diff options
| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | easynav-navmap-maps-manager.spec | 195 | ||||
| -rw-r--r-- | sources | 2 |
3 files changed, 101 insertions, 97 deletions
@@ -1 +1,2 @@ /2580d29baefe77305c6e9336dca743aa5ce51c2c.tar.gz +/703b73ae55bf6a419bf309b26084ca523b063ddf.tar.gz diff --git a/easynav-navmap-maps-manager.spec b/easynav-navmap-maps-manager.spec index acef25c..0f1aa8f 100644 --- a/easynav-navmap-maps-manager.spec +++ b/easynav-navmap-maps-manager.spec @@ -1,130 +1,133 @@ +# 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 +# maps_managers/easynav_navmap_maps_manager/ 子目录，构建产物进 /opt/ros/humble。 + %define ros_distro humble %define RosPkgName easynav-navmap-maps-manager -# 分支 humble 的实际 checkout commit，保证 Source0 可追溯 -%global commit 2580d29baefe77305c6e9336dca743aa5ce51c2c - -Name: ros-%{ros_distro}-%{RosPkgName} -Version: 0.5.0 -Release: 1%{?dist} -Summary: Easy Navigation: NavMap MapsManager package -License: Apache-2.0 -URL: https://github.com/EasyNavigation/easynav_plugins -# GitHub commit 归档：解压根目录 = 完整 SHA（spec-rules §2 实踩事实） -Source0: https://github.com/EasyNavigation/easynav_plugins/archive/%{commit}.tar.gz - -# ROS 包统一关闭 debug 子包（/opt 前缀，strip/debugedit 路径非常规） + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 0.5.0 +Release: 1%{?dist} +Summary: Easy Navigation: NavMap Maps Manager (维护 NavMap 三角化 3D 曲面，发布全图与图层更新) + +# 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} -# 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: make -# ROS 构建工具（buildtool_depend） -BuildRequires: ros-%{ros_distro}-ament-cmake -# ROS 依赖（package.xml <depend>，经 ros-projects.list 验证） -BuildRequires: ros-%{ros_distro}-ament-index-cpp -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}-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 -BuildRequires: ros-%{ros_distro}-yaml-cpp-vendor -# 批次兄弟包（dep_registry 中注册，同一 COPR project 构建） -BuildRequires: ros-%{ros_distro}-easynav-common -BuildRequires: ros-%{ros_distro}-easynav-core -BuildRequires: ros-%{ros_distro}-easynav-sensors -BuildRequires: ros-%{ros_distro}-yaets -# 外部 ROS 依赖（ros-projects/ros-upstream 均未收录，不在本批次 project.list； -# 按 spec-rules §6 "实证无 provider 禁止静默丢弃" 照写，由 verify_spec_requires.py -# --register-missing 注册进 dep_registry 递归引入） -BuildRequires: ros-%{ros_distro}-navmap-core -BuildRequires: ros-%{ros_distro}-navmap-ros -BuildRequires: ros-%{ros_distro}-navmap-ros-interfaces -# 系统依赖（package.xml <depend>，经 pkg.remap 映射，openEuler 24.03-LTS-SP3 实证） -BuildRequires: eigen3-devel -BuildRequires: GraphicsMagick-c++-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}-ament-index-cpp -Requires: ros-%{ros_distro}-easynav-common -Requires: ros-%{ros_distro}-easynav-core -Requires: ros-%{ros_distro}-easynav-sensors -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}-rclcpp-lifecycle -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: ros-%{ros_distro}-yaml-cpp-vendor - -# 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} +# 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>（ament_cmake_gtest / ament_lint_auto / ament_lint_common / geometry_msgs） +# 不写 BuildRequires（-DBUILD_TESTING=OFF 关闭测试） +# 以下 ROS <depend> 均已在 ros-projects.list 验证有 provider（SIG 源 / 同 COPR project） +BuildRequires: ros-%{ros_distro}-ament-index-cpp +BuildRequires: ros-%{ros_distro}-easynav-common +BuildRequires: ros-%{ros_distro}-easynav-core +BuildRequires: ros-%{ros_distro}-easynav-sensors +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}-rclcpp-lifecycle +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 +BuildRequires: ros-%{ros_distro}-yaets +BuildRequires: ros-%{ros_distro}-yaml-cpp-vendor +# 系统依赖（package.xml <depend> 经 pkg.remap 映射 + dnf repoquery 实证） +# graphicsmagick -> GraphicsMagick-c++-devel；eigen -> eigen3-devel +BuildRequires: GraphicsMagick-c++-devel +BuildRequires: eigen3-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}-ament-index-cpp +Requires: ros-%{ros_distro}-easynav-common +Requires: ros-%{ros_distro}-easynav-core +Requires: ros-%{ros_distro}-easynav-sensors +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}-rclcpp-lifecycle +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: ros-%{ros_distro}-yaml-cpp-vendor +# GraphicsMagick 运行时库（plugin .so 链接 libGraphicsMagick++，autodeps 被 /opt 豁免无法自动捕获） +Requires: GraphicsMagick-c++ %description -Easy Navigation: NavMap MapsManager package. Provides the NavMap MapsManager -plugin and associated obstacle/inflation map filters for the Easy Navigation -framework, based on the NavMap grid map representation. +Easy Navigation: NavMap Maps Manager. Maintains a NavMap (triangulated 3D +surface) and publishes full maps and layer updates; supports importing from +YAML OccupancyGrid or point clouds. Also provides NavMap map filters +(ObstacleFilter, InflationFilter) as pluginlib plugins for cost-aware path +planning. Built for ROS 2 %{ros_distro}. %prep +# 实测 GitHub commit 归档根目录名为纯完整 SHA（spec-rules-ros §2 强制实测， +# 已用 tarfile 确认 getnames()[0] == %{commit}） %autosetup -n %{commit} %build -# 源码在 monorepo 子目录中 -cd maps_managers/easynav_navmap_maps_manager - -# 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（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} -# 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 +# 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 maps_managers/easynav_navmap_maps_manager +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 \ + -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \ .. -make %{?_smp_mflags} +%{__make} %{?_smp_mflags} %install -cd maps_managers/easynav_navmap_maps_manager/.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} +cd maps_managers/easynav_navmap_maps_manager/.obj +%{__make} install DESTDIR=%{buildroot} %files -# 整树拥有：对「装了没打包」类错误免疫（spec-rules §7） +# 整树拥有 /opt/ros/humble（SIG 模板标准做法，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-navmap-maps-manager +* Tue Oct 20 2026 ROS SIG <ros@openeuler.org> - 0.5.0-1 +- 初始引入 easynav_navmap_maps_manager 0.5.0（EasyNavigation/easynav_plugins humble 分支） @@ -1 +1 @@ -7a9eb9cc78119ced5f1de7a57a77b9e3 2580d29baefe77305c6e9336dca743aa5ce51c2c.tar.gz +02ec9e42ac54d8e95a13c6f1a8916392 703b73ae55bf6a419bf309b26084ca523b063ddf.tar.gz |