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%define ros_distro humble
%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）
%global debug_package %{nil}
# 摘掉 brp-python-bytecompile（/opt 下 python 字节码编译会写标准 sitelib 路径）
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
# /opt/ros 下 .so 不做自动依赖扫描（由 ament 间接依赖模型替代）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%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
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
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}-yaets
Requires: eigen3-devel
Requires: geographiclib-devel
# 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）
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.
%prep
%autosetup -n %{RosPkgName}-%{src_version}
%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）
[ -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）
mkdir -p .obj && cd .obj
cmake \
-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
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}
make install DESTDIR=%{buildroot}
%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
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