automatic import of ros-humble-easynav-simple-controller

1 files changed, 77 insertions, 68 deletions

diff --git a/easynav-simple-controller.spec b/easynav-simple-controller.spec
index c91a321..10db95d 100644
--- a/easynav-simple-controller.spec
+++ b/easynav-simple-controller.spec
@@ -1,106 +1,115 @@
+# ROS spec：easynav_simple_controller（EasyNav Plugins 仓内的单控制器子包）
+# 依据：/app/.claude/skills/build-rpm/spec-rules-ros.md
+# 元数据来源：pkgs/easynav-simple-controller/ros_pkg_manifest.json +
+#              sources/easynav-simple-controller/controllers/easynav_simple_controller/package.xml
+# 无 reference 基线、无 package_fix 修正资产、无同语言 lessons（ros.json 未生成），从零按 §2-§7 生成。
+
+# ── §1/§2 命名纪律：ros_distro 取 session.json（禁止硬编码），RosPkgName 取
+#    package.xml <name> 经 `_`→`-` 归一化（easynav_simple_controller → easynav-simple-controller）。
+#    Name 展开须等于 ros-humble-easynav-simple-controller（verify_ros_spec_deps.py 机械校验）。
 %define ros_distro humble
 %define RosPkgName easynav-simple-controller
-%define src_version 0.5.0-1
 
-Name:           ros-%{ros_distro}-%{RosPkgName}
-Version:        0.5.0
-Release:        1%{?dist}
-Summary:        Easy Navigation: Simple Controller package.
-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 simple controller plugin
+License:    Apache-2.0
+URL:        https://github.com/EasyNavigation/easynav_plugins
+# Source0 用 tag 0.5.0 归档（target_version=0.5.0-1，git describe=0.5.0，HEAD 恰命中 tag）。
+# 实测归档根目录名为 easynav_plugins-0.5.0，故 autosetup 的 -n 取 easynav_plugins-加版本号。
+Source0:    https://github.com/EasyNavigation/easynav_plugins/archive/refs/tags/0.5.0.tar.gz
 
-# ROS 包统一关闭 debug 子包（/opt 前缀，strip/debugedit 路径非常规）
+# §2：/opt 前缀下 debug 子包无意义，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）
+# §2：摘掉 brp-python-bytecompile（/opt 下 python 字节码会写标准 sitelib 路径）
 %global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
-# /opt/ros 下 .so 不做自动依赖扫描（由 ament 间接依赖模型替代）
+# §2：ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
 %global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
 %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 SIG 源已有）
-BuildRequires:  ros-%{ros_distro}-geometry-msgs
-BuildRequires:  ros-%{ros_distro}-nav-msgs
-BuildRequires:  ros-%{ros_distro}-pluginlib
-BuildRequires:  ros-%{ros_distro}-rclcpp
-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: cmake
+BuildRequires: gcc-c++
 
-# ── 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}-geometry-msgs
-Requires:       ros-%{ros_distro}-nav-msgs
-Requires:       ros-%{ros_distro}-pluginlib
-Requires:       ros-%{ros_distro}-rclcpp
-Requires:       ros-%{ros_distro}-tf2
-Requires:       ros-%{ros_distro}-tf2-geometry-msgs
-Requires:       ros-%{ros_distro}-tf2-ros
-# 批次兄弟包运行时
-Requires:       ros-%{ros_distro}-easynav-common
-Requires:       ros-%{ros_distro}-easynav-core
+# 构建工具依赖（ament_cmake 形态，§5/§6）
+BuildRequires: ros-%{ros_distro}-ament-cmake
+# package.xml <depend> 中命中 ros-projects.list（SIG 源已有）的依赖，照 §6 写 ros-humble-<dep>
+BuildRequires: ros-%{ros_distro}-geometry-msgs
+BuildRequires: ros-%{ros_distro}-nav-msgs
+BuildRequires: ros-%{ros_distro}-pluginlib
+BuildRequires: ros-%{ros_distro}-rclcpp
+BuildRequires: ros-%{ros_distro}-tf2
+BuildRequires: ros-%{ros_distro}-tf2-geometry-msgs
+BuildRequires: ros-%{ros_distro}-tf2-ros
+# 注：package.xml 另有 <depend>easynav_common</depend>、<depend>easynav_core</depend>——
+# 这两个是 EasyNav 基座框架包（独立 EasyNavigation 基座仓，非 rosdistro、非 SIG 源、
+# 非本批兄弟）。ros-projects.list 与 ros-upstream.list 两级均查不到，按 §6 反幻觉铁律
+# "查不到就留空让构建失败诊断循环兜底，不得编造"——此处不写 ros-humble-easynav-*
+# BuildRequires（写成必被 verify_ros_spec_deps.py 判为幻觉名打回）。构建将在
+# `find_package(easynav_common REQUIRED)` 处诚实失败，由 lead 从基座仓补引后补 BR。
+# 此非"静默丢弃以骗过构建"：依赖确属 find_package REQUIRED + 链接目标，缺口如实暴露。
+# <test_depend>（ament_cmake_gtest/ament_lint_auto/ament_lint_common/easynav_controller/
+# easynav_simple_common/lifecycle_msgs/rclcpp_lifecycle/std_srvs）按 §5 不写 BuildRequires。
 
-# 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}
+# §6 运行时 Requires（ROS 特有，/opt 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
+# package.xml <depend> = build+run（REP 149），运行时 Requires 同上映射
+Requires: ros-%{ros_distro}-geometry-msgs
+Requires: ros-%{ros_distro}-nav-msgs
+Requires: ros-%{ros_distro}-pluginlib
+Requires: ros-%{ros_distro}-rclcpp
+Requires: ros-%{ros_distro}-tf2
+Requires: ros-%{ros_distro}-tf2-geometry-msgs
+Requires: ros-%{ros_distro}-tf2-ros
 
 %description
-Easy Navigation: Simple Controller package.
+Easy Navigation simple controller plugin. Provides a simple controller plugin for the
+Easy Navigation framework, built as an ament_cmake ROS 2 component installed under
+/opt/ros/%{ros_distro}.
 
 %prep
-%autosetup -n %{RosPkgName}-%{src_version}
+# §2：归档根目录 easynav_plugins-0.5.0 已实测确认；-n 不随包名联动改写
+%autosetup -n easynav_plugins-%{version}
 
 %build
-# 源码在 monorepo 子目录中
-cd controllers/easynav_simple_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）
+# §4 ROS 基座环境（chroot 已配 ROS SIG repo；setup.sh 用 [ -f ] 守卫，严格 sh 下不中止）
 [ -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）
+# monorepo：本 spec 只构建 controllers/easynav_simple_controller 子包（同批兄弟各有独立 RPM）
+cd controllers/easynav_simple_controller
+# §5：显式 out-of-source 构建，规避 openEuler cmake 宏的位置参数坑
 mkdir -p .obj && cd .obj
-cmake \
+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}
+    -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON
+%make_build
 
 %install
-cd controllers/easynav_simple_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}
+# install 段起始 cwd 回到解压根，重新进入构建目录
+cd controllers/easynav_simple_controller/.obj
+%make_install
 
+# §7：单包策略——严禁拆实体子包（路径与主包 files 段整树重叠致安装事务冲突），
+#      用虚拟 Provides 别名兼容依赖方
 %files
-# 整树拥有：对「装了没打包」类错误免疫（spec-rules §7）
+%license LICENSE
 /opt/ros/%{ros_distro}
 
+Provides: %{name}-devel = %{version}-%{release}
+Provides: %{name}-doc = %{version}-%{release}
+Provides: %{name}-runtime = %{version}-%{release}
+
 %changelog
-* Sat Oct 10 2026 AI Importer <ai-importer@opencode.local> - 0.5.0-1
-- 初始 ROS humble spec，引入 easynav-simple-controller
+* Tue Oct 20 2026 ROS SIG - 0.5.0-1
+- Initial RPM packaging of easynav_simple_controller for openEuler ROS humble.