automatic import of ros-humble-easynav-octomap-maps-manager

3 files changed, 98 insertions, 92 deletions

diff --git a/.gitignore b/.gitignore
index a20c7b2..d8aac4c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
 /2580d29baefe77305c6e9336dca743aa5ce51c2c.tar.gz
+/703b73ae55bf6a419bf309b26084ca523b063ddf.tar.gz
diff --git a/easynav-octomap-maps-manager.spec b/easynav-octomap-maps-manager.spec
index 0de8dba..ebff8d5 100644
--- a/easynav-octomap-maps-manager.spec
+++ b/easynav-octomap-maps-manager.spec
@@ -1,104 +1,111 @@
+# 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_octomap_maps_manager/ 子目录，构建产物进 /opt/ros/humble。
+
 %define ros_distro humble
 %define RosPkgName easynav-octomap-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: Octomap 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: OctoMap Maps Manager (维护 OctoMap 概率 3D 占据树，提供膨胀/障碍过滤器插件，经 ROS 2 topics 发布)
+
+# 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；与同 monorepo 兄弟包共用同一 fetch 归档）
+%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}-octomap
-BuildRequires: ros-%{ros_distro}-octomap-msgs
-BuildRequires: ros-%{ros_distro}-pcl-conversions
-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}-yaets
-# 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
-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
-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}-nav-msgs
-Requires: ros-%{ros_distro}-octomap
-Requires: ros-%{ros_distro}-octomap-msgs
-Requires: ros-%{ros_distro}-pcl-conversions
-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）
+# 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}-nav-msgs
+# liboctomap-dev 为 Debian 名，映射到 rosdistro 包 octomap（ros-projects.list 有 provider）
+BuildRequires:  ros-%{ros_distro}-octomap
+BuildRequires:  ros-%{ros_distro}-octomap-msgs
+BuildRequires:  ros-%{ros_distro}-pcl-conversions
+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 + ros-projects.list 实证）
+# eigen -> eigen3-devel；graphicsmagick -> GraphicsMagick-c++-devel；libpcl-all-dev -> pcl-devel
+BuildRequires:  GraphicsMagick-c++-devel
+BuildRequires:  eigen3-devel
+BuildRequires:  pcl-devel
+
+# 运行时 Requires（/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到 ROS 包间依赖，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}-nav-msgs
+Requires:       ros-%{ros_distro}-octomap
+Requires:       ros-%{ros_distro}-octomap-msgs
+Requires:       ros-%{ros_distro}-pcl-conversions
+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: Octomap MapsManager package. Provides the Octomap MapsManager
-plugin for the Easy Navigation framework, based on the Octomap probabilistic
-3D mapping library.
+Easy Navigation: OctoMap Maps Manager. Maintains an OctoMap (probabilistic 3D
+occupancy tree), supports filter plugins (InflationFilter, ObstacleFilter), and
+exposes the map through ROS 2 topics. Registered as a pluginlib plugin
+(easynav::octomap::OctomapMapsManager, base class easynav::MapsManagerBase) for
+the EasyNavigation stack. 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，
+# 与同 monorepo 兄弟包一致，已确认 getnames()[0] == %{commit}）
 %autosetup -n %{commit}
 
 %build
-# 源码在 monorepo 子目录中
-cd maps_managers/easynav_octomap_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_octomap_maps_manager
+mkdir -p .obj
+cd .obj
 cmake \
   -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
   -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
@@ -107,22 +114,20 @@ cmake \
   -DSETUPTOOLS_DEB_LAYOUT=OFF \
   -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
   ..
-make %{?_smp_mflags}
+%{__make} %{?_smp_mflags}
 
 %install
-cd maps_managers/easynav_octomap_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_octomap_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-octomap-maps-manager
+* Tue Oct 20 2026 ROS SIG <ros@openeuler.org> - 0.5.0-1
+- 初始引入 easynav_octomap_maps_manager 0.5.0（EasyNavigation/easynav_plugins humble 分支）
diff --git a/sources b/sources
index e151565..a6a4e71 100644
--- a/sources
+++ b/sources
@@ -1 +1 @@
-7a9eb9cc78119ced5f1de7a57a77b9e3  2580d29baefe77305c6e9336dca743aa5ce51c2c.tar.gz
+02ec9e42ac54d8e95a13c6f1a8916392  703b73ae55bf6a419bf309b26084ca523b063ddf.tar.gz