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diff --git a/easynav-vff-controller.spec b/easynav-vff-controller.spec
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+%define ros_distro humble
+%define RosPkgName easynav-vff-controller
+%define src_version 0.5.0-1
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        0.5.0
+Release:        1%{?dist}
+Summary:        Easy Navigation: VFF Controller package.
+License:        Apache-2.0
+URL:            https://github.com/EasyNavigation/easynav_plugins/tree/humble
+Source0:        %{RosPkgName}-%{src_version}.tar.gz
+
+# ROS 包统一关闭 debug 子包（/opt 前缀，strip/debugedit 路径非常规）
+%global debug_package %{nil}
+# 摘掉 brp-python-bytecompile（/opt 下 python 字节码编译会写标准 sitelib 路径）
+%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
+# /opt/ros 下 .so 不做自动依赖扫描（由 ament 间接依赖模型替代）
+%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
+%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
+
+# ── BuildRequires ──
+# 构建工具
+BuildRequires:  cmake
+BuildRequires:  make
+# ROS 构建工具（buildtool_depend）
+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
+BuildRequires:  ros-%{ros_distro}-rclcpp-lifecycle
+BuildRequires:  ros-%{ros_distro}-tf2
+BuildRequires:  ros-%{ros_distro}-visualization-msgs
+# 批次兄弟包（dep_registry 中注册，同一 COPR project 构建，安装时同源解析）
+BuildRequires:  ros-%{ros_distro}-easynav-common
+BuildRequires:  ros-%{ros_distro}-easynav-core
+BuildRequires:  ros-%{ros_distro}-easynav-sensors
+# 系统依赖（package.xml <depend>，经 pkg.remap 映射 libpcl-all-dev → pcl-devel）
+BuildRequires:  pcl-devel
+
+# ── Requires（运行时，/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到，必须手写）──
+# 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
+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
+Requires:       ros-%{ros_distro}-rclcpp-lifecycle
+Requires:       ros-%{ros_distro}-tf2
+Requires:       ros-%{ros_distro}-visualization-msgs
+Requires:       pcl-devel
+
+# 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）
+Provides:       %{name}-devel = %{version}-%{release}
+Provides:       %{name}-doc = %{version}-%{release}
+Provides:       %{name}-runtime = %{version}-%{release}
+
+%description
+Easy Navigation: VFF Controller package.
+
+%prep
+%autosetup -n %{RosPkgName}-%{src_version}
+
+%build
+# 源码在 monorepo 子目录中
+cd controllers/easynav_vff_controller
+
+# 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）
+[ -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）
+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 %{?_smp_mflags}
+
+%install
+cd controllers/easynav_vff_controller/.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}
+
+%files
+# 整树拥有：对「装了没打包」类错误免疫（spec-rules §7）
+/opt/ros/%{ros_distro}
+
+%changelog
+* Sat Oct 10 2026 AI Importer <ai-importer@opencode.local> - 0.5.0-1
+- 初始 ROS humble spec，引入 easynav-vff-controller