From 3041f3cf15f2cfd6074ed98aeee48d8572923cd2 Mon Sep 17 00:00:00 2001 From: CoprDistGit Date: Thu, 8 Oct 2026 09:13:17 +0000 Subject: automatic import of ros-humble-nebula-core-ros --- nebula-core-ros.spec | 108 ++++++++++++++++++++++++++++----------------------- 1 file changed, 60 insertions(+), 48 deletions(-) (limited to 'nebula-core-ros.spec') diff --git a/nebula-core-ros.spec b/nebula-core-ros.spec index 8787a4a..f13e97b 100644 --- a/nebula-core-ros.spec +++ b/nebula-core-ros.spec @@ -1,82 +1,94 @@ +# 禁止硬编码 distro/包名/版本——一律走宏（spec-rules-ros.md §2） %define ros_distro humble %define RosPkgName nebula-core-ros -%global commit 26749c80dff89f39000a9817141143c05ec151ab +# 源码取自 tier4/nebula 仓库 main 分支 HEAD，记录 commit 以保证产物可追溯 +%global commit 8ce64073f41c2ec1166334ce7f8fb2edc13c86e5 -Name: ros-%{ros_distro}-%{RosPkgName} -Version: 1.2.0 -Release: 1%{?dist} -Summary: Nebula ROS Base Libraries -License: Apache-2.0 -URL: https://github.com/tier4/nebula -Source0: https://github.com/tier4/nebula/archive/%{commit}.tar.gz +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 1.2.0 +Release: 1%{?dist} +Summary: Nebula ROS Base Libraries +License: Apache-2.0 +URL: https://github.com/tier4/nebula +# 实测 GitHub commit 归档解压根目录为 nebula-<完整SHA>，故 autosetup -n 用此名（§2 Source0 归档解压目录名） +Source0: https://github.com/tier4/nebula/archive/%{commit}.tar.gz +# /opt 前缀下 debug 子包无意义，统一关闭（§2） %global debug_package %{nil} +# 摘掉 brp-python-bytecompile，避免 /opt 下 Python 字节码写入标准 sitelib（§2） %global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g') +# ROS 包不做自动依赖扫描，由 ament 间接依赖模型替代（§2） %global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$ %global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$ +# package.xml 中 agnocastlib、libgoogle-glog-dev 为条件依赖 +# （condition="$ENABLE_AGNOCAST == 1"，默认关闭），CMakeLists 同名守卫，故不写 BuildRequires。 + +# 构建工具依赖（buildtool_depend + ament_cmake 形态基座，§5/§6） BuildRequires: ros-%{ros_distro}-ament-cmake BuildRequires: ros-%{ros_distro}-autoware-cmake BuildRequires: ros-%{ros_distro}-ros-environment +# ROS 库依赖（package.xml ，§6 反幻觉铁律：均可在 ros-projects/ros-upstream 清单或同批 sibling 中找到依据） +BuildRequires: ros-%{ros_distro}-rclcpp BuildRequires: ros-%{ros_distro}-diagnostic-msgs BuildRequires: ros-%{ros_distro}-diagnostic-updater -BuildRequires: ros-%{ros_distro}-nebula-core-common -BuildRequires: ros-%{ros_distro}-rclcpp BuildRequires: ros-%{ros_distro}-rosbag2-storage +BuildRequires: ros-%{ros_distro}-nebula-core-common +# 系统依赖（pkg.remap: boost -> boost-devel） BuildRequires: boost-devel -BuildRequires: cmake -BuildRequires: gcc-c++ -Requires: ros-%{ros_distro}-ros-workspace -Requires: ros-%{ros_distro}-ament-cmake -Requires: ros-%{ros_distro}-diagnostic-msgs -Requires: ros-%{ros_distro}-diagnostic-updater -Requires: ros-%{ros_distro}-nebula-core-common -Requires: ros-%{ros_distro}-rclcpp -Requires: ros-%{ros_distro}-rosbag2-storage +# 运行时 Requires：/opt/ros 被 __requires_exclude_from 豁免、autodeps 扫不到，必须手写（§6） +Requires: ros-%{ros_distro}-ros-workspace +Requires: ros-%{ros_distro}-ament-cmake +Requires: ros-%{ros_distro}-rclcpp +Requires: ros-%{ros_distro}-diagnostic-msgs +Requires: ros-%{ros_distro}-diagnostic-updater +Requires: ros-%{ros_distro}-rosbag2-storage +Requires: ros-%{ros_distro}-nebula-core-common +Requires: boost-devel -Provides: %{name}-devel = %{version}-%{release} -Provides: %{name}-doc = %{version}-%{release} -Provides: %{name}-runtime = %{version}-%{release} +# 单包策略：禁止拆实体子包，改用虚拟别名兼容依赖方（§7） +Provides: %{name}-devel = %{version}-%{release} +Provides: %{name}-doc = %{version}-%{release} +Provides: %{name}-runtime = %{version}-%{release} %description -Nebula ROS Base Libraries for the Nebula multi-sensor driver framework -(ROS 2 %{ros_distro}). Provides common ROS parameter descriptors and -shared utilities used across Nebula ROS components. +Nebula ROS 基础库 —— TIER IV Nebula 激光雷达驱动栈的核心 ROS 2 基座库。 +提供共享参数描述符工具与 agnocast wrapper 集成层，供 Nebula 各传感器驱动包使用。 %prep -# GitHub commit 归档解压根目录为完整 SHA，非 - 形式 -%autosetup -n %{commit} +%autosetup -n nebula-%{commit} %build +# ROS 基座环境引导：setup.sh 可能不存在，须用 [ -f ] 守卫（§4） [ -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:+:$PKG_CONFIG_PATH} -mkdir -p .obj && cd .obj -%cmake3 \ - -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \ - -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \ - -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \ - -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR \ - -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \ - -DSETUPTOOLS_DEB_LAYOUT=OFF \ - -DBUILD_TESTING=OFF -DTESTING=OFF \ - -DCMAKE_SUPPRESS_REGENERATION=ON \ - ../src/nebula_core/nebula_core_ros -make %{?_smp_mflags} +# monorepo 子目录构建：nebula_core_ros 位于 src/nebula_core/nebula_core_ros +cd src/nebula_core/nebula_core_ros +mkdir -p .obj +cd .obj +# ament_cmake 形态：显式 out-of-source 构建，避免 cmake 宏位置参数坑（§3/§5/§9） +cmake \ + -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \ + -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \ + -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \ + -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ + -DBUILD_TESTING=OFF \ + .. +%make_build %install -[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true -export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH} - -cd .obj -make install DESTDIR=%{buildroot} +cd src/nebula_core/nebula_core_ros/.obj +%make_install DESTDIR=%{buildroot} %files -/opt/ros/%{ros_distro}/ +# 整树拥有 /opt/ros/，对"装了没打包"类错误免疫（§7） +/opt/ros/%{ros_distro} %changelog -* Sun Sep 20 2026 ROS SIG - 1.2.0-1 -- Initial package for ros-%{ros_distro}-%{RosPkgName} 1.2.0 -- Source: https://github.com/tier4/nebula commit 26749c8 +* Thu Oct 08 2026 AI Importer - 1.2.0-1 +- 初始引入 ros-humble-nebula-core-ros +- Version 取自 manifest target_version 1.2.0；源码为 tier4/nebula main 分支 HEAD（commit 8ce6407） -- cgit v1.2.3