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# 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
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
# §2：/opt 前缀下 debug 子包无意义，统一关闭
%global debug_package %{nil}
# §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:]].*$!!g')
# §2：ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
BuildRequires: cmake
BuildRequires: gcc-c++
# 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。
# §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 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
# §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
# §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}
# 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 .. \
-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_build
%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}
# 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
%license LICENSE
/opt/ros/%{ros_distro}
Provides: %{name}-devel = %{version}-%{release}
Provides: %{name}-doc = %{version}-%{release}
Provides: %{name}-runtime = %{version}-%{release}
%changelog
* Tue Oct 20 2026 ROS SIG - 0.5.0-1
- Initial RPM packaging of easynav_simple_controller for openEuler ROS humble.
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