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Merge branch 'main' into pr-delete_untagged_images
2 parents 210856a + 3b5efca commit d461ba8

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‎.clang-tidy‎

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@@ -11,6 +11,7 @@ Checks: '-*,
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modernize-loop-convert,
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modernize-make-shared,
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modernize-make-unique,
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misc-unused-parameters,
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readability-named-parameter,
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readability-redundant-smartptr-get,
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readability-redundant-string-cstr,
@@ -25,6 +26,8 @@ CheckOptions:
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value: '10'
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- key: llvm-namespace-comment.SpacesBeforeComments
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value: '2'
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- key: misc-unused-parameters.StrictMode
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value: '1'
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- key: readability-braces-around-statements.ShortStatementLines
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value: '2'
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# type names

‎.codespell_words‎

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ang
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ans
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atleast
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ba
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dof
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dur
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iff
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keyserver
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nto
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ot
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parameterizes
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planed
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tork
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uint
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whis

‎.dockerignore‎

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@@ -14,9 +14,6 @@
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!moveit_setup_assistant/package.xml
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!moveit_core/package.xml
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!moveit_commander/package.xml
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!moveit_demo_nodes/run_move_group/package.xml
18-
!moveit_demo_nodes/run_ompl_constrained_planning/package.xml
19-
!moveit_demo_nodes/run_moveit_cpp/package.xml
2017
!moveit_planners/ompl/package.xml
2118
!moveit_planners/chomp/chomp_motion_planner/package.xml
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!moveit_planners/chomp/chomp_interface/package.xml

‎.github/CODEOWNERS.disabled‎

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@@ -36,8 +36,6 @@
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/moveit_plugins/moveit_simple_controller_manager/ @mikeferguson @v4hn
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/moveit_plugins/moveit_controller_manager_example/ @v4hn
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39-
/moveit_core/background_processing/ @tylerjw
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/moveit_core/backtrace/ @tylerjw
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/moveit_core/collision_detection/ @j-petit
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/moveit_core/collision_detection_fcl/ @j-petit
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/moveit_core/collision_distance_field/ @j-petit
@@ -53,7 +51,6 @@
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/moveit_core/planning_interface/ @rhaschke @felixvd
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/moveit_core/planning_request_adapter/ @rhaschke
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/moveit_core/planning_scene/ @rhaschke @felixvd
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/moveit_core/profiler/ @tylerjw
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/moveit_core/robot_model/ @tylerjw
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/moveit_core/robot_state/ @rhaschke @mlautman @felixvd
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/moveit_core/robot_trajectory/ @mlautman

‎.github/ccache.conf‎

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max_size = 10.0G

‎.github/mergify.yml‎

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@@ -8,18 +8,27 @@ pull_request_rules:
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branches:
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- foxy
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- name: backport to galactic at reviewers discretion
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conditions:
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- base=main
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- "label=backport-galactic"
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actions:
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backport:
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branches:
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- galactic
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- name: ask to resolve conflict
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conditions:
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- conflict
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- author!=mergify
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- author!=mergify[bot]
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actions:
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comment:
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message: This pull request is in conflict. Could you fix it @{{author}}?
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- name: development targets main branch
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conditions:
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- base!=main
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- author!=mergify
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- author!=mergify[bot]
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actions:
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comment:
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message: |

‎.github/workflows/ci.yaml‎

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@@ -18,29 +18,40 @@ jobs:
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env:
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- IMAGE: rolling-ci
2020
CCOV: true
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ROS_DISTRO: rolling
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- IMAGE: rolling-ci-testing
2223
IKFAST_TEST: true
23-
- IMAGE: galactic-ci
24+
ROS_DISTRO: rolling
2425
CLANG_TIDY: pedantic
25-
- IMAGE: galactic-ci-testing
2626
env:
2727
CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy"
28+
CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
2829
DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }}
2930
UPSTREAM_WORKSPACE: moveit2.repos $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
30-
# TODO(#885): Fix circular test dependency with moveit_resources and remove it from the target workspace
31-
TARGET_WORKSPACE: $TARGET_REPO_PATH github:ros-planning/moveit_resources#ros2
3231
# Pull any updates to the upstream workspace (after restoring it from cache)
3332
AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
3433
AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
34+
# Clear the ccache stats before and log the stats after the build
35+
BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z
36+
AFTER_BUILD_TARGET_WORKSPACE: ccache -s
37+
# Changing linker to lld as ld has a behavior where it takes a long time to finish
3538
TARGET_CMAKE_ARGS: >
39+
-DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
40+
-DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
41+
-DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
3642
-DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
3743
-DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
3844
CCACHE_DIR: ${{ github.workspace }}/.ccache
3945
BASEDIR: ${{ github.workspace }}/.work
4046
CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
41-
BEFORE_CLANG_TIDY_CHECKS: (cd $TARGET_REPO_PATH; clang-tidy --list-checks)
47+
BEFORE_CLANG_TIDY_CHECKS: |
48+
# Show list of applied checks
49+
(cd $TARGET_REPO_PATH; clang-tidy --list-checks)
50+
# Disable clang-tidy for ikfast plugins as we cannot fix the generated code
51+
find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \;
4252
CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
4353
CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
54+
ADDITIONAL_DEBS: lld
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4556
name: ${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}
4657
runs-on: ubuntu-latest
@@ -60,14 +71,27 @@ jobs:
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sudo rm -rf /usr/local
6172
df -h
6273
- uses: actions/checkout@v2
74+
- uses: testspace-com/setup-testspace@v1
75+
with:
76+
domain: ros-planning
77+
- name: Get latest release date for rosdistro
78+
id: rosdistro_release_date
79+
uses: JafarAbdi/latest-rosdistro-release-date-action@main
80+
with:
81+
rosdistro: ${{ matrix.env.ROS_DISTRO }}
82+
- name: Get latest timestamp repos file has been edited
83+
id: repos_edit_timestamp
84+
uses: vatanaksoytezer/latest-file-edit-timestamp-action@main
85+
with:
86+
file: moveit2.repos
6387
- name: Cache upstream workspace
6488
uses: pat-s/always-upload-cache@v2.1.5
6589
with:
6690
path: ${{ env.BASEDIR }}/upstream_ws
6791
key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
6892
restore-keys: ${{ env.CACHE_PREFIX }}
6993
env:
70-
CACHE_PREFIX: upstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
94+
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') }}
7195
# The target directory cache doesn't include the source directory because
7296
# that comes from the checkout. See "prepare target_ws for cache" task below
7397
- name: Cache target workspace
@@ -89,15 +113,21 @@ jobs:
89113
${{ env.CACHE_PREFIX }}
90114
env:
91115
CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
92-
116+
- name: Configure ccache
117+
run: |
118+
mkdir -p ${{ env.CCACHE_DIR }}
119+
cp .github/ccache.conf ${{ env.CCACHE_DIR }}/ccache.conf
93120
- name: Generate ikfast packages
94121
if: matrix.env.IKFAST_TEST
95122
run: moveit_kinematics/test/test_ikfast_plugins.sh
96123
- id: ici
97124
name: Run industrial_ci
98125
uses: ros-industrial/industrial_ci@master
99126
env: ${{ matrix.env }}
100-
127+
- name: Push result to Testspace
128+
if: always()
129+
run: |
130+
testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
101131
- name: Upload test artifacts (on failure)
102132
uses: actions/upload-artifact@v2
103133
if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
@@ -106,24 +136,24 @@ jobs:
106136
path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
107137
- name: Generate codecov report
108138
uses: rhaschke/lcov-action@main
109-
if: matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
139+
if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
110140
with:
111141
docker: $DOCKER_IMAGE
112142
workdir: ${{ env.BASEDIR }}/target_ws
113143
ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
114144
- name: Upload codecov report
115145
uses: codecov/codecov-action@v2
116-
if: matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
146+
if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
117147
with:
118148
files: ${{ env.BASEDIR }}/target_ws/coverage.info
119149
- name: Upload clang-tidy changes
120150
uses: rhaschke/upload-git-patch-action@main
121-
if: matrix.env.CLANG_TIDY
151+
if: always() && matrix.env.CLANG_TIDY
122152
with:
123153
name: clang-tidy
124154
path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd))
125155
- name: Prepare target_ws for cache
126-
if: "!matrix.env.CCOV"
156+
if: always() && !matrix.env.CCOV
127157
run: |
128158
du -sh ${{ env.BASEDIR }}/target_ws
129159
sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete

‎.github/workflows/docker.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@ jobs:
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strategy:
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fail-fast: false
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matrix:
17-
ROS_DISTRO: [rolling, galactic]
17+
ROS_DISTRO: [rolling]
1818
runs-on: ubuntu-latest
1919
permissions:
2020
packages: write
@@ -24,20 +24,9 @@ jobs:
2424
DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
2525

2626
steps:
27-
- name: Check for apt updates
28-
uses: addnab/docker-run-action@v3
29-
continue-on-error: true
30-
id: apt
31-
with:
32-
image: ${{ env.GH_IMAGE }}
33-
run: |
34-
apt-get update
35-
have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
36-
echo "::set-output name=no_cache::$have_updates"
3727
- name: Set up Docker Buildx
3828
uses: docker/setup-buildx-action@v1
39-
if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
40-
- name: Login to Github Containter Registry
29+
- name: Login to Github Container Registry
4130
uses: docker/login-action@v1
4231
with:
4332
registry: ghcr.io
@@ -50,14 +39,11 @@ jobs:
5039
password: ${{ secrets.DOCKERHUB_TOKEN }}
5140
- name: Build and Push
5241
uses: docker/build-push-action@v2
53-
if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
5442
with:
5543
file: .docker/${{ github.job }}/Dockerfile
5644
build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
5745
push: true
58-
no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
59-
cache-from: type=registry,ref=${{ env.GH_IMAGE }}
60-
cache-to: type=inline
46+
no-cache: true
6147
tags: |
6248
${{ env.GH_IMAGE }}
6349
${{ env.DH_IMAGE }}
@@ -66,7 +52,7 @@ jobs:
6652
strategy:
6753
fail-fast: false
6854
matrix:
69-
ROS_DISTRO: [rolling, galactic]
55+
ROS_DISTRO: [rolling]
7056
runs-on: ubuntu-latest
7157
permissions:
7258
packages: write
@@ -76,20 +62,9 @@ jobs:
7662
DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
7763

7864
steps:
79-
- name: Check for apt updates
80-
uses: addnab/docker-run-action@v3
81-
continue-on-error: true
82-
id: apt
83-
with:
84-
image: ${{ env.GH_IMAGE }}
85-
run: |
86-
apt-get update
87-
have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
88-
echo "::set-output name=no_cache::$have_updates"
8965
- name: Set up Docker Buildx
9066
uses: docker/setup-buildx-action@v1
91-
if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
92-
- name: Login to Github Containter Registry
67+
- name: Login to Github Container Registry
9368
uses: docker/login-action@v1
9469
with:
9570
registry: ghcr.io
@@ -102,14 +77,11 @@ jobs:
10277
password: ${{ secrets.DOCKERHUB_TOKEN }}
10378
- name: Build and Push
10479
uses: docker/build-push-action@v2
105-
if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
10680
with:
10781
file: .docker/${{ github.job }}/Dockerfile
10882
build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
10983
push: true
110-
no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
111-
cache-from: type=registry,ref=${{ env.GH_IMAGE }}
112-
cache-to: type=inline
84+
no-cache: true
11385
tags: |
11486
${{ env.GH_IMAGE }}
11587
${{ env.DH_IMAGE }}
@@ -119,7 +91,7 @@ jobs:
11991
strategy:
12092
fail-fast: false
12193
matrix:
122-
ROS_DISTRO: [rolling, galactic]
94+
ROS_DISTRO: [rolling]
12395
runs-on: ubuntu-latest
12496
permissions:
12597
packages: write
@@ -129,20 +101,9 @@ jobs:
129101
DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
130102

131103
steps:
132-
- name: Check for apt updates
133-
uses: addnab/docker-run-action@v3
134-
continue-on-error: true
135-
id: apt
136-
with:
137-
image: ${{ env.GH_IMAGE }}
138-
run: |
139-
apt-get update
140-
have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
141-
echo "::set-output name=no_cache::$have_updates"
142104
- name: Set up Docker Buildx
143105
uses: docker/setup-buildx-action@v1
144-
if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
145-
- name: Login to Github Containter Registry
106+
- name: Login to Github Container Registry
146107
uses: docker/login-action@v1
147108
with:
148109
registry: ghcr.io
@@ -155,14 +116,11 @@ jobs:
155116
password: ${{ secrets.DOCKERHUB_TOKEN }}
156117
- name: Build and Push
157118
uses: docker/build-push-action@v2
158-
if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
159119
with:
160120
file: .docker/${{ github.job }}/Dockerfile
161121
build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
162122
push: true
163-
no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
164-
cache-from: type=registry,ref=${{ env.GH_IMAGE }}
165-
cache-to: type=inline
123+
no-cache: true
166124
tags: |
167125
${{ env.GH_IMAGE }}
168126
${{ env.DH_IMAGE }}
@@ -172,7 +130,7 @@ jobs:
172130
strategy:
173131
fail-fast: false
174132
matrix:
175-
ROS_DISTRO: [rolling, galactic]
133+
ROS_DISTRO: [rolling]
176134
runs-on: ubuntu-latest
177135
permissions:
178136
packages: write
@@ -185,7 +143,7 @@ jobs:
185143
- uses: actions/checkout@v2
186144
- name: Set up Docker Buildx
187145
uses: docker/setup-buildx-action@v1
188-
- name: Login to Github Containter Registry
146+
- name: Login to Github Container Registry
189147
uses: docker/login-action@v1
190148
with:
191149
registry: ghcr.io
@@ -205,8 +163,7 @@ jobs:
205163
file: .docker/${{ github.job }}/Dockerfile
206164
build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
207165
push: true
208-
cache-from: type=registry,ref=${{ env.GH_IMAGE }}
209-
cache-to: type=inline
166+
no-cache: true
210167
tags: |
211168
${{ env.GH_IMAGE }}
212169
${{ env.DH_IMAGE }}

‎.github/workflows/prerelease.yaml‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ jobs:
1111
strategy:
1212
fail-fast: false
1313
matrix:
14-
distro: [foxy, galactic, rolling]
14+
distro: [rolling]
1515

1616
env:
1717
ROS_DISTRO: ${{ matrix.distro }}

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