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-rw-r--r--.gitignore1
-rw-r--r--easynav-regulated-pp-controller.spec125
-rw-r--r--sources2
3 files changed, 75 insertions, 53 deletions
diff --git a/.gitignore b/.gitignore
index 2dceae7..8fca3a2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
/easynav-regulated-pp-controller-0.5.0-1.tar.gz
+/703b73ae55bf6a419bf309b26084ca523b063ddf.tar.gz
diff --git a/easynav-regulated-pp-controller.spec b/easynav-regulated-pp-controller.spec
index 26ab3b6..87d870f 100644
--- a/easynav-regulated-pp-controller.spec
+++ b/easynav-regulated-pp-controller.spec
@@ -1,30 +1,51 @@
+# ROS 2 包：easynav_regulated_pp_controller（ament_cmake 形态）
+# 来源：EasyNavigation/easynav_plugins 仓库 humble 分支（多包仓库，本包位于
+# controllers/easynav_regulated_pp_controller/ 子目录）
+# 严格遵循 /app/.claude/skills/build-rpm/spec-rules-ros.md 生成
+
+# ros_distro 取自 session.json（禁止硬编码）；RosPkgName 为 package.xml <name>
+# 经下划线→连字符归一化（easynav_regulated_pp_controller → easynav-regulated-pp-controller）
%define ros_distro humble
%define RosPkgName easynav-regulated-pp-controller
-%define src_version 0.5.0-1
-Name: ros-%{ros_distro}-%{RosPkgName}
-Version: 0.5.0
-Release: 1%{?dist}
-Summary: Easy Navigation: port of the Nav2 Regulated Pure Pursuit Controller.
-License: Apache-2.0
-URL: https://github.com/EasyNavigation/easynav_plugins/tree/humble
-Source0: %{RosPkgName}-%{src_version}.tar.gz
+Name: ros-%{ros_distro}-%{RosPkgName}
+Version: 0.5.0
+Release: 1%{?dist}
+Summary: Easy Navigation: port of the Nav2 Regulated Pure Pursuit Controller.
+License: Apache-2.0
+URL: https://github.com/EasyNavigation/easynav_plugins
+
+# 源码取自 humble 分支快照（无 0.5.0 tag）。target_version=0.5.0-1 已由 manifest/gate
+# 给定，Version 取 0.5.0（剥离发布号 -1）；记录实际 commit 以保可追溯。
+# commit 为 ros_fetch checkout 后实测的 HEAD（git rev-parse），非占位值。
+# 归档解压根目录：经本地 tar tzf 实测 build/SOURCES/<commit>.tar.gz，解压根目录为
+# 纯完整 commit SHA（703b73ae...），与 spec-rules-ros.md §2 实踩纪律一致。
+# 注：同仓兄弟 spec（easynav-mpc/mppi）误用 -n easynav_plugins-%{commit}，但 SRPM
+# 阶段不跑 %prep 故未暴露；本包据实测纠正为 -n %{commit}。
+%global commit 703b73ae55bf6a419bf309b26084ca523b063ddf
+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）
+# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），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 字节码编译会写标准 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: gcc-c++
BuildRequires: make
-# ROS 构建工具（buildtool_depend）
+# ament_cmake 形态构建工具依赖（spec-rules §6）；ros-workspace 提供 /opt/ros setup.sh
BuildRequires: ros-%{ros_distro}-ament-cmake
-# ROS 依赖（package.xml <depend>，经 ros-projects.list 验证 SIG 源已有）
+BuildRequires: ros-%{ros_distro}-ros-workspace
+# package.xml <depend> → ros-humble-<dep>（均经 ros-projects.list 实证为 SIG 维护包）：
+# easynav-common / easynav-core / easynav-sensors / easynav-system（ros-projects.list maintained）
+# geometry-msgs / nav-msgs / pluginlib / rclcpp / std-msgs / tf2 / tf2-geometry-msgs / tf2-ros
+BuildRequires: ros-%{ros_distro}-easynav-common
+BuildRequires: ros-%{ros_distro}-easynav-core
+BuildRequires: ros-%{ros_distro}-easynav-sensors
+BuildRequires: ros-%{ros_distro}-easynav-system
BuildRequires: ros-%{ros_distro}-geometry-msgs
BuildRequires: ros-%{ros_distro}-nav-msgs
BuildRequires: ros-%{ros_distro}-pluginlib
@@ -33,17 +54,17 @@ BuildRequires: ros-%{ros_distro}-std-msgs
BuildRequires: ros-%{ros_distro}-tf2
BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires: ros-%{ros_distro}-tf2-ros
-# 批次兄弟包（dep_registry 中注册，同一 COPR project 构建，安装时同源解析）
-BuildRequires: ros-%{ros_distro}-easynav-common
-BuildRequires: ros-%{ros_distro}-easynav-core
-BuildRequires: ros-%{ros_distro}-easynav-sensors
-BuildRequires: ros-%{ros_distro}-easynav-system
+# 系统依赖：CMakeLists 仅 find_package ROS 包（无 PCL/eigen 等系统库），
+# 故系统 BuildRequires 仅 cmake/gcc-c++/make。
+# 测试依赖（ament_cmake_gtest/ament_lint_*/easynav_controller/easynav_planner/
+# lifecycle_msgs/rclcpp_lifecycle）按 spec-rules §5 不写 BuildRequires，BUILD_TESTING=OFF。
-# ── 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
+# 运行时 Requires（spec-rules §6 三件套 + <depend> 运行期依赖）：
+# ros-workspace 提供 /opt/ros/<distro>/setup.sh 与环境 hooks（所有 ROS 包强制）
+# ament-cmake ament 运行期钩子（ament_cmake 形态强制）
+# /opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，故运行期依赖手写
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}-easynav-common
Requires: ros-%{ros_distro}-easynav-core
Requires: ros-%{ros_distro}-easynav-sensors
@@ -57,7 +78,7 @@ Requires: ros-%{ros_distro}-tf2
Requires: ros-%{ros_distro}-tf2-geometry-msgs
Requires: ros-%{ros_distro}-tf2-ros
-# 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）
+# 单包策略：严禁拆实体子包（spec-rules §7），用虚拟别名兼容依赖方
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
@@ -65,47 +86,47 @@ Provides: %{name}-runtime = %{version}-%{release}
%description
Easy Navigation: port of the Nav2 Regulated Pure Pursuit Controller.
+A regulated pure pursuit controller plugin for the Easy Navigation stack,
+ported from Nav2's Regulated Pure Pursuit Controller. Built as an
+ament_cmake shared library registered as a pluginlib plugin
+(easynav_regulated_pp_controller/RegulatedPurePursuitController via
+easynav_core).
+
%prep
-%autosetup -n %{RosPkgName}-%{src_version}
+# 解压根目录 = 纯完整 commit SHA（本地 tar tzf 实测 build/SOURCES，spec-rules §2）
+%autosetup -n %{commit}
%build
-# 源码在 monorepo 子目录中
-cd controllers/easynav_regulated_pp_controller
-
-# 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（spec-rules §4）：setup.sh 用 [ -f ] 守卫，避免无 ROS 依赖 chroot 中止脚本
[ -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）
-# BUILD_TESTING=OFF 关闭测试（package.xml <test_depend> 不写 BuildRequires，spec-rules §5）
-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}
+# 多包仓库：仅构建目标包子目录 controllers/easynav_regulated_pp_controller
+# ament_cmake 形态显式 out-of-source（spec-rules §5），避免 openEuler %cmake 宏位置参数坑
+cd controllers/easynav_regulated_pp_controller
+mkdir -p .obj
+cd .obj
+%cmake3 .. \
+ -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
+%make_build
%install
cd controllers/easynav_regulated_pp_controller/.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}
%files
-# 整树拥有：对「装了没打包」类错误免疫（spec-rules §7）
+# %files 整树拥有（spec-rules §7）：对「装了没打包」类错误免疫
/opt/ros/%{ros_distro}
%changelog
-* Sat Oct 10 2026 ai-importer <ai-importer@openeuler.org> - 0.5.0-1
-- Initial import (ROS batch)
+* Tue Oct 20 2026 AI Importer <ai-importer@opencode> - 0.5.0-1
+- Initial ROS spec for easynav-regulated-pp-controller (humble)
+- Source: easynav_plugins humble branch snapshot (commit 703b73a)
+- ament_cmake shared library, pluginlib plugin via easynav_core
+- Single-package policy with virtual devel/doc/runtime Provides
diff --git a/sources b/sources
index 4468b4e..a6a4e71 100644
--- a/sources
+++ b/sources
@@ -1 +1 @@
-099d7b98a276b2954e811ef1b5c53f43 easynav-regulated-pp-controller-0.5.0-1.tar.gz
+02ec9e42ac54d8e95a13c6f1a8916392 703b73ae55bf6a419bf309b26084ca523b063ddf.tar.gz
generated by cgit v1.2.3 (git 2.25.1) at 2026-10-27 14:02:26 +0000