From cd3abbabdbc3a42df24d7e8e0c3e7fc30d04c687 Mon Sep 17 00:00:00 2001 From: Levi Armstrong Date: Thu, 7 Mar 2024 12:12:38 -0600 Subject: [PATCH] Use trajopt docker --- .github/workflows/code_quality.yml | 4 ++-- .github/workflows/nightly.yml | 4 ++-- .github/workflows/ubuntu.yml | 4 ++-- .github/workflows/unstable.yml | 4 ++-- dependencies.repos | 4 ---- dependencies_unstable.repos | 4 ---- docker/Dockerfile | 3 ++- 7 files changed, 10 insertions(+), 17 deletions(-) diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml index 88c0c977c06..acfa0c4031c 100644 --- a/.github/workflows/code_quality.yml +++ b/.github/workflows/code_quality.yml @@ -29,7 +29,7 @@ jobs: env: TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF" container: - image: ghcr.io/tesseract-robotics/tesseract:jammy-master + image: ghcr.io/tesseract-robotics/trajopt:jammy-master env: CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.job_type }}/.ccache" DEBIAN_FRONTEND: noninteractive @@ -52,7 +52,7 @@ jobs: - name: Build and Tests uses: tesseract-robotics/colcon-action@v2 with: - before-script: source /opt/tesseract/install/setup.bash + before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash ccache-prefix: ${{ matrix.job_type }} vcs-file: dependencies_unstable.repos run-tests: false diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml index 6801cd2d023..a3eeb6623da 100644 --- a/.github/workflows/nightly.yml +++ b/.github/workflows/nightly.yml @@ -19,7 +19,7 @@ jobs: matrix: distro: [focal, jammy] container: - image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }} + image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }} env: CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache" DEBIAN_FRONTEND: noninteractive @@ -42,7 +42,7 @@ jobs: - name: Build and Tests uses: tesseract-robotics/colcon-action@v2 with: - before-script: source /opt/tesseract/install/setup.bash + before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash ccache-prefix: ${{ matrix.distro }} vcs-file: dependencies.repos upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml index 5f32555db19..cad8a4b2757 100644 --- a/.github/workflows/ubuntu.yml +++ b/.github/workflows/ubuntu.yml @@ -25,7 +25,7 @@ jobs: matrix: distro: [focal, jammy] container: - image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-0.21 + image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}-0.21 env: CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache" DEBIAN_FRONTEND: noninteractive @@ -48,7 +48,7 @@ jobs: - name: Build and Tests uses: tesseract-robotics/colcon-action@v2 with: - before-script: source /opt/tesseract/install/setup.bash + before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash ccache-prefix: ${{ matrix.distro }} vcs-file: dependencies.repos upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release diff --git a/.github/workflows/unstable.yml b/.github/workflows/unstable.yml index 291fb1178a0..21cabe6f18a 100644 --- a/.github/workflows/unstable.yml +++ b/.github/workflows/unstable.yml @@ -25,7 +25,7 @@ jobs: matrix: distro: [focal, jammy] container: - image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-master + image: ghcr.io/tesseract-robotics/trajopt:${{ matrix.distro }}-master env: CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache" DEBIAN_FRONTEND: noninteractive @@ -48,7 +48,7 @@ jobs: - name: Build and Tests uses: tesseract-robotics/colcon-action@v2 with: - before-script: source /opt/tesseract/install/setup.bash + before-script: source /opt/tesseract/install/setup.bash && source /opt/trajopt/install/setup.bash ccache-prefix: ${{ matrix.distro }} vcs-file: dependencies_unstable.repos upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release diff --git a/dependencies.repos b/dependencies.repos index e437cdefdc5..5c840941f17 100644 --- a/dependencies.repos +++ b/dependencies.repos @@ -2,10 +2,6 @@ local-name: ros_industrial_cmake_boilerplate uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git version: 0.5.4 -- git: - local-name: trajopt - uri: https://github.com/tesseract-robotics/trajopt.git - version: 0.7.0 - git: local-name: descartes_light uri: https://github.com/swri-robotics/descartes_light.git diff --git a/dependencies_unstable.repos b/dependencies_unstable.repos index e4b84836f2c..6af679a1868 100644 --- a/dependencies_unstable.repos +++ b/dependencies_unstable.repos @@ -2,10 +2,6 @@ local-name: ros_industrial_cmake_boilerplate uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git version: master -- git: - local-name: trajopt - uri: https://github.com/tesseract-robotics/trajopt.git - version: master - git: local-name: descartes_light uri: https://github.com/swri-robotics/descartes_light.git diff --git a/docker/Dockerfile b/docker/Dockerfile index 66b92c6c034..bb47ea70b59 100644 --- a/docker/Dockerfile +++ b/docker/Dockerfile @@ -1,5 +1,5 @@ ARG TAG -FROM ghcr.io/tesseract-robotics/tesseract:${TAG} +FROM ghcr.io/tesseract-robotics/trajopt:${TAG} SHELL ["/bin/bash", "-c"] @@ -26,6 +26,7 @@ RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_planning \ # Bind mount the source directory so as not to unnecessarily copy source code into the docker image RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_planning \ source /opt/tesseract/install/setup.bash \ + source /opt/trajopt/install/setup.bash \ && cd ${WORKSPACE_DIR} \ && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \ && rm -rf build log