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# 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
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 = <完整SHA>（纯 commit，无 repo 前缀；spec-rules-ros §2 实测纪律）
%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
# Eigen < 3.4 不支持 Matrix2d 的 brace-enclosed initializer list 语法
# {{a,b},{c,d}}，openEuler 24.03 自带 Eigen 3.3 编译报错。改用逗号初始化器
# (Matrix2d() << ...).finished() 替代，兼容 Eigen 3.3+
Patch1: eigen-matrix-init-fix.patch
# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），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: gcc-c++
BuildRequires: make
# ament_cmake 形态构建工具依赖（spec-rules §6）
BuildRequires: ros-%{ros_distro}-ament-cmake
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
BuildRequires: ros-%{ros_distro}-easynav-system
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-pcl-conversions
BuildRequires: ros-%{ros_distro}-pluginlib
BuildRequires: ros-%{ros_distro}-rclcpp
BuildRequires: ros-%{ros_distro}-sensor-msgs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-tf2-ros
# 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
BuildRequires: pcl-devel
# 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
Requires: ros-%{ros_distro}-easynav-common
Requires: ros-%{ros_distro}-easynav-core
Requires: ros-%{ros_distro}-easynav-sensors
Requires: ros-%{ros_distro}-easynav-system
Requires: ros-%{ros_distro}-geometry-msgs
Requires: ros-%{ros_distro}-nav-msgs
Requires: ros-%{ros_distro}-pcl-conversions
Requires: ros-%{ros_distro}-pluginlib
Requires: ros-%{ros_distro}-rclcpp
Requires: ros-%{ros_distro}-sensor-msgs
Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-tf2-ros
# 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（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}
%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
# 解压根目录 = <完整SHA>（纯 commit，无 repo 前缀；spec-rules-ros §2，与 regulated-pp/serest 兄弟包一致）
%autosetup -n %{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
# 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}
# 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），规避 openEuler cmake 宏位置参数坑
# 注意：注释中严禁出现百分号+字母组合（RPM 会做宏展开注入实际命令）
cd controllers/easynav_mpc_controller
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
[ -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 controllers/easynav_mpc_controller/.obj
make install DESTDIR=%{buildroot}
%files
# files 整树拥有（spec-rules §7）：对「装了没打包」类错误免疫
/opt/ros/%{ros_distro}
%changelog
* 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
- Fix: 注释中 cmake 宏泄漏导致构建失败，改用直接 cmake 调用（对齐 mhamcl 兄弟包）
- Fix: Eigen Matrix2d brace-init 不兼容 Eigen 3.3，Patch1 改用逗号初始化器
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