From bebdbd0766860232a39dae62ddc6408f72efa593 Mon Sep 17 00:00:00 2001 From: CoprDistGit Date: Tue, 20 Oct 2026 10:05:30 +0000 Subject: automatic import of ros-humble-easynav-regulated-pp-controller --- .gitignore | 1 + easynav-regulated-pp-controller.spec | 125 ++++++++++++++++++++--------------- sources | 2 +- 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 +# 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/.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 ，经 ros-projects.list 验证 SIG 源已有） +BuildRequires: ros-%{ros_distro}-ros-workspace +# package.xml → ros-humble-（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 + 运行期依赖）： +# ros-workspace 提供 /opt/ros//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 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 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 - 0.5.0-1 -- Initial import (ROS batch) +* Tue Oct 20 2026 AI Importer - 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 -- cgit v1.2.3