diff options
Diffstat (limited to 'easynav-vff-controller.spec')
| -rw-r--r-- | easynav-vff-controller.spec | 144 |
1 files changed, 91 insertions, 53 deletions
diff --git a/easynav-vff-controller.spec b/easynav-vff-controller.spec index d415196..e2c2ac7 100644 --- a/easynav-vff-controller.spec +++ b/easynav-vff-controller.spec @@ -1,30 +1,65 @@ +# ROS 2 包：easynav_vff_controller（ament_cmake 形态） +# 来源：EasyNavigation/easynav_plugins 仓库 humble 分支（多包仓库，本包位于 +# controllers/easynav_vff_controller/ 子目录） +# 严格遵循 /app/.claude/skills/build-rpm/spec-rules-ros.md 生成 + +# ros_distro 取自 session.json（禁止硬编码）；RosPkgName 为 package.xml <name> +# 经下划线→连字符归一化（easynav_vff_controller → easynav-vff-controller） %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 +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 + +# 源码取自 humble 分支 HEAD（branch 快照，无 0.5.0 tag）。target_version=0.5.0-1 +# 已由 manifest/gate 给定，Version 取 0.5.0（剥离发布号 -1）；记录实际 commit 以保可追溯。 +# commit 为 ros_fetch checkout 后实测的 HEAD（git rev-parse），非占位值。 +# +# 归档解压根目录（spec-rules §2 实测纪律，禁止猜测）： +# 本地 `python3 -c "import tarfile; print(tarfile.open('<f>').getnames()[0])"` +# 实测 GitHub archive/<full-sha>.tar.gz 解压根目录为 easynav_plugins-<完整SHA> +# （<repo>-<commit> 格式）。故 %%autosetup -n 用 easynav_plugins-%%{commit}。 +# 注：同仓兄弟 spec easynav-serest-controller 误用 -n %%{commit}（纯 SHA）， +# SRPM 阶段不跑 %%prep 故未暴露，COPR 构建时 %%prep 会因 `cd: <sha>: No such file` +# 失败；本包据实测纠正。解压目录名与 Name/RosPkgName 解耦（§2）。 +%global commit 2580d29baefe77305c6e9336dca743aa5ce51c2c +Source0: https://github.com/EasyNavigation/easynav_plugins/archive/%{commit}.tar.gz -# ROS 包统一关闭 debug 子包（/opt 前缀，strip/debugedit 路径非常规） +# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），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） +# /opt 下 python 字节码编译会写标准 sitelib 路径，摘掉 brp-python-bytecompile %global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g') -# /opt/ros 下 .so 不做自动依赖扫描（由 ament 间接依赖模型替代） +# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代） %global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$ %global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$ -# ── BuildRequires ── -# 构建工具 BuildRequires: cmake +BuildRequires: gcc-c++ BuildRequires: make -# ROS 构建工具（buildtool_depend） +# ament_cmake 形态构建工具依赖（spec-rules §6）；ros-workspace 提供 /opt/ros setup.sh 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}-ros-workspace +# package.xml <depend> → ros-humble-<dep>；每条均经源码 include 核实为实际引用 +# （VffController.hpp / VffController.cpp），并经 CMakeLists find_package 确认： +# easynav-common / easynav-core / easynav-sensors：easynav_*/*.hpp 实际 include +# geometry-msgs：VffController.hpp include geometry_msgs/msg/twist_stamped.hpp +# nav-msgs：VffController.cpp include nav_msgs/msg/{odometry,goals}.hpp +# pluginlib：VffController.cpp include pluginlib/class_list_macros.hpp（插件注册） +# rclcpp / rclcpp-lifecycle：CMakeLists 显式 find_package REQUIRED +# tf2：VffController.cpp include tf2/LinearMath/{Quaternion,Matrix3x3}.hpp +# visualization-msgs：VffController.hpp include visualization_msgs/msg/{marker,marker_array}.hpp +# 注：本包 package.xml 未声明 easynav-system / tf2-ros / tf2-geometry-msgs / +# sensor-msgs / pcl-conversions / eigen（与同仓 mpc/serest controller 不同）， +# 据本包自身 package.xml 纪律不写入，不盲抄兄弟 spec（spec-rules §6 反幻觉铁律）。 +# test_depend（ament_cmake_gtest / ament_lint_auto / ament_lint_common / +# easynav_controller）按 §5 规定不写 BuildRequires，BUILD_TESTING=OFF 关闭。 +BuildRequires: ros-%{ros_distro}-easynav-common +BuildRequires: ros-%{ros_distro}-easynav-core +BuildRequires: ros-%{ros_distro}-easynav-sensors BuildRequires: ros-%{ros_distro}-geometry-msgs BuildRequires: ros-%{ros_distro}-nav-msgs BuildRequires: ros-%{ros_distro}-pluginlib @@ -32,18 +67,18 @@ 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） +# 系统依赖：CMakeLists find_package(PCL REQUIRED COMPONENTS common io)， +# VffController.hpp include pcl/{point_cloud,point_types}.h。Debian 名 +# libpcl-all-dev 禁用（§6 Debian 名禁令），openEuler 实证为 pcl-devel +# （同仓 mpc spec 已 dnf 实证 pcl-devel-1.12.1 提供 cmake(PCL)）。 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 +# 运行时 Requires（spec-rules §6 三件套 + <depend> 运行期依赖）： +# ros-workspace 提供 /opt/ros/<distro>/setup.sh 与环境 hooks（所有 ROS 包强制） +# ament-cmake ament 运行期钩子（ament_cmake 形态强制） +# /opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，故运行期依赖手写 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 @@ -54,9 +89,11 @@ 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 +# 控制器 .so 动态链接 libpcl_common/libpcl_io（在 /usr/lib64），/opt/ros 下 .so 被豁免 +# 不扫 requires，故显式声明运行期 pcl +Requires: pcl -# 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） +# 单包策略：严禁拆实体子包（spec-rules §7），用虚拟别名兼容依赖方 Provides: %{name}-devel = %{version}-%{release} Provides: %{name}-doc = %{version}-%{release} Provides: %{name}-runtime = %{version}-%{release} @@ -64,47 +101,48 @@ Provides: %{name}-runtime = %{version}-%{release} %description Easy Navigation: VFF Controller package. +A VFF (Vector Field Histogram) style local obstacle avoidance controller for +the Easy Navigation stack. Generates cmd_vel commands from proximity/cost data +and a target path reference using histogram-based steering selection. Built as +an ament_cmake shared library (vff_controller) registered as a pluginlib plugin +(easynav_vff_controller/VffController, type easynav::VffController, base +easynav::ControllerMethodBase) via easynav_core. + %prep -%autosetup -n %{RosPkgName}-%{src_version} +# 解压根目录 = easynav_plugins-<完整SHA>（本地 tar 实测，spec-rules §2） +%autosetup -n easynav_plugins-%{commit} %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） +# ROS 基座环境（spec-rules §4）：setup.sh 用 [ -f ] 守卫，避免无 ROS 依赖 chroot 中止脚本 [ -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} +# 多包仓库：仅构建目标包子目录 controllers/easynav_vff_controller +# ament_cmake 形态显式 out-of-source（spec-rules §5），避免 openEuler %%cmake 宏位置参数坑 +cd controllers/easynav_vff_controller +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 +%make_build %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） +# %%files 整树拥有（spec-rules §7）：对「装了没打包」类错误免疫 /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 +* Tue Oct 20 2026 AI Importer <ai-importer@opencode> - 0.5.0-1 +- Initial ROS spec for easynav-vff-controller (humble) +- Source: easynav_plugins humble branch snapshot (commit 2580d29) +- ament_cmake shared library, pluginlib plugin via easynav_core +- Single-package policy with virtual devel/doc/runtime Provides |