From eda955ec99e214bd5ff318d716b397f8eb3f1813 Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rjoomen@yahoo.com>
Date: Thu, 18 Jul 2024 08:00:06 +0200
Subject: [PATCH] Use system taskflow for Noble

---
 .github/workflows/code_quality.yml |  6 ++----
 .github/workflows/nightly.yml      | 14 ++++++++++++--
 .github/workflows/ubuntu.yml       | 14 ++++++++++++--
 .github/workflows/unstable.yml     | 24 +++++++++++++++++-------
 docker/Dockerfile                  | 10 ++++++++--
 5 files changed, 51 insertions(+), 17 deletions(-)

diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml
index acfa0c4031..9e2e8830ed 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/trajopt:jammy-master
+      image: ghcr.io/tesseract-robotics/trajopt:noble-master
       env:
         CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.job_type }}/.ccache"
         DEBIAN_FRONTEND: noninteractive
@@ -45,9 +45,7 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y wget software-properties-common
-          add-apt-repository ppa:levi-armstrong/tesseract-robotics
-          apt install -y clang-tidy libompl-dev taskflow
+          apt install -y wget clang-tidy libompl-dev
 
       - name: Build and Tests
         uses: tesseract-robotics/colcon-action@v2
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 075f619438..d87bc9b1c8 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -35,9 +35,19 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y wget software-properties-common
+          apt install -y wget libompl-dev
+      - name: Install Depends (non-noble)
+        if: ${{ matrix.distro != 'noble' }}
+        shell: bash
+        run: |
+          apt install -y software-properties-common
           add-apt-repository ppa:levi-armstrong/tesseract-robotics
-          apt install -y libompl-dev taskflow
+          apt install -y taskflow
+      - name: Install Depends (noble)
+        if: ${{ matrix.distro  == 'noble' }}
+        shell: bash
+        run: |
+          apt install -y libtaskflow-cpp-dev
 
       - name: Build and Tests
         uses: tesseract-robotics/colcon-action@v8
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index c8c27762c7..90a1dd87a3 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -41,9 +41,19 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y wget software-properties-common
+          apt install -y wget libompl-dev
+      - name: Install Depends (non-noble)
+        if: ${{ matrix.distro != 'noble' }}
+        shell: bash
+        run: |
+          apt install -y software-properties-common
           add-apt-repository ppa:levi-armstrong/tesseract-robotics
-          apt install -y libompl-dev taskflow
+          apt install -y taskflow
+      - name: Install Depends (noble)
+        if: ${{ matrix.distro  == 'noble' }}
+        shell: bash
+        run: |
+          apt install -y libtaskflow-cpp-dev
 
       - name: Build and Tests
         uses: tesseract-robotics/colcon-action@v8
diff --git a/.github/workflows/unstable.yml b/.github/workflows/unstable.yml
index ae604b15cd..cb4d906cfb 100644
--- a/.github/workflows/unstable.yml
+++ b/.github/workflows/unstable.yml
@@ -4,14 +4,14 @@ on:
   push:
     branches:
       - master
-      - 'dev**'
+      - "dev**"
   pull_request:
     paths:
-      - 'tesseract**'
-      - '.github/workflows/unstable.yml'
-      - '**.repos'
+      - "tesseract**"
+      - ".github/workflows/unstable.yml"
+      - "**.repos"
   schedule:
-    - cron: '0 5 * * *'
+    - cron: "0 5 * * *"
   release:
     types:
       - released
@@ -41,9 +41,19 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y wget software-properties-common
+          apt install -y wget libompl-dev
+      - name: Install Depends (non-noble)
+        if: ${{ matrix.distro != 'noble' }}
+        shell: bash
+        run: |
+          apt install -y software-properties-common
           add-apt-repository ppa:levi-armstrong/tesseract-robotics
-          apt install -y libompl-dev taskflow
+          apt install -y taskflow
+      - name: Install Depends (noble)
+        if: ${{ matrix.distro  == 'noble' }}
+        shell: bash
+        run: |
+          apt install -y libtaskflow-cpp-dev
 
       - name: Build and Tests
         uses: tesseract-robotics/colcon-action@v8
diff --git a/docker/Dockerfile b/docker/Dockerfile
index e40853ae51..8014ea9b06 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,5 +1,6 @@
 ARG TAG
 FROM ghcr.io/tesseract-robotics/trajopt:${TAG}
+ENV E_TAG=$TAG
 
 SHELL ["/bin/bash", "-c"]
 
@@ -8,16 +9,21 @@ ENV DEBIAN_FRONTEND noninteractive
 USER root
 
 # Install the dependency repositories
-RUN apt install -y --no-install-recommends software-properties-common \
+RUN if [[ $(lsb_release -cs) != noble ]] ; then \
+  apt install -y --no-install-recommends software-properties-common \
   && add-apt-repository -y ppa:levi-armstrong/tesseract-robotics \
   && apt update \
-  && apt install -y libompl-dev taskflow
+  && apt install -y libompl-dev taskflow \
+  ; else \
+  apt install -y libompl-dev libtaskflow-cpp-dev \
+  ; fi
 
 # Bind mount the source directory so as not to unnecessarily copy source code into the docker image
 ARG WORKSPACE_DIR=/opt/tesseract_planning
 RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/tesseract_planning \
   cd ${WORKSPACE_DIR} \
   && vcs import src < src/tesseract_planning/dependencies.repos --shallow \
+  && rosdep update \
   && rosdep install \
     --from-paths ${WORKSPACE_DIR}/src \
     -iry