From c8169a66868b186068887c8cb2f4c8bb366c1d87 Mon Sep 17 00:00:00 2001
From: CoprDistGit <infra@openeuler.org>
Date: Tue, 20 Oct 2026 02:54:38 +0000
Subject: automatic import of ros-humble-easynav-simple-localizer

---
 easynav-simple-localizer.spec | 130 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 130 insertions(+)
 create mode 100644 easynav-simple-localizer.spec

(limited to 'easynav-simple-localizer.spec')

diff --git a/easynav-simple-localizer.spec b/easynav-simple-localizer.spec
new file mode 100644
index 0000000..c7bbd62
--- /dev/null
+++ b/easynav-simple-localizer.spec
@@ -0,0 +1,130 @@
+# ROS spec：easynav_simple_localizer（EasyNav Plugins 仓内的单定位器子包）
+# 依据：/app/.claude/skills/build-rpm/spec-rules-ros.md
+# 元数据来源：pkgs/easynav-simple-localizer/ros_pkg_manifest.json +
+#              sources/easynav-simple-localizer/localizers/easynav_simple_localizer/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 取自 manifest（humble，禁止硬编码），RosPkgName 取
+#    package.xml <name> 经 `_`→`-` 归一化（easynav_simple_localizer → easynav-simple-localizer）。
+#    Name 展开须等于 ros-humble-easynav-simple-localizer（verify_ros_spec_deps.py 机械校验）。
+%define ros_distro humble
+%define RosPkgName easynav-simple-localizer
+
+Name:       ros-%{ros_distro}-%{RosPkgName}
+Version:    0.5.0
+Release:    1%{?dist}
+Summary:    Easy Navigation: Simple Localizer package
+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（tar 内首项已确认），故 autosetup -n 取
+# easynav_plugins-<版本>，不随包名联动改写（spec-rules-ros.md §2 Source0 归档解压目录名）。
+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（strip/debugedit 路径非常规），SIG 模板统一关闭
+%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}/.*$
+
+# 基础构建工具链（ament_cmake C++ 构建必需，非 ROS 依赖、非幻觉）
+BuildRequires: cmake
+BuildRequires: gcc-c++
+BuildRequires: make
+# ament_cmake 构建工具（package.xml <buildtool_depend>，§5/§6）
+BuildRequires: ros-%{ros_distro}-ament-cmake
+# package.xml <depend> —— ROS 标准包（ros-projects.list 逐项实证存在，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
+# 系统依赖（pkg.remap: eigen -> eigen3-devel；CMakeLists find_package(Eigen3 REQUIRED NO_MODULE)）
+BuildRequires: eigen3-devel
+
+# 注：package.xml 另有 <depend>easynav_common</depend>、<depend>easynav_core</depend>、
+# <depend>easynav_localizer</depend>、<depend>easynav_sensors</depend>、
+# <depend>easynav_simple_common</depend>——这五个是 EasyNavigation 基座框架包（独立
+# EasyNavigation 基座仓，非 rosdistro 发布包、非 SIG 源、非本批 6 个 simple 插件兄弟）。
+# ros-projects.list 与 ros-upstream.list 两级均查不到（已实证），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；ros_dep_guard 明确
+# "不得注册递归构建清单外的 ROS 包源码"）。构建将在 find_package(easynav_common REQUIRED)
+# 处诚实失败，由 lead 从基座仓补引并扩展清单后补 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/rclcpp_lifecycle/std_srvs）
+# 按 §5 不写 BuildRequires，BUILD_TESTING=OFF 关闭测试。
+
+# §6 运行时 Requires（ROS 特有，/opt 被 __requires_exclude_from 豁免、autodeps 扫不到，
+# 少了这些 Requires 构建照样成功但装上后环境不就绪——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
+# CMakeLists ament_export_dependencies(Eigen3) 向下游传播 eigen 依赖
+Requires: eigen3-devel
+
+# §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
+Provides: %{name}-devel = %{version}-%{release}
+Provides: %{name}-doc = %{version}-%{release}
+Provides: %{name}-runtime = %{version}-%{release}
+
+%description
+Easy Navigation: Simple Localizer package. Provides an AMCL-based simple localizer
+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（tar 内首项）；-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，
+# || true 挡不住严格 sh 下的 source 不存在文件）
+[ -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 localizers/easynav_simple_localizer 子包（同批兄弟各有独立 RPM）
+cd localizers/easynav_simple_localizer
+# §5：显式 out-of-source 构建，规避 openEuler %cmake 宏的位置参数坑
+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 -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 localizers/easynav_simple_localizer/.obj
+%make_install
+
+%files
+%license LICENSE
+# §7：整树拥有（对「装了没打包」类错误免疫；不逐目录精确列，避免漏列与子包路径重叠）
+/opt/ros/%{ros_distro}
+
+%changelog
+* Tue Oct 20 2026 AI Importer <ai-importer@opencode.local> - 0.5.0-1
+- Initial RPM packaging of easynav_simple_localizer for openEuler ROS humble.
+- Generated from EasyNavigation/easynav_plugins tag 0.5.0 (ament_cmake, /opt/ros/humble).
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