# 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).