From f7383e476edd73dbc5de6e5e56d049c658153f55 Mon Sep 17 00:00:00 2001
From: CoprDistGit <infra@openeuler.org>
Date: Wed, 21 Oct 2026 05:22:54 +0000
Subject: automatic import of ros-humble-nebula-hesai

---
 .gitignore        |   1 +
 nebula-hesai.spec | 151 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 sources           |   1 +
 3 files changed, 153 insertions(+)
 create mode 100644 nebula-hesai.spec
 create mode 100644 sources

diff --git a/.gitignore b/.gitignore
index e69de29..0bf1f69 100644
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1 @@
+/8be1ed775b02985eadafe39b00e0e4fc944114e2.tar.gz
diff --git a/nebula-hesai.spec b/nebula-hesai.spec
new file mode 100644
index 0000000..54764f3
--- /dev/null
+++ b/nebula-hesai.spec
@@ -0,0 +1,151 @@
+# spec for ros-humble-nebula-hesai
+# 源自 tier4/nebula monorepo（commit 8be1ed77），仅构建其中的 nebula_hesai colcon 子包
+# 严格遵循 /app/.claude/skills/build-rpm/spec-rules-ros.md
+
+%define ros_distro humble
+%define RosPkgName nebula-hesai
+# monorepo main 分支快照（无 tag），记录实际 commit 保证产物可追溯
+%global commit 8be1ed775b02985eadafe39b00e0e4fc944114e2
+
+Name:           ros-%{ros_distro}-%{RosPkgName}
+Version:        1.3.1
+Release:        1%{?dist}
+Summary:        Nebula Hesai ROS Wrapper
+# package.xml 声明 "Apache 2"，规范为 SPDX 标识
+License:        Apache-2.0
+URL:            https://github.com/tier4/nebula
+# GitHub commit 归档；实测（spec-rules-ros §2 强制消除猜测）解压根目录为
+# nebula-<full-sha>（非纯 SHA），与下方 autosetup 指令 -n nebula-<commit宏> 匹配
+Source0:        https://github.com/tier4/nebula/archive/%{commit}.tar.gz
+
+# debug 子包无意义（/opt 前缀，strip/debugedit 路径非常规），SIG 模板统一关闭
+%global debug_package %{nil}
+# /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:]].*$!!g')
+# ROS 包不做自动依赖扫描（.so 全在 /opt/ros 下，由 ament 间接依赖模型替代）
+%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
+%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
+
+BuildRequires:  cmake
+BuildRequires:  gcc-c++
+BuildRequires:  make
+
+# 构建工具（package.xml <buildtool_depend>）
+# ament_cmake 形态构建工具（§6）
+BuildRequires:  ros-%{ros_distro}-ament-cmake
+# 提供 autoware_package() 宏（ros-upstream.list，SIG 未移植但 rosdistro 真实存在）
+BuildRequires:  ros-%{ros_distro}-autoware-cmake
+BuildRequires:  ros-%{ros_distro}-ros-environment
+BuildRequires:  ros-%{ros_distro}-ros-testing
+
+# package.xml <depend> —— ROS humble 标准包（ros-projects.list，SIG 已移植）
+BuildRequires:  ros-%{ros_distro}-diagnostic-msgs
+BuildRequires:  ros-%{ros_distro}-diagnostic-updater
+BuildRequires:  ros-%{ros_distro}-rclcpp
+BuildRequires:  ros-%{ros_distro}-rclcpp-components
+BuildRequires:  ros-%{ros_distro}-sensor-msgs
+
+# package.xml <depend> —— autoware / tier4 外部包（ros-upstream.list，rosdistro 真实存在）
+BuildRequires:  ros-%{ros_distro}-autoware-internal-debug-msgs
+BuildRequires:  ros-%{ros_distro}-autoware-utils-debug
+BuildRequires:  ros-%{ros_distro}-sync-tooling-msgs
+
+# package.xml <depend> —— nebula monorepo 兄弟子包（batch reused，COPR project /
+# additional_repos 同源解析；ros-upstream.list 命中，rosdistro 真实存在）
+BuildRequires:  ros-%{ros_distro}-nebula-core-common
+BuildRequires:  ros-%{ros_distro}-nebula-core-decoders
+BuildRequires:  ros-%{ros_distro}-nebula-core-hw-interfaces
+BuildRequires:  ros-%{ros_distro}-nebula-core-ros
+BuildRequires:  ros-%{ros_distro}-nebula-hesai-common
+BuildRequires:  ros-%{ros_distro}-nebula-hesai-decoders
+BuildRequires:  ros-%{ros_distro}-nebula-hesai-hw-interfaces
+BuildRequires:  ros-%{ros_distro}-nebula-msgs
+BuildRequires:  ros-%{ros_distro}-pandar-msgs
+
+# 系统库（package.xml <depend>boost</depend>，pkg.remap 映射 boost→boost-devel）
+BuildRequires:  boost-devel
+
+# 注：agnocast_* 为条件依赖（package.xml condition="$ENABLE_AGNOCAST == 1"，
+# CMakeLists 同样以 if("$ENV{ENABLE_AGNOCAST}") 守卫），默认未启用故不写 BuildRequires。
+# test_depend（ament_cmake_gtest / ament_lint_auto / rosbag2_cpp）由 -DBUILD_TESTING=OFF 关闭，不写。
+
+# 运行时 Requires（ROS 特有三件套，§6：/opt/ros 被 __requires_exclude_from 豁免，autodeps 扫不到）
+Requires:       ros-%{ros_distro}-ros-workspace
+Requires:       ros-%{ros_distro}-ament-cmake
+
+# package.xml <depend> 的运行时部分
+Requires:       ros-%{ros_distro}-autoware-internal-debug-msgs
+Requires:       ros-%{ros_distro}-autoware-utils-debug
+Requires:       ros-%{ros_distro}-diagnostic-msgs
+Requires:       ros-%{ros_distro}-diagnostic-updater
+Requires:       ros-%{ros_distro}-nebula-core-common
+Requires:       ros-%{ros_distro}-nebula-core-decoders
+Requires:       ros-%{ros_distro}-nebula-core-hw-interfaces
+Requires:       ros-%{ros_distro}-nebula-core-ros
+Requires:       ros-%{ros_distro}-nebula-hesai-common
+Requires:       ros-%{ros_distro}-nebula-hesai-decoders
+Requires:       ros-%{ros_distro}-nebula-hesai-hw-interfaces
+Requires:       ros-%{ros_distro}-nebula-msgs
+Requires:       ros-%{ros_distro}-pandar-msgs
+Requires:       ros-%{ros_distro}-rclcpp
+Requires:       ros-%{ros_distro}-rclcpp-components
+Requires:       ros-%{ros_distro}-sensor-msgs
+Requires:       ros-%{ros_distro}-sync-tooling-msgs
+
+# 单包策略（§7）：ROS 包严禁拆实体子包，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}
+
+%description
+Nebula Hesai ROS Wrapper —— Nebula 多 LiDAR 驱动框架中面向 Hesai Pandar
+系列 LiDAR 的 ROS 2 封装节点，提供激光数据解码、硬件接口与 ROS 组件化封装
+（rclcpp_components）。基于 ament_cmake（autoware_package 宏）构建，产物安装至
+/opt/ros/%{ros_distro} 前缀。
+
+本包源自 tier4/nebula monorepo（commit 8be1ed77），仅构建其中的
+nebula_hesai colcon 子包；monorepo 其余 colcon 包由各自独立 RPM 提供。
+
+%prep
+# 实测 GitHub /archive/<commit>.tar.gz 解压根目录为 nebula-<full-sha>（非纯 SHA，
+# 831 个条目全部 nebula-<sha> 前缀，spec-rules-ros §2 强制实测消除猜测）；
+# 解压目录名与 Name 解耦，不随包名联动改写
+%autosetup -n nebula-%{commit}
+
+%build
+# ROS 基座环境（§4：setup.sh 可能不存在，用 [ -f ] 守卫）
+[ -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 子包构建：进入目标 colcon 包目录（§5 ament_cmake 显式 out-of-source，
+# 规避 openEuler cmake 宏带位置参数坑）
+cd src/nebula_hesai/nebula_hesai
+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
+cd src/nebula_hesai/nebula_hesai/.obj
+%make_install DESTDIR=%{buildroot}
+
+# 文件清单整树拥有（§7：单包策略，ros_distro 前缀一行收尾，对「装了没打包」类错误免疫）
+%files
+/opt/ros/%{ros_distro}
+
+%changelog
+* Wed Oct 21 2026 AI Importer <ai-importer@opencode> - 1.3.1-1
+- 初始引入 ros-humble-nebula-hesai（nebula_hesai colcon 子包）
+- 源自 tier4/nebula monorepo，commit 8be1ed775b02985eadafe39b00e0e4fc944114e2
+- ament_cmake 形态（autoware_package 宏），构建至 /opt/ros/humble 前缀
diff --git a/sources b/sources
new file mode 100644
index 0000000..6750b68
--- /dev/null
+++ b/sources
@@ -0,0 +1 @@
+e720c311293a6dfeaccb87347d51d388  8be1ed775b02985eadafe39b00e0e4fc944114e2.tar.gz
-- 
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