automatic import of ros-humble-easynav-mpc-controller

4 files changed, 88 insertions, 53 deletions

diff --git a/.gitignore b/.gitignore
index c680c52..6a97054 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,3 @@
 /easynav-mpc-controller-0.5.0-1.tar.gz
+/2580d29baefe77305c6e9336dca743aa5ce51c2c.tar.gz
+/nlopt-2.11.0.tar.gz
diff --git a/easynav-mpc-controller.spec b/easynav-mpc-controller.spec
index 6ff0ce3..b2b53c5 100644
--- a/easynav-mpc-controller.spec
+++ b/easynav-mpc-controller.spec
@@ -1,30 +1,47 @@
+# ROS 2 包：easynav_mpc_controller（ament_cmake 形态）
+# 来源：EasyNavigation/easynav_plugins 仓库 humble 分支（多包仓库，本包位于
+#       controllers/easynav_mpc_controller/ 子目录）
+# 严格遵循 /app/.claude/skills/build-rpm/spec-rules-ros.md 生成
+
+# ros_distro 取自 session.json，禁止硬编码；RosPkgName 为 package.xml <name>
+# 经下划线→连字符归一化（easynav_mpc_controller → easynav-mpc-controller）
 %define ros_distro humble
 %define RosPkgName easynav-mpc-controller
-%define src_version 0.5.0-1
 
-Name:           ros-%{ros_distro}-%{RosPkgName}
-Version:        0.5.0
-Release:        1%{?dist}
-Summary:        Easy Navigation: MPC Controller package.
-License:        Apache-2.0
-URL:            https://github.com/EasyNavigation/easynav_plugins/tree/humble
-Source0:        %{RosPkgName}-%{src_version}.tar.gz
+Name:       ros-%{ros_distro}-%{RosPkgName}
+Version:    0.5.0
+Release:    1%{?dist}
+Summary:    Easy Navigation: MPC Controller package.
+License:    Apache-2.0
+URL:        https://github.com/EasyNavigation/easynav_plugins
+
+# 源码取自 humble 分支 HEAD（commit 快照，无 0.5.0 tag，记录 commit 以保可追溯）
+# 归档解压根目录经实测为 easynav_plugins-<完整SHA>（GitHub commit 归档命名）
+%global commit 2580d29baefe77305c6e9336dca743aa5ce51c2c
+Source0:    https://github.com/EasyNavigation/easynav_plugins/archive/%{commit}.tar.gz
+
+# NLopt：CMakeLists 在系统无 NLopt 时从 GitHub 下载内置静态库（MIT-only 子集），
+# COPR 无网环境必失败（spec-rules §9 已知失败模式）。此处将上游归档作为 Source1
+# 本地化，并用 Patch0 把 ExternalProject 的 URL 重定向到本地文件，实现离线构建。
+# SHA256 与 CMakeLists 的 URL_HASH 一致（53e552d8...04cf0de），完整性可校验。
+Source1:    https://github.com/stevengj/nlopt/archive/refs/tags/v2.11.0.tar.gz#/nlopt-2.11.0.tar.gz
+Patch0:     nlopt-local-source.patch
 
-# ROS 包统一关闭 debug 子包（/opt 前缀，strip/debugedit 路径非常规）
+# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），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:  gcc-c++
 BuildRequires:  make
-# ROS 构建工具（buildtool_depend）
+# ament_cmake 形态构建工具依赖（spec-rules §6）
 BuildRequires:  ros-%{ros_distro}-ament-cmake
-# ROS 依赖（package.xml <depend>，经 ros-projects.list 验证 SIG 源已有）
+BuildRequires:  ros-%{ros_distro}-ros-workspace
+# package.xml <depend> → ros-humble-<dep>（均经 ros-projects.list 实证为 SIG 维护包）
 BuildRequires:  ros-%{ros_distro}-easynav-common
 BuildRequires:  ros-%{ros_distro}-easynav-core
 BuildRequires:  ros-%{ros_distro}-easynav-sensors
@@ -37,16 +54,19 @@ BuildRequires:  ros-%{ros_distro}-rclcpp
 BuildRequires:  ros-%{ros_distro}-sensor-msgs
 BuildRequires:  ros-%{ros_distro}-tf2
 BuildRequires:  ros-%{ros_distro}-tf2-ros
-# 系统依赖（package.xml <depend>，经 pkg.remap 映射 eigen → eigen3-devel）
+# CMake 直接 find_package 的系统依赖（package.xml 仅声明 eigen，pcl 经 pcl_conversions 传递，
+# 但 CMakeLists 显式 find_package(PCL REQUIRED) 需 -devel 在 buildroot）：
+#   eigen → eigen3-devel（data/ros/global_config/pkg.remap 映射）
+#   PCL   → pcl-devel（dnf 实证：pcl-devel-1.12.1 提供 cmake(PCL)）
 BuildRequires:  eigen3-devel
-# CMakeLists.txt find_package(PCL REQUIRED COMPONENTS common io)
 BuildRequires:  pcl-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
+# 运行时 Requires（spec-rules §6 三件套 + <depend> 运行期依赖）：
+#   ros-workspace 提供 /opt/ros/<distro>/setup.sh 与环境 hooks（所有 ROS 包强制）
+#   ament-cmake ament 运行期钩子（ament_cmake 形态强制）
+#   /opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，故运行期依赖手写
 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}-easynav-common
 Requires:       ros-%{ros_distro}-easynav-core
 Requires:       ros-%{ros_distro}-easynav-sensors
@@ -59,10 +79,11 @@ Requires:       ros-%{ros_distro}-rclcpp
 Requires:       ros-%{ros_distro}-sensor-msgs
 Requires:       ros-%{ros_distro}-tf2
 Requires:       ros-%{ros_distro}-tf2-ros
-Requires:       eigen3-devel
-Requires:       pcl-devel
+# 控制器 .so 动态链接 libpcl_common/libpcl_io（在 /usr/lib64），/opt/ros 下 .so 被豁免
+# 不扫 requires，故显式声明运行期 pcl
+Requires:       pcl
 
-# 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：严禁拆实体子包（spec-rules §7），用虚拟别名兼容依赖方
 Provides:       %{name}-devel = %{version}-%{release}
 Provides:       %{name}-doc = %{version}-%{release}
 Provides:       %{name}-runtime = %{version}-%{release}
@@ -70,48 +91,48 @@ Provides:       %{name}-runtime = %{version}-%{release}
 %description
 Easy Navigation: MPC Controller package.
 
+Model Predictive Control (MPC) controller plugin for the Easy Navigation
+stack. Built as an ament_cmake shared library registered as a pluginlib
+plugin via easynav_core, with a bundled static NLopt optimizer (MIT-only
+subset) when no system NLopt is available.
+
 %prep
-%autosetup -n %{RosPkgName}-%{src_version}
+# 解压根目录 = easynav_plugins-<完整SHA>（实测 GitHub commit 归档命名）
+%autosetup -n easynav_plugins-%{commit} -p1
+# 把 NLopt 源码归档放到包目录，供 Patch0 重定向后的 ExternalProject 本地引用
+cp %{SOURCE1} controllers/easynav_mpc_controller/
 
 %build
-# 源码在 monorepo 子目录中
-cd controllers/easynav_mpc_controller
-
-# 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（spec-rules §4）：setup.sh 用 [ -f ] 守卫，避免无 ROS 依赖 chroot 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）
-# BUILD_TESTING=OFF 关闭测试（package.xml <test_depend> 不写 BuildRequires，spec-rules §5）
-# NLopt 未安装时 CMakeLists.txt 自动下载构建为私有静态库（ExternalProject），无需 BuildRequires
-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}
+# 多包仓库：仅构建目标包子目录 controllers/easynav_mpc_controller
+# ament_cmake 形态显式 out-of-source（spec-rules §5），避免 openEuler %cmake 宏位置参数坑
+cd controllers/easynav_mpc_controller
+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
+%make_build
 
 %install
 cd controllers/easynav_mpc_controller/.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）
+# %files 整树拥有（spec-rules §7）：对「装了没打包」类错误免疫
 /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-mpc-controller
+* Tue Oct 20 2026 AI Importer <ai-importer@opencode> - 0.5.0-1
+- Initial ROS spec for easynav-mpc-controller (humble)
+- Source: easynav_plugins humble branch snapshot (commit 2580d29)
+- NLopt 2.11.0 vendored as Source1 + Patch0 for offline COPR build
+- Single-package policy with virtual devel/doc/runtime Provides
diff --git a/nlopt-local-source.patch b/nlopt-local-source.patch
new file mode 100644
index 0000000..200d01d
--- /dev/null
+++ b/nlopt-local-source.patch
@@ -0,0 +1,11 @@
+--- a/controllers/easynav_mpc_controller/CMakeLists.txt	2026-10-20 09:29:05.457780465 +0000
++++ b/controllers/easynav_mpc_controller/CMakeLists.txt	2026-10-20 09:29:26.748844852 +0000
+@@ -45,7 +45,7 @@
+     set(nlopt_download_options DOWNLOAD_EXTRACT_TIMESTAMP TRUE)
+   endif()
+   externalproject_add(nlopt_bundled
+-    URL https://github.com/stevengj/nlopt/archive/refs/tags/v${nlopt_version}.tar.gz
++    URL file://${CMAKE_CURRENT_SOURCE_DIR}/nlopt-${nlopt_version}.tar.gz
+     URL_HASH SHA256=53e552d83e9294d67db37f0f4a23f15933a9ef698485301a18b98b40004cf0de
+     ${nlopt_download_options}
+     CMAKE_ARGS
diff --git a/sources b/sources
index 866b37c..d7e9b7d 100644
--- a/sources
+++ b/sources
@@ -1 +1,2 @@
-79246da822661946aec1e0ef170a05e7  easynav-mpc-controller-0.5.0-1.tar.gz
+8200389c8e5163f1c5567835922624c9  2580d29baefe77305c6e9336dca743aa5ce51c2c.tar.gz
+fea2e0e632b2fb11cb8355e8c8129bb8  nlopt-2.11.0.tar.gz