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diff --git a/easynav-costmap-localizer.spec b/easynav-costmap-localizer.spec
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+%define ros_distro humble
+%define RosPkgName easynav-costmap-localizer
+%define src_version 0.5.0-1
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        0.5.0
+Release:        1%{?dist}
+Summary:        Easy Navigation: Costmap Localizer package.
+License:        Apache-2.0
+URL:            https://github.com/EasyNavigation/easynav_plugins/tree/humble
+Source0:        %{RosPkgName}-%{src_version}.tar.gz
+
+%global debug_package %{nil}
+%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
+%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
+%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
+
+BuildRequires:  cmake
+BuildRequires:  gcc-c++
+BuildRequires:  ros-%{ros_distro}-ament-cmake
+BuildRequires:  ros-%{ros_distro}-diagnostic-msgs
+BuildRequires:  ros-%{ros_distro}-geometry-msgs
+BuildRequires:  ros-%{ros_distro}-nav-msgs
+BuildRequires:  ros-%{ros_distro}-pluginlib
+BuildRequires:  ros-%{ros_distro}-rclcpp
+BuildRequires:  ros-%{ros_distro}-tf2
+BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
+BuildRequires:  ros-%{ros_distro}-tf2-ros
+BuildRequires:  eigen3-devel
+# EasyNavigation 自有包已补入 ros-projects.list（humble 分支），按 ROS RPM
+# 命名规范 ros-<distro>-<连字符名> 声明，与同批兄弟包 spec 一致；
+# 反幻觉门禁 verify_ros_spec_deps 据清单放行，verify_spec_requires 按
+# RPM 名查 provider / 注册递归构建（裸名下划线形式无 provider 且与
+# dep_registry 键 ros-<distro>-<pkg> 规范不符，round 1 改裸名是误判）。
+BuildRequires:  ros-%{ros_distro}-easynav-common
+BuildRequires:  ros-%{ros_distro}-easynav-core
+BuildRequires:  ros-%{ros_distro}-easynav-costmap-common
+BuildRequires:  ros-%{ros_distro}-easynav-localizer
+BuildRequires:  ros-%{ros_distro}-easynav-diagnostic-recovery
+BuildRequires:  ros-%{ros_distro}-easynav-sensors
+
+Requires:       ros-%{ros_distro}-ros-workspace
+Requires:       ros-%{ros_distro}-ament-cmake
+Requires:       ros-%{ros_distro}-diagnostic-msgs
+Requires:       ros-%{ros_distro}-geometry-msgs
+Requires:       ros-%{ros_distro}-nav-msgs
+Requires:       ros-%{ros_distro}-pluginlib
+Requires:       ros-%{ros_distro}-rclcpp
+Requires:       ros-%{ros_distro}-tf2
+Requires:       ros-%{ros_distro}-tf2-geometry-msgs
+Requires:       ros-%{ros_distro}-tf2-ros
+Requires:       eigen3-devel
+Requires:       ros-%{ros_distro}-easynav-common
+Requires:       ros-%{ros_distro}-easynav-core
+Requires:       ros-%{ros_distro}-easynav-costmap-common
+Requires:       ros-%{ros_distro}-easynav-localizer
+Requires:       ros-%{ros_distro}-easynav-diagnostic-recovery
+Requires:       ros-%{ros_distro}-easynav-sensors
+
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+%description
+Easy Navigation: Costmap Localizer package.
+This package provides the costmap-based localizer plugin for the
+EasyNavigation navigation stack, built for ROS 2 %{ros_distro}.
+
+%prep
+%autosetup -n %{RosPkgName}-%{src_version}
+
+%build
+[ -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 localizers/easynav_costmap_localizer
+mkdir -p .obj && cd .obj
+%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 \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
+    ..
+make %{?_smp_mflags}
+
+%install
+[ -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 localizers/easynav_costmap_localizer/.obj
+make install DESTDIR=%{buildroot}
+
+%files
+/opt/ros/%{ros_distro}
+
+%changelog
+* Tue Oct 20 2026 ROS SIG <ros@openeuler.org> - 0.5.0-1
+- Initial ROS 2 humble package for easynav_costmap_localizer.
+- Source: easynav_plugins monorepo humble branch.