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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）
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