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diff --git a/nebula-sample.spec b/nebula-sample.spec new file mode 100644 index 0000000..0e6553e --- /dev/null +++ b/nebula-sample.spec @@ -0,0 +1,118 @@ +%define ros_distro humble +%define RosPkgName nebula-sample +# monorepo main 分支快照（无 tag），记录实际 commit 保证产物可追溯（spec-rules-ros §2） +%global commit 8be1ed775b02985eadafe39b00e0e4fc944114e2 + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 1.3.1 +Release: 1%{?dist} +Summary: Nebula Sample ROS 2 Package +# 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，解压根目录为纯完整 SHA（spec-rules-ros §2 实测纪律，已 tarfile 实测确认） +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 +# ament_cmake 形态构建工具（§6：build_type=ament_cmake，构建工具依赖 ros-humble-ament-cmake） +BuildRequires: ros-%{ros_distro}-ament-cmake +# 提供 autoware_package() 宏（package.xml <buildtool_depend>autoware_cmake</buildtool_depend>，ros-upstream.list 真实存在） +BuildRequires: ros-%{ros_distro}-autoware-cmake + +# 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 +BuildRequires: ros-%{ros_distro}-std-msgs + +# package.xml <depend> —— nebula monorepo 兄弟子包（project.list，batch reused，COPR project / additional_repos 同源解析） +BuildRequires: ros-%{ros_distro}-nebula-core-common +BuildRequires: ros-%{ros_distro}-nebula-core-ros +BuildRequires: ros-%{ros_distro}-nebula-msgs +BuildRequires: ros-%{ros_distro}-nebula-sample-common +BuildRequires: ros-%{ros_distro}-nebula-sample-decoders +BuildRequires: ros-%{ros_distro}-nebula-sample-hw-interfaces + +# 运行时 Requires（§6 三件套：/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（ROS 包提供 /opt/ros 下 .so，运行时须显式声明） +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-ros +Requires: ros-%{ros_distro}-nebula-msgs +Requires: ros-%{ros_distro}-nebula-sample-common +Requires: ros-%{ros_distro}-nebula-sample-decoders +Requires: ros-%{ros_distro}-nebula-sample-hw-interfaces +Requires: ros-%{ros_distro}-rclcpp +Requires: ros-%{ros_distro}-rclcpp-components +Requires: ros-%{ros_distro}-sensor-msgs +Requires: ros-%{ros_distro}-std-msgs + +# 单包策略（§7）：ROS 包严禁拆实体子包，主包 %files 整树拥有，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 Sample ROS 2 Package —— Nebula 多 LiDAR 驱动框架中面向 Sample 平台的 +ROS 2 封装组件（sample_ros_wrapper），通过 rclcpp_components 注册为可加载 +节点，提供激光雷达数据的 ROS 化封装与诊断上报（diagnostic_updater）。基于 +ament_cmake 构建（autoware_cmake 封装），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_sample colcon 子包；monorepo 其余 colcon 包由各自独立 RPM 提供。 + +%prep +# GitHub commit 归档解压根目录为纯完整 SHA，与 autosetup 的 -n 指定值匹配（§2 实测纪律） +%autosetup -n %{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 宏位置参数坑） +cd src/nebula_sample/nebula_sample +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 +[ -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} +cd src/nebula_sample/nebula_sample +cd .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@openeuler.org> - 1.3.1-1 +- Initial import (ROS batch) +- 源自 tier4/nebula monorepo，commit 8be1ed775b02985eadafe39b00e0e4fc944114e2 +- ament_cmake 形态（autoware_cmake 封装），构建至 /opt/ros/humble 前缀 |