automatic import of ros-humble-easynav-navmap-localizer

1 files changed, 121 insertions, 0 deletions

diff --git a/easynav-navmap-localizer.spec b/easynav-navmap-localizer.spec
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+# spec-rules-ros 规范生成：ROS 2 ament_cmake 包
+# 本包为 monorepo EasyNavigation/easynav_plugins 的子包，源码位于
+# localizers/easynav_navmap_localizer/ 子目录，构建产物进 /opt/ros/%{ros_distro}。
+
+%define ros_distro humble
+%define RosPkgName easynav-navmap-localizer
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        0.5.0
+Release:        1%{?dist}
+Summary:        Easy Navigation: nAVmAP Localizer package
+
+# package.xml <license> Apache-2.0
+License:        Apache-2.0
+URL:            https://github.com/EasyNavigation/easynav_plugins
+
+# humble 分支 fetch 时的 HEAD commit（manifest target_version 0.5.0-1，无对应 tag，
+# 固定 commit 保证产物可追溯）
+%global commit 703b73ae55bf6a419bf309b26084ca523b063ddf
+Source0:        https://github.com/EasyNavigation/easynav_plugins/archive/%{commit}.tar.gz
+
+# debug 子包无意义（/opt 前缀），SIG 模板统一关闭
+%global debug_package %{nil}
+# /opt 下 python 字节码会写标准 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}/.*$
+
+# 单包策略：虚拟别名兼容依赖方，严禁拆实体 devel 子包（避免路径重叠冲突）
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+BuildRequires:  ros-%{ros_distro}-ament-cmake
+# package.xml <buildtool_depend>ament_cmake</buildtool_depend> 形态为 ament_cmake；
+# <test_depend> 不写 BuildRequires（构建关闭测试）
+BuildRequires:  ros-%{ros_distro}-easynav-bonxai-maps-manager
+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}-geometry-msgs
+BuildRequires:  ros-%{ros_distro}-nav-msgs
+BuildRequires:  ros-%{ros_distro}-navmap-core
+BuildRequires:  ros-%{ros_distro}-navmap-ros
+BuildRequires:  ros-%{ros_distro}-navmap-ros-interfaces
+BuildRequires:  ros-%{ros_distro}-pluginlib
+BuildRequires:  ros-%{ros_distro}-rclcpp
+BuildRequires:  ros-%{ros_distro}-tf2
+BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
+BuildRequires:  ros-%{ros_distro}-tf2-ros
+# 系统依赖（package.xml <depend> 经 pkg.remap 映射 + dnf 实证）
+BuildRequires:  eigen3-devel
+BuildRequires:  pcl-devel
+
+# 运行时 Requires（/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写）
+Requires:       ros-%{ros_distro}-ros-workspace
+Requires:       ros-%{ros_distro}-ament-cmake
+Requires:       ros-%{ros_distro}-easynav-bonxai-maps-manager
+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}-navmap-core
+Requires:       ros-%{ros_distro}-navmap-ros
+Requires:       ros-%{ros_distro}-navmap-ros-interfaces
+Requires:       ros-%{ros_distro}-pluginlib
+Requires:       ros-%{ros_distro}-rclcpp
+Requires:       ros-%{ros_distro}-tf2
+Requires:       ros-%{ros_distro}-tf2-geometry-msgs
+Requires:       ros-%{ros_distro}-tf2-ros
+# pcl 运行时库（plugin 链接 libpcl，autodeps 被豁免无法自动捕获）
+Requires:       pcl
+
+%description
+Easy Navigation: nAVmAP Localizer package. An AMCL-like localizer operating on
+NavMap meshes, provided as a plugin for the EasyNav framework, built for
+ROS 2 %{ros_distro}.
+
+%prep
+# 实测 GitHub commit 归档根目录名为 easynav_plugins-<完整SHA>（spec-rules-ros §2 强制实测）
+%autosetup -n easynav_plugins-%{commit}
+
+%build
+# ROS 基座环境（带守卫，buildroot 无 setup.sh 时不可直接 source）
+[ -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}
+
+# 本包源码位于 monorepo 子目录；显式 out-of-source 构建（规避 openEuler %cmake 位置参数坑）
+cd localizers/easynav_navmap_localizer
+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 localizers/easynav_navmap_localizer/.obj
+%{__make} install DESTDIR=%{buildroot}
+
+%files
+# 整树拥有 /opt/ros/%{ros_distro}（SIG 模板标准做法，对"装了没打包"类错误免疫）
+/opt/ros/%{ros_distro}
+
+%changelog
+* Tue Oct 20 2026 ROS SIG <ros@openeuler.org> - 0.5.0-1
+- 初始引入 easynav_navmap_localizer 0.5.0（EasyNavigation/easynav_plugins humble 分支）