming Toolkit (MRPT) library mrpt-opengl.

%package gui

Summary: Mobile Robot Programming Toolkit - gui library

Group: Development/Libraries

Requires: %{name}-opengl = %{version}-%{release}

%description gui

The Mobile Robot Programming Toolkit (MRPT) library mrpt-gui.

%package obs

Summary: Mobile Robot Programming Toolkit - obs library

Group: Development/Libraries

Requires: %{name}-opengl = %{version}-%{release}

%description obs

The Mobile Robot Programming Toolkit (MRPT) library mrpt-obs.

%package topography

Summary: Mobile Robot Programming Toolkit - topography library

Group: Development/Libraries

Requires: %{name}-obs = %{version}-%{release}

%description topography

The Mobile Robot Programming Toolkit (MRPT) library mrpt-topography.

%package vision

Summary: Mobile Robot Programming Toolkit - vision library

Group: Development/Libraries

Requires: %{name}-obs = %{version}-%{release}

Requires: %{name}-gui = %{version}-%{release}

%description vision

The Mobile Robot Programming Toolkit (MRPT) library mrpt-vision.

%package maps

Summary: Mobile Robot Programming Toolkit - maps library

Group: Development/Libraries

Requires: %{name}-obs = %{version}-%{release}

%description maps

The Mobile Robot Programming Toolkit (MRPT) library mrpt-maps.

%package hwdrivers

Summary: Mobile Robot Programming Toolkit - hwdrivers library

Group: Development/Libraries

Requires: %{name}-obs = %{version}-%{release}

Requires: %{name}-gui = %{version}-%{release}

%description hwdrivers

The Mobile Robot Programming Toolkit (MRPT) library mrpt-hwdrivers.

%package reactivenav

Summary: Mobile Robot Programming Toolkit - reactivenav library

Group: Development/Libraries

Requires: %{name}-maps = %{version}-%{release}

Requires: %{name}-gui = %{version}-%{release}

%description reactivenav

The Mobile Robot Programming Toolkit (MRPT) library mrpt-reactivenav.

%package slam

Summary: Mobile Robot Programming Toolkit - slam library

Group: Development/Libraries

Requires: %{name}-maps = %{version}-%{release}

Requires: %{name}-vision = %{version}-%{release}

%description slam

The Mobile Robot Programming Toolkit (MRPT) library mrpt-slam.

%package hmtslam

Summary: Mobile Robot Programming Toolkit - hmtslam library

Group: Development/Libraries

Requires: %{name}-slam = %{version}-%{release}

%description hmtslam

The Mobile Robot Programming Toolkit (MRPT) library mrpt-hmtslam.

%package libs

Summary: Mobile Robot Programming Toolkit - All the libraries

Group: Development/Libraries

Requires: %{name}-base = %{version}-%{release}

Requires: %{name}-opengl = %{version}-%{release}

Requires: %{name}-gui = %{version}-%{release}

Requires: %{name}-obs = %{version}-%{release}

Requires: %{name}-maps = %{version}-%{release}

Requires: %{name}-slam = %{version}-%{release}

Requires: %{name}-topography = %{version}-%{release}

Requires: %{name}-hwdrivers = %{version}-%{release}

Requires: %{name}-vision = %{version}-%{release}

Requires: %{name}-hmtslam = %{version}-%{release}

Requires: %{name}-reactivenav = %{version}-%{release}

%description libs

This virtual package depends on all MRPT libraries.

%package apps

Summary: Mobile Robot Programming Toolkit - Console and GUI applications

Group: Applications/Engineering

Requires: %{name}-libs = %{version}-%{release}

%description apps

The Mobile Robot Programming Toolkit (MRPT) is an extensive, cross-platform,

and open source C++ library aimed to help robotics researchers to design and

implement algorithms in the fields of Simultaneous Localization and Mapping 

(SLAM), computer vision, and motion planning (obstacle avoidance).

This package provides a set of console and GUI applications for manipulating 

datasets, particle filtering localization and SLAM, grabbing data from 

robotic sensors, etc.

%package devel

Summary: Mobile Robot Programming Toolkit - Development package

Group: Development/Libraries

Requires: %{name}-libs = %{version}-%{release}

Requires: cmake, pkgconfig

%description devel

The Mobile Robot Programming Toolkit (MRPT) is an extensive, cross-platform,

and open source C++ library aimed to help robotics researchers to design and

implement algorithms in the fields of Simultaneous Localization and Mapping 

(SLAM), computer vision, and motion planning (obstacle avoidance).

This package provides the headers and required files to build third-party 

applications that use MRPT libraries.

%package doc

Summary: Mobile Robot Programming Toolkit - Documentation

Group: Documentation

%description doc

The Mobile Robot Programming Toolkit (MRPT) is an extensive, cross-platform,

and open source C++ library aimed to help robotics researchers to design and

implement algorithms in the fields of Simultaneous Localization and Mapping 

(SLAM), computer vision, and motion planning (obstacle avoidance).

This package contains documentation, examples and the reference generated

with Doxygen.

%prep

%setup -q

# Fix encoding of the mrpt-book file

gzip -d doc/mrpt-book.ps.gz

iconv -f ISO8859-1 -t UTF-8 doc/mrpt-book.ps > mrpt-book.ps.conv

mv -f mrpt-book.ps.conv doc/mrpt-book.ps

gzip doc/mrpt-book.ps

%build

# The flag CMAKE_MRPT_IS_RPM_PACKAGE disables global "-mtune=native"

%cmake . -DCMAKE_MRPT_IS_RPM_PACKAGE=1

make VERBOSE=1 %{?_smp_mflags}

make documentation_html

make man_pages_all

%check

export LD_LIBRARY_PATH=$(pwd)/lib

make test VERBOSE=1 ARGS="-VV"

%install

rm -rf $RPM_BUILD_ROOT

make install DESTDIR=$RPM_BUILD_ROOT

# Validate .g files:

find ${RPM_BUILD_ROOT}%{_datadir}/applications/ -name "*.desktop" | xargs -I FIL desktop-file-validate FIL

%clean

rm -rf $RPM_BUILD_ROOT

%files base

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-base.so.*

# This directory is empty here but contains files in other sub-packages 

#  depending on mrpt-core:

%dir %{_datadir}/mrpt

%{_datadir}/mime/packages/*.xml

%files opengl

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-opengl.so.*

%files gui

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-gui.so.*

%files obs

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-obs.so.*

%files maps

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-maps.so.*

%files slam

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-slam.so.*

%files hwdrivers

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-hwdrivers.so.*

%files vision

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-vision.so.*

%files topography

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-topography.so.*

%files reactivenav

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-reactivenav.so.*

%files hmtslam

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/libmrpt-hmtslam.so.*

%files apps

%defattr(-,root,root,-)

%doc README COPYING

%{_bindir}/*

%{_datadir}/applications/*.desktop

%{_datadir}/pixmaps/*.ico

%{_datadir}/pixmaps/*.xpm

%{_datadir}/mime/packages/*.xml

# %{_datadir}/mrpt is owned by mrpt-core:

%{_datadir}/mrpt/config_files/

%{_datadir}/mrpt/datasets/

%{_mandir}/man1/*

%files devel

%defattr(-,root,root,-)

%doc README COPYING

%{_libdir}/*.so

%{_includedir}/mrpt

%{_libdir}/pkgconfig/libmrpt.pc

# %{_datadir}/mrpt is owned by mrpt-base:

%{_datadir}/mrpt/MRPTConfig.cmake

%files doc

%defattr(-,root,root,-)

#%doc README COPYING

%dir %{_datadir}/doc/mrpt-doc/

%{_datadir}/doc/mrpt-doc/*

%files libs

%defattr(-,root,root,-)

%doc README COPYING

%ifos linux

%post opengl -p /sbin/ldconfig

%postun opengl -p /sbin/ldconfig

%post gui -p /sbin/ldconfig

%postun gui -p /sbin/ldconfig

%post obs -p /sbin/ldconfig

%postun obs -p /sbin/ldconfig

%post maps -p /sbin/ldconfig

%postun maps -p /sbin/ldconfig

%post vision -p /sbin/ldconfig

%postun vision -p /sbin/ldconfig

%post hwdrivers -p /sbin/ldconfig

%postun hwdrivers -p /sbin/ldconfig

%post topography -p /sbin/ldconfig

%postun topography -p /sbin/ldconfig

%post hmtslam -p /sbin/ldconfig

%postun hmtslam -p /sbin/ldconfig

%post reactivenav -p /sbin/ldconfig

%postun reactivenav -p /sbin/ldconfig

%post slam -p /sbin/ldconfig

%postun slam -p /sbin/ldconfig

%post apps

update-desktop-database &> /dev/null || :

%postun apps

update-desktop-database &> /dev/null || :

%post base

/sbin/ldconfig

update-mime-database %{_datadir}/mime &> /dev/null || :

%postun base

/sbin/ldconfig

update-mime-database %{_datadir}/mime &> /dev/null || :

%endif

%changelog

* Wed Jul 14 2010 Dan HorĂ¡k <dan@danny.cz> - 0.9.0-0.5

- rebuilt against wxGTK-2.8.11-2

* Sun Jul 4 2010 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.9.0-0.4

- Rebuild needed by new opencv.

* Sun Jun 6 2010 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.9.0-0.3

- Changed source tarball name numbering.

* Sat Jun 5 2010 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.9.0-0.2

- Fixed build against OpenCV.

* Fri Jun 4 2010 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.9.0-0.1

- Packaging of new upstream version 0.9.0.

* Sat Mar  6 2010 - Thomas Spura <tomspur@fedoraproject.org> 0.8.0-0.3.20100102svn1398

- rebuild as requested in

  http://lists.fedoraproject.org/pipermail/devel/2010-March/132519.html

* Fri Jan 22 2010 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.8.0-0.2.20100102svn1398

- Fixed dependencies in spec file.

* Thu Jan 21 2010 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.8.0-0.1.20100102svn1398

- Packaging of new upstream version 0.8.0.

* Mon Aug 18 2009 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.7.1-0.1.20090818svn1148

- Packaging of new upstream version 0.7.1, patched.

* Mon Aug 17 2009 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.7.1-0.1.20090817svn1147

- Packaging of new upstream version 0.7.1.

* Sat Jul 25 2009 Fedora Release Engineering <rel-eng@lists.fedoraproject.org> - 0.7.0-0.2.20090529svn1047

- Rebuilt for https://fedoraproject.org/wiki/Fedora_12_Mass_Rebuild

* Tue Jul 14 2009 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.7.0-0.1.20090529svn1047

- Packaging of new upstream version 0.7.0.

* Wed Feb 25 2009 Fedora Release Engineering <rel-eng@lists.fedoraproject.org> - 0.6.5-0.4.20090213svn807

- Rebuilt for https://fedoraproject.org/wiki/Fedora_11_Mass_Rebuild

* Thu Feb 19 2009 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.6.5-0.3.20090213svn807

- Fixed ownship of datadir/mrpt/config_files/ by two sub-packages.

* Sat Feb 13 2009 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.6.5-0.2.20090213svn807

- All applications are now in mrpt-apps.

* Sat Feb 13 2009 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.6.5-0.1.20090213

- New upstream sources.

- Individual packages created for each MRPT application.

- Removed unneeded dependencies from -devel package.

- Fixed "doc" package should own the mrpt-doc directory.

- Mime types moved to mrpt-core package.

* Sun Jan 18 2009 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.6.5-0.1.20090118svn746

- New upstream sources.

- Fixed license tag to "GPLv3+".

- Added "export LD_LIBRARY_PATH..." at "check" to allow the tests to work.

- Comments added explaining the split in subpackages.

- devel package depends on wxGTK-devel instead of wxGTK due to needed headers.

- datadir/mrpt is now owned by mrpt-core to avoid duplicated ownership.

- Several fixes to libmrpt.pc

- Added calls to "update-desktop-database" and "update-mime-database" in post/postun of mrpt-apps.

- Corrected texlive-latex dependency to enable compilation of doxygen formulas.

* Sun Jan 8 2009 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.6.4-2

- More verbose output in 'make test', and possibly fixed wrong compiler flag.

- Fixed ownership of the same file MRPTConfig.cmake in two subpackages.

* Sun Jan 4 2009 - Jose Luis Blanco <joseluisblancoc@gmail.com> 0.6.4-1

- Initial packaging for Fedora.