%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.