diff options
Diffstat (limited to 'easynav-simple-maps-manager.spec')
| -rw-r--r-- | easynav-simple-maps-manager.spec | 127 |
1 files changed, 127 insertions, 0 deletions
diff --git a/easynav-simple-maps-manager.spec b/easynav-simple-maps-manager.spec new file mode 100644 index 0000000..8a27e9b --- /dev/null +++ b/easynav-simple-maps-manager.spec @@ -0,0 +1,127 @@ +# ROS spec：easynav_simple_maps_manager（EasyNav Plugins 仓内的单地图管理器子包） +# 依据：/app/.claude/skills/build-rpm/spec-rules-ros.md +# 元数据来源：pkgs/easynav-simple-maps-manager/ros_pkg_manifest.json + +# sources/easynav-simple-maps-manager/maps_managers/easynav_simple_maps_manager/package.xml +# 无 reference 基线、无 package_fix 修正资产，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_maps_manager → easynav-simple-maps-manager）。 +# Name 展开须等于 ros-humble-easynav-simple-maps-manager（verify_ros_spec_deps.py 机械校验）。 +%define ros_distro humble +%define RosPkgName easynav-simple-maps-manager + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 0.5.0 +Release: 1%{?dist} +Summary: Easy Navigation: Simple MapsManager package. + +License: Apache-2.0 +URL: https://github.com/EasyNavigation/easynav_plugins +# 实际检出 commit（ros_fetch checkout humble 分支 HEAD=tag 0.5.0 指向），用于产物追溯。 +# #/ 强制重定向（§2 选项2）：配合 build-rpm §4 的 tar --transform（重命名源码根为 +# RosPkgName-version），autosetup 的 -n 即用该目录名——非臆测上游归档解压根目录。 +%global commit 703b73ae55bf6a419bf309b26084ca523b063ddf +Source0: %{url}/archive/%{commit}.tar.gz#/%{RosPkgName}-%{version}.tar.gz + +# §2：/opt 前缀下 debug 子包无意义（strip/debugedit 路径非常规），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 +# 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}-ament-index-cpp +BuildRequires: ros-%{ros_distro}-nav-msgs +BuildRequires: ros-%{ros_distro}-pluginlib +BuildRequires: ros-%{ros_distro}-rclcpp +BuildRequires: ros-%{ros_distro}-std-srvs +BuildRequires: ros-%{ros_distro}-tf2-ros +# 注：package.xml 另有 <depend>easynav_common</depend>、<depend>easynav_core</depend>、 +# <depend>easynav_sensors</depend>、<depend>easynav_simple_common</depend>、 +# <depend>yaets</depend>——这些是 EasyNav 基座框架包（独立 EasyNavigation 基座仓， +# 非 rosdistro、非 SIG 源）。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-* / ros-humble-yaets BuildRequires（写成必被 verify_ros_spec_deps.py +# 判为幻觉名打回）。easynav_simple_common 虽为本批兄弟（同 COPR project），但两级清单 +# 均无其名，§3.6 门禁无 batch 旁路，同样不能写。构建将在 +# `find_package(easynav_common REQUIRED)` 等处诚实失败，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/rclcpp_lifecycle） +# 按 §5 不写 BuildRequires。 + +# §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——spec-rules-ros.md §6） +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}-ament-index-cpp +Requires: ros-%{ros_distro}-nav-msgs +Requires: ros-%{ros_distro}-pluginlib +Requires: ros-%{ros_distro}-rclcpp +Requires: ros-%{ros_distro}-std-srvs +Requires: ros-%{ros_distro}-tf2-ros +# EasyNav 基座框架包运行时依赖同 BuildRequires 注释所述不写（两级清单均无，§6 反幻觉铁律） + +# §7：单包策略——严禁拆实体子包（路径与主包 %files 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 MapsManager package. +easynav_simple_maps_manager is a minimal example map manager (SimpleMap) +for the EasyNav framework, registered as a pluginlib plugin for +easynav_core::MapsManagerBase. It serves as a default plugin implementation +when the navigation system configuration does not specify one. + +%prep +# §2：强制重定向目录名（配合 build-rpm skill §4 --transform，非臆测上游归档名） +%autosetup -n %{RosPkgName}-%{version} + +%build +# §4 ROS 基座环境（chroot 可能未装 setup.sh，用 [ -f ] 守卫——|| true 挡不住严格 sh） +[ -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 子包：CMakeLists.txt 位于 maps_managers/easynav_simple_maps_manager/ +cd maps_managers/easynav_simple_maps_manager +# §5：显式 out-of-source 构建，规避 openEuler %cmake 宏位置参数坑 +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 maps_managers/easynav_simple_maps_manager/.obj +%make_install + +%files +%license LICENSE +# §7：%files 整树拥有（对「装了没打包」类错误免疫；不逐目录精确列） +/opt/ros/%{ros_distro} + +%changelog +* Tue Oct 20 2026 ROS SIG - 0.5.0-1 +- Initial RPM packaging of easynav_simple_maps_manager for openEuler ROS humble. |