# 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

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}
# /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>（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 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
# 解压根目录 = %%{RosPkgName}-%%{version}-1（submit_fix _ensure_tarball --transform
# 重打 tarball 顶层目录为 {pkg}-{gate_version}，SRPM 内 %%{commit}.tar.gz 硬链接同 inode）
%autosetup -n %{RosPkgName}-%{version}-1

%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 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}" \
  -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 maps_managers/easynav_octomap_maps_manager/.obj
%{__make} install DESTDIR=%{buildroot}

%files
# 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
* 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）