%define ros_distro humble %define RosPkgName easynav-fusion-localizer %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: 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： # -.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 # cmake(geographiclib)），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} # /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:]].*$!!g') # ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代） %global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$ %global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$ BuildRequires: cmake BuildRequires: make BuildRequires: gcc-c++ # ament_cmake 构建工具依赖（§6） BuildRequires: ros-%{ros_distro}-ament-cmake # package.xml 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：eulermaker additional repo（openEuler_Embedded_ROS2_humble_release3） # 提供 geographiclib / geographiclib-devel（官方小写包名），ros-humble-robot-localization # 同源 Requires: geographiclib。改用 geographiclib-devel 避免 COPR 的 # geographiclib-tools-libs 与官方 geographiclib 在 libGeographicLib.so.26.2.1 上冲突 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 Requires: ros-%{ros_distro}-angles Requires: ros-%{ros_distro}-diagnostic-msgs Requires: ros-%{ros_distro}-diagnostic-updater 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}-rclcpp-lifecycle Requires: ros-%{ros_distro}-robot-localization Requires: ros-%{ros_distro}-sensor-msgs 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 # fusion_localizer.so 直接链接 ${GeographicLib_LIBRARIES}，显式声明运行时依赖 # 与 ros-humble-robot-localization 一致使用官方 geographiclib（非 COPR 的 GeographicLib） Requires: geographiclib # eigen 为 header-only 模板库（编译期嵌入），不在此单列 Requires # 单包策略：ROS 包严禁拆实体子包，改用虚拟 Provides 别名（§7） Provides: %{name}-devel = %{version}-%{release} Provides: %{name}-doc = %{version}-%{release} Provides: %{name}-runtime = %{version}-%{release} %description Easy Navigation: Fusion Localizer package. Provides a sensor-fusion localizer plugin (UKF-based, wrapping robot_localization's unscented Kalman filter) for the EasyNavigation navigation stack, registered as a pluginlib plugin for easynav_core. Built and installed under the /opt/ros/%{ros_distro} ament layout. %prep %autosetup -n %{RosPkgName}-%{src_version} -p1 %build # ROS 基座环境：setup.sh 不存在时静默跳过（严格 sh 下直接 source 不存在文件会中止脚本） [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH} # 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 %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 cd localizers/easynav_fusion_localizer cd .obj make install DESTDIR=%{buildroot} # 单包整树拥有 /opt/ros/（SIG 标准做法，对"装了没打包"类错误免疫，§7） %files /opt/ros/%{ros_distro} %changelog * Tue Oct 20 2026 AI Importer - 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