Merge branch 'humble' into mergify/bp/humble/pr-1813

.docker/ci/Dockerfile

@@ -6,6 +6,8 @@ FROM ros:${ROS_DISTRO}-ros-base
 LABEL maintainer Robert Haschke [email protected]
 
 ENV TERM xterm
+# Allow non-interactive installation of ros-humble-rmw-connextdds
+ENV RTI_NC_LICENSE_ACCEPTED yes
 
 # Setup (temporary) ROS workspace
 WORKDIR /root/ws_moveit

.docker/release/Dockerfile

@@ -5,6 +5,9 @@ ARG ROS_DISTRO=rolling
 FROM ros:${ROS_DISTRO}-ros-base
 LABEL maintainer Robert Haschke [email protected]
 
+# Allow non-interactive installation of ros-humble-rmw-connextdds
+ENV RTI_NC_LICENSE_ACCEPTED yes
+
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 RUN apt-get update -q && \
     apt-get upgrade -q -y && \

.docker/source/Dockerfile

@@ -4,7 +4,7 @@
 # Downloads the moveit source code and install remaining debian dependencies
 
 ARG ROS_DISTRO=rolling
-FROM moveit/moveit2:${ROS_DISTRO}-ci-testing
+FROM moveit/moveit2:${ROS_DISTRO}-ci
 LABEL maintainer Robert Haschke [email protected]
 
 # Export ROS_UNDERLAY for downstream docker containers

.docker/tutorial-source/Dockerfile

@@ -0,0 +1,43 @@
+# syntax = docker/dockerfile:1.3
+
+# ghcr.io/moveit/moveit2:main-${ROS_DISTRO}-tutorial-source
+# Source build of the repos file from the tutorial site
+
+ARG ROS_DISTRO=humble
+
+FROM moveit/moveit2:${ROS_DISTRO}-ci
+LABEL maintainer Tyler Weaver [email protected]
+
+# Export ROS_UNDERLAY for downstream docker containers
+ENV ROS_UNDERLAY /root/ws_moveit/install
+WORKDIR $ROS_UNDERLAY/..
+
+# Copy MoveIt sources from docker context
+COPY . src/moveit2
+
+# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
+# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
+RUN --mount=type=cache,target=/root/.ccache/,sharing=locked \
+        # Enable ccache
+        PATH=/usr/lib/ccache:$PATH && \
+        # Checkout the tutorial repo
+        git clone -b ${ROS_DISTRO} https://github.com/moveit/moveit2_tutorials src/moveit2_tutorials && \
+        # Fetch required upstream sources for building
+        vcs import --skip-existing src < src/moveit2_tutorials/moveit2_tutorials.repos && \
+        # Source ROS install
+        . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+        # Install dependencies from rosdep
+        apt-get -q update && \
+        rosdep update && \
+        DEBIAN_FRONTEND=noninteractive \
+        rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+        rm -rf /var/lib/apt/lists/* && \
+        # Build the workspace
+        colcon build \
+        --cmake-args "-DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli" \
+        --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \
+        --event-handlers desktop_notification- status- && \
+        ccache -s && \
+        #
+        # Update /ros_entrypoint.sh to source our new workspace
+        sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g" /ros_entrypoint.sh

.github/workflows/ci.yaml

@@ -6,6 +6,7 @@ name: CI
 on:
   workflow_dispatch:
   pull_request:
+  merge_group:
   push:
     branches:
       - humble
@@ -19,7 +20,7 @@ jobs:
           - IMAGE: humble-ci
             CCOV: true
             ROS_DISTRO: humble
-          - IMAGE: humble-ci-testing
+          - IMAGE: humble-ci
             ROS_DISTRO: humble
             IKFAST_TEST: true
             CLANG_TIDY: pedantic
@@ -37,9 +38,6 @@ jobs:
         $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
       # Pull any updates to the upstream workspace (after restoring it from cache)
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
-      # Uninstall binaries that are duplicated in the .repos file
-      # TODO(andyz): remove this once a sync containing 35b93c8 happens
-      AFTER_SETUP_UPSTREAM_WORKSPACE_EMBED: sudo apt remove ros-${{ matrix.env.ROS_DISTRO }}-moveit-msgs -y
       AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
       # Clear the ccache stats before and log the stats after the build
       AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
@@ -52,7 +50,7 @@ jobs:
         -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
-        -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+        -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer' || ''}}"
       UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
       DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
       CCACHE_DIR: ${{ github.workspace }}/.ccache
@@ -63,6 +61,7 @@ jobs:
         (cd $TARGET_REPO_PATH; clang-tidy --list-checks)
         # Disable clang-tidy for ikfast plugins as we cannot fix the generated code
         find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \;
+        find $BASEDIR/target_ws/build -iwholename "*_ikfast_manipulator_plugin/compile_commands.json" -exec rm {} \;
       CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
       CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
       ADDITIONAL_DEBS: lld
@@ -73,7 +72,7 @@ jobs:
       - name: "Free up disk space"
         if: matrix.env.CCOV
         run: |
-          sudo apt-get -qq purge build-essential "ghc*"
+          sudo apt-get -qq purge "ghc*"
           sudo apt-get clean
           # cleanup docker images not used by us
           docker system prune -af
@@ -84,11 +83,13 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v3
-      - uses: testspace-com/setup-testspace@v1
-        if: github.repository == 'ros-planning/moveit2'
-        with:
-          domain: ros-planning
+      - uses: actions/checkout@v4
+# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org
+# See: https://github.com/moveit/moveit2/issues/2852
+#       - uses: testspace-com/setup-testspace@v1
+#         if: github.repository == 'moveit/moveit2'
+#         with:
+#           domain: moveit
       - name: Get latest release date for rosdistro
         id: rosdistro_release_date
         uses: JafarAbdi/latest-rosdistro-release-date-action@main
@@ -100,33 +101,36 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: Cache target workspace
         if: "!matrix.env.CCOV"
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ${{ env.CACHE_PREFIX }}
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
       - name: Configure ccache
         run: |
@@ -139,12 +143,14 @@ jobs:
         name: Run industrial_ci
         uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}
-      - name: Push result to Testspace
-        if: always() && (github.repository == 'ros-planning/moveit2')
-        run: |
-          testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
+# NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org
+# See: https://github.com/moveit/moveit2/issues/2852
+#      - name: Push result to Testspace
+#        if: always() && (github.repository == 'moveit/moveit2')
+#        run: |
+#          testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results-${{ matrix.env.IMAGE }}
@@ -157,7 +163,7 @@ jobs:
           workdir: ${{ env.BASEDIR }}/target_ws
           ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
       - name: Upload codecov report
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v5
         if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
         with:
           files: ${{ env.BASEDIR }}/target_ws/coverage.info