Merge pull request moveit#5 from galou/ge/main

Ge/main branch as of 20220406 (a lot of upstream changes from main branch and other Gael's changes)

.clang-tidy

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

.docker/ci/Dockerfile

@@ -2,7 +2,7 @@
 # ROS base image augmented with all MoveIt dependencies to use for CI
 
 ARG ROS_DISTRO=rolling
-FROM ros:${ROS_DISTRO}-ros-base-focal
+FROM ros:${ROS_DISTRO}-ros-base
 MAINTAINER Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 ENV TERM xterm
@@ -25,7 +25,7 @@ RUN \
         # Some basic requirements
         wget git sudo curl \
         # Preferred build tools
-        clang clang-format-10 clang-tidy clang-tools \
+        clang clang-format-12 clang-tidy clang-tools \
         ccache && \
     #
     # Fetch all dependencies from moveit2.repos

.docker/release/Dockerfile

@@ -2,7 +2,7 @@
 # Full debian-based install of MoveIt using apt-get
 
 ARG ROS_DISTRO=rolling
-FROM ros:${ROS_DISTRO}-ros-base-focal
+FROM ros:${ROS_DISTRO}-ros-base
 MAINTAINER Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size

.github/CODEOWNERS.disabled

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

.github/mergify.yml

@@ -8,6 +8,15 @@ pull_request_rules:
         branches:
           - foxy
 
+  - name: backport to galactic at reviewers discretion
+    conditions:
+      - base=main
+      - "label=backport-galactic"
+    actions:
+      backport:
+        branches:
+          - galactic
+
   - name: ask to resolve conflict
     conditions:
       - conflict

.github/workflows/ci.yaml

@@ -8,41 +8,52 @@ on:
   pull_request:
   push:
     branches:
-      - galactic
+      - main
 
 jobs:
   default:
     strategy:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: galactic-ci
-            ROS_DISTRO: galactic
-            CLANG_TIDY: pedantic
-          - IMAGE: galactic-ci-testing
-            ROS_DISTRO: galactic
+          - IMAGE: rolling-ci
+            CCOV: true
+            ROS_DISTRO: rolling
+          - IMAGE: rolling-ci-testing
+            ROS_DISTRO: rolling
             IKFAST_TEST: true
+            CLANG_TIDY: pedantic
     env:
-      CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy"
+      CXXFLAGS: >-
+        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
+      CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: moveit2.repos $(f="moveit2_$(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
       AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
       # Clear the ccache stats before and log the stats after the build
+      AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
       BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z
       AFTER_BUILD_TARGET_WORKSPACE: ccache -s
       # Changing linker to lld as ld has a behavior where it takes a long time to finish
+      # Compile CCOV with Debug. Enable -Werror (except CLANG_TIDY=pedantic, which makes the clang-tidy step fail on warnings)
       TARGET_CMAKE_ARGS: >
         -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
-        -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+        -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}$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
       BASEDIR: ${{ github.workspace }}/.work
       CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
-      BEFORE_CLANG_TIDY_CHECKS: (cd $TARGET_REPO_PATH; clang-tidy --list-checks)
+      BEFORE_CLANG_TIDY_CHECKS: |
+        # Show list of applied checks
+        (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 {} \;
       CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
       CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
       ADDITIONAL_DEBS: lld
@@ -65,19 +76,27 @@ jobs:
           sudo rm -rf /usr/local
           df -h
       - uses: actions/checkout@v2
+      - uses: testspace-com/setup-testspace@v1
+        with:
+          domain: ros-planning
       - name: Get latest release date for rosdistro
         id: rosdistro_release_date
         uses: JafarAbdi/latest-rosdistro-release-date-action@main
         with:
           rosdistro: ${{ matrix.env.ROS_DISTRO }}
+      - name: Get latest timestamp repos file has been edited
+        id: repos_edit_timestamp
+        uses: vatanaksoytezer/latest-file-edit-timestamp-action@main
+        with:
+          file: moveit2.repos
       - name: Cache upstream workspace
         uses: pat-s/always-upload-cache@v2.1.5
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
         env:
-          CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
+          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
@@ -110,6 +129,10 @@ jobs:
         name: Run industrial_ci
         uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}
+      - name: Push result to Testspace
+        if: always()
+        run: |
+          testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml"
       - name: Upload test artifacts (on failure)
         uses: actions/upload-artifact@v2
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
@@ -118,24 +141,24 @@ jobs:
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
       - name: Generate codecov report
         uses: rhaschke/lcov-action@main
-        if: matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
+        if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
         with:
           docker: $DOCKER_IMAGE
           workdir: ${{ env.BASEDIR }}/target_ws
           ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
       - name: Upload codecov report
         uses: codecov/codecov-action@v2
-        if: matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
+        if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
         with:
           files: ${{ env.BASEDIR }}/target_ws/coverage.info
       - name: Upload clang-tidy changes
         uses: rhaschke/upload-git-patch-action@main
-        if: matrix.env.CLANG_TIDY
+        if: always() && matrix.env.CLANG_TIDY
         with:
           name: clang-tidy
           path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd))
       - name: Prepare target_ws for cache
-        if: "!matrix.env.CCOV"
+        if: always() && !matrix.env.CCOV
         run: |
           du -sh ${{ env.BASEDIR }}/target_ws
           sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete

.github/workflows/docker.yaml

@@ -7,14 +7,14 @@ on:
   workflow_dispatch:
   push:
     branches:
-      - galactic
+      - main
 
 jobs:
   release:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [galactic]
+        ROS_DISTRO: [rolling]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -24,19 +24,8 @@ jobs:
       DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
 
     steps:
-      - name: Check for apt updates
-        uses: addnab/docker-run-action@v3
-        continue-on-error: true
-        id: apt
-        with:
-          image: ${{ env.GH_IMAGE }}
-          run: |
-            apt-get update
-            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
-            echo "::set-output name=no_cache::$have_updates"
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v1
-        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
       - name: Login to Github Container Registry
         uses: docker/login-action@v1
         with:
@@ -50,14 +39,11 @@ jobs:
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and Push
         uses: docker/build-push-action@v2
-        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
         with:
           file: .docker/${{ github.job }}/Dockerfile
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: true
-          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
-          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
-          cache-to: type=inline
+          no-cache: true
           tags: |
             ${{ env.GH_IMAGE }}
             ${{ env.DH_IMAGE }}
@@ -66,7 +52,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [galactic]
+        ROS_DISTRO: [rolling]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -76,19 +62,8 @@ jobs:
       DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
 
     steps:
-      - name: Check for apt updates
-        uses: addnab/docker-run-action@v3
-        continue-on-error: true
-        id: apt
-        with:
-          image: ${{ env.GH_IMAGE }}
-          run: |
-            apt-get update
-            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
-            echo "::set-output name=no_cache::$have_updates"
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v1
-        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
       - name: Login to Github Container Registry
         uses: docker/login-action@v1
         with:
@@ -102,14 +77,11 @@ jobs:
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and Push
         uses: docker/build-push-action@v2
-        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
         with:
           file: .docker/${{ github.job }}/Dockerfile
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: true
-          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
-          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
-          cache-to: type=inline
+          no-cache: true
           tags: |
             ${{ env.GH_IMAGE }}
             ${{ env.DH_IMAGE }}
@@ -119,7 +91,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [galactic]
+        ROS_DISTRO: [rolling]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -129,19 +101,8 @@ jobs:
       DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
 
     steps:
-      - name: Check for apt updates
-        uses: addnab/docker-run-action@v3
-        continue-on-error: true
-        id: apt
-        with:
-          image: ${{ env.GH_IMAGE }}
-          run: |
-            apt-get update
-            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
-            echo "::set-output name=no_cache::$have_updates"
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v1
-        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
       - name: Login to Github Container Registry
         uses: docker/login-action@v1
         with:
@@ -155,14 +116,11 @@ jobs:
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and Push
         uses: docker/build-push-action@v2
-        if: ${{ github.event_name == 'workflow_dispatch' || github.event_name != 'schedule' || steps.apt.outputs.no_cache }}
         with:
           file: .docker/${{ github.job }}/Dockerfile
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: true
-          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
-          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
-          cache-to: type=inline
+          no-cache: true
           tags: |
             ${{ env.GH_IMAGE }}
             ${{ env.DH_IMAGE }}
@@ -172,7 +130,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [galactic]
+        ROS_DISTRO: [rolling]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -205,8 +163,33 @@ jobs:
           file: .docker/${{ github.job }}/Dockerfile
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: true
-          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
-          cache-to: type=inline
+          no-cache: true
           tags: |
             ${{ env.GH_IMAGE }}
             ${{ env.DH_IMAGE }}
+
+  delete_untagged:
+    runs-on: ubuntu-latest
+    needs:
+      - release
+      - source
+    steps:
+      - name: Delete Untagged Images
+        uses: actions/github-script@v5
+        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: ros-planning
+          PACKAGE_NAME: moveit2
+          PER_PAGE: 100