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Update controller_manager_plugin.cpp #2171

Update controller_manager_plugin.cpp

Update controller_manager_plugin.cpp #2171

name: "Tutorial Docker Images"
on:
schedule:
# 5 PM UTC every Sunday
- cron: '0 17 * * 6'
workflow_dispatch:
pull_request:
merge_group:
push:
branches:
- main
jobs:
tutorial-source:
strategy:
fail-fast: false
matrix:
ROS_DISTRO: [rolling]
runs-on: ubuntu-latest
permissions:
packages: write
contents: read
env:
GH_IMAGE: ghcr.io/moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }}
DH_IMAGE: moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }}
PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
steps:
- uses: actions/checkout@v4
- name: Set up Docker Buildx
uses: docker/setup-buildx-action@v3
- name: Login to Github Container Registry
if: env.PUSH == 'true'
uses: docker/login-action@v3
with:
registry: ghcr.io
username: ${{ github.repository_owner }}
password: ${{ secrets.GITHUB_TOKEN }}
- name: Login to DockerHub
if: env.PUSH == 'true'
uses: docker/login-action@v3
with:
username: ${{ secrets.DOCKERHUB_USERNAME }}
password: ${{ secrets.DOCKERHUB_TOKEN }}
- name: "Remove .dockerignore"
run: rm .dockerignore # enforce full source context
- name: Cache ccache
uses: actions/cache@v4
with:
path: .ccache
key: docker-tutorial-ccache-${{ matrix.ROS_DISTRO }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }}
- name: inject ccache into docker
uses: reproducible-containers/[email protected]
with:
cache-source: .ccache
cache-target: /root/.ccache/
- name: Build and Push
uses: docker/build-push-action@v6
with:
context: .
file: .docker/${{ github.job }}/Dockerfile
build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
push: ${{ env.PUSH }}
cache-from: type=gha
cache-to: type=gha,mode=max
tags: |
${{ env.GH_IMAGE }}
${{ env.DH_IMAGE }}
delete_untagged:
runs-on: ubuntu-latest
needs:
- tutorial-source
steps:
- name: Delete Untagged Images
if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2')
uses: actions/github-script@v7
with:
github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
script: |
const response = await github.request("GET /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions", {
per_page: ${{ env.PER_PAGE }}
});
for(version of response.data) {
if (version.metadata.container.tags.length == 0) {
console.log("delete " + version.id)
const deleteResponse = await github.request("DELETE /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions/" + version.id, { });
console.log("status " + deleteResponse.status)
}
}
env:
OWNER: moveit
PACKAGE_NAME: moveit2
PER_PAGE: 100