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%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：
# <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
# 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 <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：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/<distro>（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 <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
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