automatic import of ros-humble-easynav-fusion-localizer

3 files changed, 105 insertions, 76 deletions

diff --git a/0001-adapt-GeographicLib-discovery-for-openEuler.patch b/0001-adapt-GeographicLib-discovery-for-openEuler.patch
new file mode 100644
index 0000000..246a16d
--- /dev/null
+++ b/0001-adapt-GeographicLib-discovery-for-openEuler.patch
@@ -0,0 +1,18 @@
+--- a/localizers/easynav_fusion_localizer/CMakeLists.txt
++++ b/localizers/easynav_fusion_localizer/CMakeLists.txt
+@@ -32,9 +32,12 @@
+ find_package(Eigen3 REQUIRED NO_MODULE)
+ find_package(yaets REQUIRED)
+ 
+-# Geographiclib installs FindGeographicLib.cmake to this non-standard location
+-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr/share/cmake/geographiclib/")
+-find_package(GeographicLib REQUIRED)
++find_package(GeographicLib CONFIG QUIET)
++if(NOT GeographicLib_FOUND)
++  # GeographicLib may also be provided via a Find module on some distributions.
++  list(APPEND CMAKE_MODULE_PATH "/usr/share/cmake/geographiclib/")
++  find_package(GeographicLib REQUIRED)
++endif()
+ 
+ include_directories(${GeographicLib_INCLUDE_DIRS})
+ 
diff --git a/easynav-fusion-localizer.spec b/easynav-fusion-localizer.spec
index 36d8db4..dbf7b5e 100644
--- a/easynav-fusion-localizer.spec
+++ b/easynav-fusion-localizer.spec
@@ -2,66 +2,74 @@
 %define RosPkgName easynav-fusion-localizer
 %define src_version 0.5.0-1
 
-Name:           ros-%{ros_distro}-%{RosPkgName}
-Version:        0.5.0
-Release:        1%{?dist}
-Summary:        Easy Navigation: Fusion Localizer package.
-License:        Apache-2.0
-URL:            https://github.com/EasyNavigation/easynav_plugins/tree/humble
-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）
+# 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: Fusion Localizer package.
+License:    Apache-2.0
+URL:        https://github.com/EasyNavigation/easynav_plugins
+# Source0 命名与批量 driver 的 create_tarball/tar --transform 对齐：
+# <RosPkgName>-<src_version>.tar.gz，顶层目录同名，prep 解压目录须匹配
+Source0:    %{RosPkgName}-%{src_version}.tar.gz
+# GeographicLib 在 openEuler 为 config-mode 包（GeographicLib-devel 提供
+# /usr/lib64/cmake/GeographicLib/geographiclib-config.cmake），上游 CMakeLists
+# 按 module-mode 查找 /usr/share/cmake/geographiclib/ 会失败，需适配为
+# config-mode 优先、module 回退（与 robot-localization package_fix 同源）
+Patch0:     0001-adapt-GeographicLib-discovery-for-openEuler.patch
+
+# 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:  ros-%{ros_distro}-ament-cmake
-# ROS 依赖（package.xml <depend>，经 ros-projects.list / ros-upstream.list 验证 SIG 源已有）
-BuildRequires:  ros-%{ros_distro}-angles
-BuildRequires:  ros-%{ros_distro}-diagnostic-msgs
-BuildRequires:  ros-%{ros_distro}-diagnostic-updater
-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}-rclcpp-lifecycle
-BuildRequires:  ros-%{ros_distro}-robot-localization
-BuildRequires:  ros-%{ros_distro}-sensor-msgs
-BuildRequires:  ros-%{ros_distro}-std-srvs
-BuildRequires:  ros-%{ros_distro}-tf2
-BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
-BuildRequires:  ros-%{ros_distro}-tf2-ros
-# 批次兄弟包（dep_registry 中注册，同一 COPR project 构建，安装时同源解析）
-BuildRequires:  ros-%{ros_distro}-easynav-common
-BuildRequires:  ros-%{ros_distro}-easynav-core
-BuildRequires:  ros-%{ros_distro}-easynav-localizer
-BuildRequires:  ros-%{ros_distro}-easynav-sensors
-BuildRequires:  ros-%{ros_distro}-yaets
-# 系统依赖（package.xml <depend>，经 pkg.remap 映射 eigen → eigen3-devel）
-BuildRequires:  eigen3-devel
-# GeographicLib：CMakeLists.txt 从 /usr/share/cmake/geographiclib/ 加载 FindGeographicLib.cmake
-BuildRequires:  geographiclib-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
+BuildRequires: cmake
+BuildRequires: make
+BuildRequires: gcc-c++
+
+# ament_cmake 构建工具依赖（§6）
+BuildRequires: ros-%{ros_distro}-ament-cmake
+
+# package.xml <depend> 中的 ROS 包（ros-projects.list 实证 SIG 源已有）
+BuildRequires: ros-%{ros_distro}-angles
+BuildRequires: ros-%{ros_distro}-diagnostic-msgs
+BuildRequires: ros-%{ros_distro}-diagnostic-updater
+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}-rclcpp-lifecycle
+BuildRequires: ros-%{ros_distro}-robot-localization
+BuildRequires: ros-%{ros_distro}-sensor-msgs
+BuildRequires: ros-%{ros_distro}-std-srvs
+BuildRequires: ros-%{ros_distro}-tf2
+BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs
+BuildRequires: ros-%{ros_distro}-tf2-ros
+
+# EasyNavigation 自有包 + yaets（dep_registry 已 build_done，allowlist-resolve）
+BuildRequires: ros-%{ros_distro}-easynav-common
+BuildRequires: ros-%{ros_distro}-easynav-core
+BuildRequires: ros-%{ros_distro}-easynav-localizer
+BuildRequires: ros-%{ros_distro}-easynav-sensors
+BuildRequires: ros-%{ros_distro}-yaets
+
+# 系统依赖（pkg.remap 映射：eigen→eigen3-devel；geographiclib→GeographicLib-devel，
+#   openEuler 包名大写 GeographicLib，非 Debian 小写名，§6 反幻觉铁律）
+BuildRequires: eigen3-devel
+BuildRequires: GeographicLib-devel
+
+# 运行时 Requires（/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写）
+#   三件套之 ros-workspace（setup.sh / 环境 hooks）+ ament-cmake（ament 运行期钩子）
 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}-angles
 Requires:       ros-%{ros_distro}-diagnostic-msgs
 Requires:       ros-%{ros_distro}-diagnostic-updater
-Requires:       ros-%{ros_distro}-easynav-common
-Requires:       ros-%{ros_distro}-easynav-core
-Requires:       ros-%{ros_distro}-easynav-localizer
-Requires:       ros-%{ros_distro}-easynav-sensors
 Requires:       ros-%{ros_distro}-geometry-msgs
 Requires:       ros-%{ros_distro}-nav-msgs
 Requires:       ros-%{ros_distro}-pluginlib
@@ -73,60 +81,63 @@ Requires:       ros-%{ros_distro}-std-srvs
 Requires:       ros-%{ros_distro}-tf2
 Requires:       ros-%{ros_distro}-tf2-geometry-msgs
 Requires:       ros-%{ros_distro}-tf2-ros
+Requires:       ros-%{ros_distro}-easynav-common
+Requires:       ros-%{ros_distro}-easynav-core
+Requires:       ros-%{ros_distro}-easynav-localizer
+Requires:       ros-%{ros_distro}-easynav-sensors
 Requires:       ros-%{ros_distro}-yaets
-Requires:       eigen3-devel
-Requires:       geographiclib-devel
+# fusion_localizer.so 直接链接 ${GeographicLib_LIBRARIES}，显式声明运行时依赖
+Requires:       GeographicLib
+# eigen 为 header-only 模板库（编译期嵌入），不在此单列 Requires
 
-# 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: Fusion Localizer package. Odometry fusion localizer based on
-Robot Localization that fuses any n odometry sources for the Easy Navigation
-framework.
+Easy Navigation: Fusion Localizer package. Provides a sensor-fusion localizer
+plugin (UKF-based, wrapping robot_localization's unscented Kalman filter) for
+the EasyNavigation navigation stack, registered as a pluginlib plugin for
+easynav_core. Built and installed under the /opt/ros/%{ros_distro} ament layout.
 
 %prep
-%autosetup -n %{RosPkgName}-%{src_version}
+%autosetup -n %{RosPkgName}-%{src_version} -p1
 
 %build
-# 源码在 monorepo 子目录中
-cd localizers/easynav_fusion_localizer
-
-# 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 localizers/easynav_fusion_localizer
+cd localizers/easynav_fusion_localizer
+# ament_cmake 形态：显式 out-of-source 构建（避开 openEuler cmake 宏位置参数坑，§5）
 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 localizers/easynav_fusion_localizer/.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 localizers/easynav_fusion_localizer
+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-fusion-localizer
+* Tue Oct 20 2026 AI Importer <ai-importer@openeuler.org> - 0.5.0-1
+- Initial ROS humble spec for easynav-fusion-localizer 0.5.0
+- Source0 aligned to RosPkgName-src_version.tar.gz for batch driver tarball naming
+- Patch0 adapts GeographicLib discovery to config-mode for openEuler
+- Source: easynav_plugins monorepo humble branch, commit 703b73ae55bf6a419bf309b26084ca523b063ddf
diff --git a/sources b/sources
index 9a08b7b..5e227ab 100644
--- a/sources
+++ b/sources
@@ -1 +1 @@
-4a1b1ed69fde8f1e1e7b7992402c5db5  easynav-fusion-localizer-0.5.0-1.tar.gz
+9b167febe8c256302ca688022dd43d57  easynav-fusion-localizer-0.5.0-1.tar.gz