diff options
Diffstat (limited to 'easynav-bonxai-maps-manager.spec')
| -rw-r--r-- | easynav-bonxai-maps-manager.spec | 81 |
1 files changed, 38 insertions, 43 deletions
diff --git a/easynav-bonxai-maps-manager.spec b/easynav-bonxai-maps-manager.spec index 990b246..db353ec 100644 --- a/easynav-bonxai-maps-manager.spec +++ b/easynav-bonxai-maps-manager.spec @@ -1,33 +1,37 @@ %define ros_distro humble %define RosPkgName easynav-bonxai-maps-manager -# 分支 humble 的实际 checkout commit，保证 Source0 可追溯 -%global commit 2580d29baefe77305c6e9336dca743aa5ce51c2c +%define src_version 0.5.0-1 + +# 源码为 humble 分支快照（无 tag），固定实际拉取的 commit 以保证产物可追溯 +%global commit 703b73ae55bf6a419bf309b26084ca523b063ddf Name: ros-%{ros_distro}-%{RosPkgName} Version: 0.5.0 Release: 1%{?dist} -Summary: Easy Navigation: Simple MapsManager package +Summary: Easy Navigation bonxai MapsManager plugin License: Apache-2.0 URL: https://github.com/EasyNavigation/easynav_plugins -# GitHub commit 归档：解压根目录 = 完整 SHA（spec-rules §2 实踩事实） -Source0: https://github.com/EasyNavigation/easynav_plugins/archive/%{commit}.tar.gz +Source0: %{RosPkgName}-%{src_version}.tar.gz -# ROS 包统一关闭 debug 子包（/opt 前缀，strip/debugedit 路径非常规） +# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），SIG 模板统一关闭 %global debug_package %{nil} -# 摘掉 brp-python-bytecompile（/opt 下 python 字节码编译会写标准 sitelib 路径） +# /opt 下 python 字节码编译会写标准 sitelib 路径，摘掉 brp-python-bytecompile %global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g') -# /opt/ros 下 .so 不做自动依赖扫描（由 ament 间接依赖模型替代） +# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代） %global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$ %global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$ -# ── BuildRequires ── -# 构建工具 BuildRequires: cmake BuildRequires: make -# ROS 构建工具（buildtool_depend） +BuildRequires: gcc-c++ + +# ament_cmake 构建工具依赖（§6） BuildRequires: ros-%{ros_distro}-ament-cmake -# ROS 依赖（package.xml <depend>，经 ros-projects.list / ros-upstream.list 验证） + +# package.xml <depend> 中的 ROS 包 BuildRequires: ros-%{ros_distro}-ament-index-cpp +BuildRequires: ros-%{ros_distro}-easynav-common +BuildRequires: ros-%{ros_distro}-easynav-core BuildRequires: ros-%{ros_distro}-nav-msgs BuildRequires: ros-%{ros_distro}-pcl-conversions BuildRequires: ros-%{ros_distro}-pluginlib @@ -37,21 +41,17 @@ BuildRequires: ros-%{ros_distro}-std-srvs BuildRequires: ros-%{ros_distro}-tf2 BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs BuildRequires: ros-%{ros_distro}-tf2-ros -BuildRequires: ros-%{ros_distro}-yaml-cpp-vendor -# 批次兄弟包（dep_registry 中注册，同一 COPR project 构建） -BuildRequires: ros-%{ros_distro}-easynav-common -BuildRequires: ros-%{ros_distro}-easynav-core BuildRequires: ros-%{ros_distro}-yaets -# 系统依赖（package.xml <depend>，经 pkg.remap 映射，openEuler 24.03-LTS-SP3 实证） +BuildRequires: ros-%{ros_distro}-yaml-cpp-vendor + +# 系统依赖（pkg.remap 映射：eigen→eigen3-devel, graphicsmagick→GraphicsMagick-c++-devel, libpcl-all-dev→pcl-devel） BuildRequires: eigen3-devel BuildRequires: GraphicsMagick-c++-devel BuildRequires: pcl-devel -# ── Requires（运行时，/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写）── -# 强制三件套：ros-workspace 提供 setup.sh 环境就绪，ament-cmake 提供 ament 运行期钩子 +# 运行时 Requires（/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写） Requires: ros-%{ros_distro}-ros-workspace Requires: ros-%{ros_distro}-ament-cmake -# package.xml <depend> 的运行时映射 Requires: ros-%{ros_distro}-ament-index-cpp Requires: ros-%{ros_distro}-easynav-common Requires: ros-%{ros_distro}-easynav-core @@ -67,56 +67,51 @@ Requires: ros-%{ros_distro}-tf2-ros Requires: ros-%{ros_distro}-yaets Requires: ros-%{ros_distro}-yaml-cpp-vendor -# 单包策略：严禁拆实体子包（主包 %files 整树拥有时路径必然重叠） +# 单包策略：ROS 包严禁拆实体子包，改用虚拟 Provides 别名（§7） Provides: %{name}-devel = %{version}-%{release} Provides: %{name}-doc = %{version}-%{release} Provides: %{name}-runtime = %{version}-%{release} %description -Easy Navigation: Simple MapsManager package. Provides the Bonxai MapsManager -plugin for the Easy Navigation framework, based on the Bonxai hierarchical -grid map representation. +Easy Navigation: bonxai MapsManager package. Provides a "bonxai" (volumetric +hash-grid) implementation of the easynav MapsManager base class, registered as +a pluginlib plugin for easynav_core. Built and installed under the +/opt/ros/%{ros_distro} ament layout. %prep -%autosetup -n %{commit} +%autosetup -n %{RosPkgName}-%{src_version} %build -# 源码在 monorepo 子目录中 -cd maps_managers/easynav_bonxai_maps_manager - -# ROS 基座环境（chroot 已配置 ROS SIG repo；无 ROS 依赖的包 buildroot 里 -# 可能没有 setup.sh，必须用 [ -f ] 守卫——直接 source 不存在的文件在 -# 严格 sh 下会中止整个 %build 脚本，|| true 挡不住） +# ROS 基座环境：setup.sh 不存在时静默跳过（严格 sh 下直接 source 不存在文件会中止脚本） [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} -# 显式 out-of-source 构建（避免 openEuler %cmake 宏位置参数坑，spec-rules §5） +# 单仓多包：目标子包位于 maps_managers/easynav_bonxai_maps_manager +cd maps_managers/easynav_bonxai_maps_manager mkdir -p .obj && cd .obj -cmake \ +%cmake3 \ -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \ -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \ -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \ - -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \ + -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR \ + -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \ -DSETUPTOOLS_DEB_LAYOUT=OFF \ -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \ .. make %{?_smp_mflags} %install -cd maps_managers/easynav_bonxai_maps_manager/.obj - -# ROS 基座环境 [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true -export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} -export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} - +cd maps_managers/easynav_bonxai_maps_manager +cd .obj make install DESTDIR=%{buildroot} +# 单包整树拥有 /opt/ros/<distro>（SIG 标准做法，对"装了没打包"类错误免疫，§7） %files -# 整树拥有：对「装了没打包」类错误免疫（spec-rules §7） /opt/ros/%{ros_distro} %changelog -* Sat Oct 10 2026 AI Importer <ai-importer@opencode.local> - 0.5.0-1 -- 初始 ROS humble spec，引入 easynav-bonxai-maps-manager +* Tue Oct 20 2026 AI Importer <ai-importer@openeuler.org> - 0.5.0-1 +- Initial ROS humble spec for easynav-bonxai-maps-manager 0.5.0 +- Source0 aligned to RosPkgName-src_version.tar.gz for batch driver tarball naming |