Remove use of Industrial CI

.github/workflows/clang_format.yml

@@ -10,14 +10,16 @@ on:
 
 jobs:
   clang_format:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v1
 
       - name: Run clang format
         run: |
           sudo apt update
-          sudo apt install -y git clang-format
+          sudo apt install -y git clang-format-8
+          if [ $? -ge 1 ]; then return 1; fi
           ./.run-clang-format
+          if [ $? -ge 1 ]; then return 1; fi
           output=$(git diff)
           if [ -n "$output" ]; then exit 1; else exit 0; fi

.github/workflows/code_quality.yml

@@ -4,7 +4,12 @@ on:
   push:
     branches:
       - master
+      - 'dev**'
   pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/code_quality.yml'
+      - '.clang-tidy'
   schedule:
     - cron: '0 5 * * *'
 
@@ -15,66 +20,52 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        job_type: [codecov, clang-tidy]
+        job_type: [clang-tidy, codecov]
         include:
-          - job_type: codecov
-            env:
-              ADDITIONAL_DEBS: 'taskflow libompl-dev'
-              TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
-              AFTER_SCRIPT: 'ici_with_unset_variables source ${HOME}/${PREFIX}target_ws/install/setup.bash && cd ${HOME}/${PREFIX}target_ws && colcon build --cmake-target ccov-all --packages-select tesseract_command_language tesseract_motion_planners tesseract_task_composer tesseract_time_parameterization && cd src/tesseract_planning && git config --global --add safe.directory ${HOME}/${PREFIX}target_ws/src/tesseract_planning && bash <(curl -s https://codecov.io/bash) -t 6e7f085e-77c5-47fc-a4a9-c2dd5ef1d78d -s ${HOME}/${PREFIX}target_ws/build -f *all-merged.info'
           - job_type: clang-tidy
             env:
-              ADDITIONAL_DEBS: 'clang-tidy taskflow libompl-dev'
-              AFTER_SCRIPT: ""
-              NOT_TEST_BUILD: true
-              TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
-    env:
-      ROS_DISTRO: false
-      DOCKER_IMAGE: ghcr.io/tesseract-robotics/tesseract:focal-master
-      UNDERLAY: /root/tesseract-robotics/tesseract_target_ws/install
-      PREFIX: ${{ github.repository }}_
-      BEFORE_INIT: './.github/workflows/add_sources.sh'
-      AFTER_INIT: ''
-      UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-      ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin ompl taskflow descartes_light trajopt trajopt_ifopt trajopt_sco trajopt_sqp ruckig"
-
+              TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
+          - job_type: codecov
+            env:
+              TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
+    container:
+      image: ghcr.io/tesseract-robotics/tesseract:focal-0.21
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.job_type }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v1
-
-      - name: Free disk space
-        continue-on-error: true
-        run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
 
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
+      - name: Install Depends
+        shell: bash
         run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
+          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
 
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/[email protected]
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@before_script
         with:
-          path: ${{ matrix.job_type }}/.ccache
-          key: ${{ matrix.job_type }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ matrix.job_type }}-ccache-
+          before-script: source /opt/tesseract/install/setup.bash
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: dependencies.repos
+          run-tests: false
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args ${{ matrix.env.TARGET_CMAKE_ARGS }}
 
-      - name: Login to Github container registry
-        uses: docker/login-action@v1
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Build repository
-        uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env:  ${{ matrix.env }}
+      - name: Upload CodeCov Results
+        shell: bash
+        run: |
+          if [[ "${{ matrix.job_type }}" == "codecov" ]]; then
+            source $GITHUB_WORKSPACE/target_ws/install/setup.bash
+            cd $GITHUB_WORKSPACE/target_ws
+            colcon build --cmake-target ccov-all --packages-select tesseract_command_language tesseract_motion_planners tesseract_task_composer tesseract_time_parameterization
+            bash <(curl -s https://codecov.io/bash) -t 6e7f085e-77c5-47fc-a4a9-c2dd5ef1d78d -s $GITHUB_WORKSPACE/target_ws/build -f *all-merged.info
+          fi

.github/workflows/nightly.yml

@@ -6,56 +6,45 @@ on:
   schedule:
     - cron: '0 5 * * *'
 
+  # allow manually starting this workflow
+  workflow_dispatch:
+
 jobs:
-  industrial_ci:
+  ci:
     if: contains(github.event.pull_request.labels.*.name, 'check-tesseract-ros') || github.event.schedule == true
     name: ${{ matrix.distro }}
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        distro: [focal]
+        distro: [focal, jammy]
+    container:
+      image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v1
-
-      - name: Free disk space
-        continue-on-error: true
-        run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
 
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
+      - name: Install Depends
+        shell: bash
         run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
+          apt update
+          apt upgrade -y
+          apt install -y wget software-properties-common
+          add-apt-repository ppa:levi-armstrong/tesseract-robotics
+          apt install -y libompl-dev taskflow
 
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/[email protected]
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@before_script
         with:
-          path: ${{ matrix.distro }}/.ccache
-          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ matrix.distro }}-ccache-
-
-      - name: Build workspace
-        uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env:
-          ADDITIONAL_DEBS: 'taskflow libompl-dev'
-          ROS_DISTRO: false
-          DOCKER_IMAGE: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-master
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin ompl taskflow descartes_light trajopt trajopt_ifopt trajopt_sco trajopt_sqp ruckig"
-          CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
-          BEFORE_INIT: './.github/workflows/add_sources.sh'
-          AFTER_INIT: ''
-          UPSTREAM_WORKSPACE: 'dependencies.repos'
-          DOWNSTREAM_WORKSPACE: 'github:tesseract-robotics/tesseract_ros#master github:tesseract-robotics/tesseract_python#master'
-          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          DOWNSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
+          before-script: source /opt/tesseract/install/setup.bash
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: dependencies.repos
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON

.github/workflows/ubuntu.yml

@@ -4,7 +4,12 @@ on:
   push:
     branches:
       - master
+      - 'dev**'
   pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/ubuntu.yml'
+      - '**.repos'
   schedule:
     - cron: '0 5 * * *'
   release:
@@ -19,87 +24,33 @@ jobs:
       fail-fast: false
       matrix:
         distro: [focal, jammy]
-    env:
-      REGISTRY: ghcr.io
-      IMAGE_NAME: ${{ github.repository }}
-      PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
-      TESSERACT_VERSION: '0.21'
+    container:
+      image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-0.21
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v1
-
-      - name: Free disk space
-        continue-on-error: true
-        run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
-
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/[email protected]
-        with:
-          path: ${{ matrix.distro }}/.ccache
-          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ matrix.distro }}-ccache-
-
-      - name: Login to Github container registry
-        uses: docker/login-action@v1
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract Docker meta-information
-        id: meta
-        uses: docker/metadata-action@v3
+        uses: actions/checkout@v4
         with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-          flavor: |
-            latest=false
-            prefix=
-            suffix=
-          tags: |
-            type=ref,event=branch,prefix=${{ matrix.distro }}-
-            type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.distro }}-
+          path: target_ws/src
 
-      - name: Set build type
+      - name: Install Depends
+        shell: bash
         run: |
-          if [[ "${{ env.PUSH_DOCKER_IMAGE }}" = true ]]
-          then
-            echo "BUILD_TYPE=Release" >> $GITHUB_ENV
-          else
-            echo "BUILD_TYPE=Debug" >> $GITHUB_ENV
-          fi
-
-      - name: Build repository
-        uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env:
-          ADDITIONAL_DEBS: 'taskflow libompl-dev'
-          ROS_DISTRO: false
-          DOCKER_IMAGE: ${{ env.REGISTRY }}/tesseract-robotics/tesseract:${{ matrix.distro }}-${{ env.TESSERACT_VERSION }}
-          UNDERLAY: /root/tesseract-robotics/tesseract_target_ws/install
-          CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
-          PREFIX: ${{ github.repository }}_
-          BEFORE_INIT: './.github/workflows/add_sources.sh'
-          AFTER_INIT: ''
-          UPSTREAM_WORKSPACE: dependencies.repos
-          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin ompl taskflow descartes_light trajopt trajopt_ifopt trajopt_sco trajopt_sqp ruckig"
-          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
-          AFTER_SCRIPT: 'rm -r $BASEDIR/${PREFIX}upstream_ws/build $BASEDIR/${PREFIX}target_ws/build'
-          DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}
-
-      - name: Push post-build Docker
-        if: ${{ env.PUSH_DOCKER_IMAGE == 'true' }}
-        run: docker push ${{ steps.meta.outputs.tags }}
+          apt update
+          apt upgrade -y
+          apt install -y wget software-properties-common
+          add-apt-repository ppa:levi-armstrong/tesseract-robotics
+          apt install -y libompl-dev taskflow
+
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@before_script
+        with:
+          before-script: source /opt/tesseract/install/setup.bash
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: dependencies.repos
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON