Jazzy CI and build status

.github/workflows/ci.yaml

@@ -28,6 +28,10 @@ jobs:
             ROS_DISTRO: humble
           - IMAGE: humble-ci-testing
             ROS_DISTRO: humble
+          - IMAGE: jazzy-ci
+            ROS_DISTRO: jazzy
+          - IMAGE: jazzy-ci-testing
+            ROS_DISTRO: jazzy
     env:
       CXXFLAGS: >-
         -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
@@ -83,10 +87,12 @@ jobs:
           sudo rm -rf /usr/local
           df -h
       - uses: actions/checkout@v4
-      - uses: testspace-com/setup-testspace@v1
-        if: github.repository == 'moveit/moveit2'
-        with:
-          domain: ros-planning
+# 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
@@ -140,10 +146,12 @@ jobs:
         name: Run industrial_ci
         uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}
-      - name: Push result to Testspace
-        if: always() && (github.repository == 'moveit/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@v4
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)

.github/workflows/docker.yaml

@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [rolling, jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -72,7 +72,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [rolling, jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -128,7 +128,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [rolling, jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write

moveit2.repos

@@ -8,7 +8,3 @@ repositories:
     type: git
     url: https://github.com/ros-planning/moveit_resources.git
     version: ros2
-  generate_parameter_library:
-    type: git
-    url: https://github.com/PickNikRobotics/generate_parameter_library.git
-    version: 0.3.7

moveit2_humble.repos

@@ -0,0 +1,5 @@
+repositories:
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: 0.3.7

moveit2_iron.repos

@@ -0,0 +1,5 @@
+repositories:
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: 0.3.7

moveit2_rolling.repos

@@ -1,9 +1 @@
 repositories:
-  octomap:
-      type: git
-      url: https://github.com/octomap/octomap.git
-      version: devel
-  geometric_shapes:
-      type: git
-      url: https://github.com/moveit/geometric_shapes.git
-      version: ros2

moveit_core/distance_field/test/test_distance_field.cpp

@@ -807,20 +807,17 @@ TEST(TestSignedPropagationDistanceField, TestPerformance)
                                     PERF_ORIGIN_Z, PERF_MAX_DIST, true);
 
   EigenSTL::vector_Vector3d bad_vec;
-  unsigned int count = 0;
   for (unsigned int z = UNIFORM_DISTANCE; z < worstdfu.getZNumCells() - UNIFORM_DISTANCE; z += UNIFORM_DISTANCE)
   {
     for (unsigned int x = UNIFORM_DISTANCE; x < worstdfu.getXNumCells() - UNIFORM_DISTANCE; x += UNIFORM_DISTANCE)
     {
       for (unsigned int y = UNIFORM_DISTANCE; y < worstdfu.getYNumCells() - UNIFORM_DISTANCE; y += UNIFORM_DISTANCE)
       {
-        count++;
         Eigen::Vector3d loc;
         bool valid = worstdfu.gridToWorld(x, y, z, loc.x(), loc.y(), loc.z());
 
         if (!valid)
         {
-          // RCLCPP_WARN("distance_field", "Something wrong");
           continue;
         }
         bad_vec.push_back(loc);