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Diffstat (limited to 'easynav-simple-recovery.spec')
| -rw-r--r-- | easynav-simple-recovery.spec | 151 |
1 files changed, 82 insertions, 69 deletions
diff --git a/easynav-simple-recovery.spec b/easynav-simple-recovery.spec index 6f56173..a56766f 100644 --- a/easynav-simple-recovery.spec +++ b/easynav-simple-recovery.spec @@ -1,102 +1,115 @@ +# ROS spec：easynav_simple_recovery（EasyNav Plugins 仓内的单恢复子包） +# 依据：/app/.claude/skills/build-rpm/spec-rules-ros.md +# 元数据来源：pkgs/easynav-simple-recovery/ros_pkg_manifest.json + +# sources/easynav-simple-recovery/recoveries/easynav_simple_recovery/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。 +# 对齐同仓同 commit 已提交的兄弟 spec easynav-simple-controller（build 113752，同模式同 Source0）。 + +# ── §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_recovery → easynav-simple-recovery）。 +# Name 展开须等于 ros-humble-easynav-simple-recovery（verify_ros_spec_deps.py 机械校验）。 %define ros_distro humble %define RosPkgName easynav-simple-recovery -%define src_version 0.5.0-1 -Name: ros-%{ros_distro}-%{RosPkgName} -Version: 0.5.0 -Release: 1%{?dist} -Summary: Easy Navigation: a simple recovery system, as an example of how to write one. -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 recovery system 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 703b73a 恰命中 tag， +# 与同批 controller/localizer 共用同一源码快照）。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（不随包名联动改写，§2）。 +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，spec-rules §2） +# §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，spec-rules §2） +# §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:]].*$!!g') -# /opt/ros 下 .so 不做自动依赖扫描（由 ament 间接依赖模型替代，spec-rules §2） +# §2：ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代） %global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$ %global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$ -# ── BuildRequires ── -# 构建工具 -BuildRequires: cmake -BuildRequires: make -# ROS 构建工具（buildtool_depend ament_cmake，spec-rules §6） -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 -# 批次兄弟包（同一 COPR project 构建，dep_registry 注册） -BuildRequires: ros-%{ros_distro}-easynav-common -BuildRequires: ros-%{ros_distro}-easynav-core -BuildRequires: ros-%{ros_distro}-easynav-sensors +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，spec-rules §6）── -# 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（<depend> 隐含 exec_depend） -Requires: ros-%{ros_distro}-easynav-common -Requires: ros-%{ros_distro}-easynav-core -Requires: ros-%{ros_distro}-easynav-sensors -Requires: ros-%{ros_distro}-geometry-msgs -Requires: ros-%{ros_distro}-nav-msgs -Requires: ros-%{ros_distro}-pluginlib -Requires: ros-%{ros_distro}-rclcpp +# 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 +# 注：package.xml 另有 <depend>easynav_common</depend>、<depend>easynav_core</depend>、 +# <depend>easynav_sensors</depend>——这三个是 EasyNav 基座框架包（独立 EasyNavigation 基座仓， +# 非 rosdistro、非 SIG 源、非本批兄弟；easynav_plugins 仓内 common/ 只有 easynav_costmap_common +# 与 easynav_simple_common，并无此三者）。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-common / -easynav-core / -easynav-sensors 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) / +# find_package(easynav_core REQUIRED) / find_package(easynav_sensors 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（见 CMakeLists target_link_libraries），缺口如实暴露。 +# <test_depend>（ament_cmake_gtest/ament_lint_auto/ament_lint_common/easynav_recovery/ +# lifecycle_msgs/rclcpp_lifecycle）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，spec-rules §7） -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 %description -Easy Navigation: a simple recovery system, as an example of how to write one. -Provides the SimpleRecoveryManager plugin for the Easy Navigation framework. +Easy Navigation simple recovery system plugin. Provides a simple recovery manager plugin +(SimpleRecoveryManager) for the Easy Navigation framework, registered via pluginlib into +easynav_core's recovery_node. Built as an ament_cmake ROS 2 shared library installed under +/opt/ros/%{ros_distro}. %prep -%autosetup -n %{RosPkgName}-%{src_version} +# §2：归档根目录 easynav_plugins-0.5.0 已由同批 controller spec 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 recoveries/easynav_simple_recovery - -# 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，spec-rules §4） +# §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 recoveries/easynav_simple_recovery 子包（同批兄弟各有独立 RPM） +cd recoveries/easynav_simple_recovery +# §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 %{?_smp_mflags} +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 -cd recoveries/easynav_simple_recovery/.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 recoveries/easynav_simple_recovery/.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-recovery +* Tue Oct 20 2026 ROS SIG - 0.5.0-1 +- Initial RPM packaging of easynav_simple_recovery for openEuler ROS humble. |