ci: switch from custom-container CI to industrial_ci - #83
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Replace the pre-baked ghcr.io/picknikrobotics/pick_ik:ci container workflow with the industrial_ci pattern used by virtually every other repo on the MoveIt/PickNik release matrix (data_tamer, cpp_polyfills, generate_parameter_library, moveit_msgs, srdfdom, moveit_visual_tools, warehouse_ros, warehouse_ros_sqlite, etc.). Why: - The old CI container was frozen at the 2023-12-17 build and had never been refreshed since. All PRs in the last 2.5 years were effectively tested against jammy+rolling-2023 — an environment that no longer exists in the real ROS ecosystem. - The weekly docker.yaml rebuild had been failing since ~mid-2025 and was auto-disabled by GitHub for inactivity. Root cause is the expired ROS GPG key in the Dockerfile. - industrial_ci installs deps fresh per run, follows the current ROS distro base OS, and matches what the buildfarm does. No container to maintain. Also removes .github/workflows/docker.yaml, which existed solely to build and push the CI container that's no longer used. The .devcontainer/Dockerfile is kept for VSCode devcontainer users (who can fix the expired-key issue separately). Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
pick_ik/cmake/FindCatch2.cmake uses FetchContent to git-clone the
Catch2 repository at configure time. The old baked CI container had
git preinstalled by its Dockerfile, so this was silently satisfied.
industrial_ci runs in minimal ros:{distro}-ros-base containers that
don't include git. Declaring it as a rosdep test_depend causes
industrial_ci's rosdep install step to fetch it, unblocking the
Catch2 fetch.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Rolling has migrated to Ubuntu Resolute. Packages land in ros2-testing first; the ros2 (main) repo lags during the base-OS transition, so apt can't find ros-rolling-* on resolute in main yet. Setting ROS_REPO=testing + OS_CODE_NAME=resolute makes industrial_ci build against real rolling (resolute base, testing packages) instead of the frozen-Noble default. Matches the pattern in moveit2 PR #3743. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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Summary
Replace the pre-baked
ghcr.io/picknikrobotics/pick_ik:cicontainer workflow with the industrial_ci pattern used by nearly every other MoveIt/PickNik release repo.Why
The pre-baked container approach quietly rotted:
ghcr.io/picknikrobotics/pick_ik:ciimage was frozen at the 2023-12-17 build and never refreshed since. All PRs for the last 2.5 years were tested against jammy+rolling-of-late-2023 — an environment that no longer exists in the real ROS ecosystem (rolling has since moved noble → resolute; no jammy binaries for rolling anymore).docker.yamlrebuild had been silently failing since ~mid-2025 and was auto-disabled by GitHub for inactivity. Root cause: expired ROS GPG key in the Dockerfile (NO_PUBKEY F42ED6FBAB17C654).rslon jammy-for-rolling, because that combo has no binary packages.Approach
.github/workflows/docker.yaml(its only job was building/pushing the CI container that's no longer used)..github/workflows/ci.yamlwith the industrial_ci pattern, matrix'd across humble/jazzy/kilted/rolling. This is the same shape used inPickNikRobotics/data_tamer,cpp_polyfills,generate_parameter_library, and mostmoveit/*repos..devcontainer/Dockerfilealone — it's used for VSCode devcontainers, orthogonal concern. (Its expired-GPG-key issue is a separate future fix if devcontainer users hit it.)Benefits
--rosdistro rollingworks because the container is noble/resolute-based (whatever rolling currently targets).docker.yamlto keep passing weekly, no ghcr.io storage costs.Test plan
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