Merge branch 'main' into main

moveit · Oct 29, 2024 · c2a5184 · c2a5184
2 parents f903bd0 + 02ebcba
commit c2a5184
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diff --git a/.codespell_words b/.codespell_words
@@ -1,19 +1,19 @@
+aas
 ang
 ans
 atleast
 ba
+brin
 dof
 dur
 iff
 keyserver
 nto
 ot
+padd
 parameterizes
 planed
+sinic
 tork
 uint
 whis
-sinic
-padd
-brin
-aas
diff --git a/.docker/tutorial-source/Dockerfile b/.docker/tutorial-source/Dockerfile
@@ -1,12 +1,16 @@
 # syntax = docker/dockerfile:1.3
 
 # ghcr.io/moveit/moveit2:main-${ROS_DISTRO}-tutorial-source
-# Source build of the repos file from the tutorail site
+# Source build of the repos file from the tutorial site
 
 ARG ROS_DISTRO=rolling
+ARG GZ_VERSION=harmonic
+
 FROM moveit/moveit2:${ROS_DISTRO}-ci
 LABEL maintainer Tyler Weaver tyler@picknik.ai
 
+ARG GZ_VERSION
+
 # Export ROS_UNDERLAY for downstream docker containers
 ENV ROS_UNDERLAY /root/ws_moveit/install
 WORKDIR $ROS_UNDERLAY/..
@@ -17,6 +21,11 @@ COPY . src/moveit2
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN --mount=type=cache,target=/root/.ccache/,sharing=locked \
+        # Install Gazebo, which is needed by some dependencies.
+        sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
+        wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
+        sudo apt update && \
+        sudo apt-get install -y "gz-${GZ_VERSION}" && \
         # Enable ccache
         PATH=/usr/lib/ccache:$PATH && \
         # Checkout the tutorial repo

diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml
@@ -0,0 +1,100 @@
+name: Bug report
+description: Create a report to help us improve
+labels: ["bug"]
+body:
+  - type: textarea
+    id: description
+    attributes:
+      label: Description
+      placeholder: Overview of your issue here.
+    validations:
+      required: true
+
+  - type: dropdown
+    id: distro
+    attributes:
+      label: ROS Distro
+      # Keep this updated when new distros come out!
+      options:
+        - Humble
+        - Iron
+        - Jazzy
+        - Rolling
+    validations:
+      required: true
+
+  - type: input
+    id: os
+    attributes:
+      label: OS and version
+      placeholder: e.g. Ubuntu 22.04
+    validations:
+      required: true
+
+  - type: dropdown
+    id: build-type
+    attributes:
+      label: Source or binary build?
+      options:
+        - Source
+        - Binary
+    validations:
+      required: true
+
+  - type: input
+    id: binary-version
+    attributes:
+      label: If binary, which release version?
+    validations:
+      required: false
+
+  - type: input
+    id: source-version
+    attributes:
+      label: If source, which branch?
+    validations:
+      required: false
+
+  - type: dropdown
+    id: middleware
+    attributes:
+      label: Which RMW are you using?
+      options:
+        - FastRTPS
+        - CycloneDDS
+
+  - type: markdown
+    attributes:
+      value: "## If you're on Humble and responded FastRTPS to the above question, try CycloneDDS first!"
+
+  - type: textarea
+    id: repro-steps
+    attributes:
+      label: Steps to Reproduce
+      placeholder: Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.
+    validations:
+      required: true
+
+  - type: textarea
+    id: expected
+    attributes:
+      label: Expected behavior
+      placeholder: Tell us what should happen
+    validations:
+      required: true
+
+  - type: textarea
+    id: actual
+    attributes:
+      label: Actual behavior
+      placeholder: Tell us what happens instead
+    validations:
+      required: true
+
+  - type: textarea
+    id: logs
+    attributes:
+      label: Backtrace or Console output
+      placeholder: Use a GitHub Gist to copy-paste the console output or segfault backtrace using gdb.
+    validations:
+      required: false
diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
@@ -0,0 +1 @@
+blank_issues_enabled: false
diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
diff --git a/.github/ISSUE_TEMPLATE/feature_request.yml b/.github/ISSUE_TEMPLATE/feature_request.yml
@@ -0,0 +1,35 @@
+name: Feature request
+description: Suggest an idea for this project
+labels: ["enhancement"]
+body:
+  - type: textarea
+    id: problem
+    attributes:
+      label: Is your feature request related to a problem? Please describe.
+      placeholder: A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+    validations:
+      required: true
+
+  - type: textarea
+    id: solution
+    attributes:
+      label: Describe the solution you'd like
+      placeholder: A clear and concise description of what you want to happen.
+    validations:
+      required: true
+
+  - type: textarea
+    id: alternatives
+    attributes:
+      label: Describe alternatives you've considered
+      placeholder: A clear and concise description of any alternative solutions or features you've considered.
+    validations:
+      required: false
+
+  - type: textarea
+    id: context
+    attributes:
+      label: Additional context
+      placeholder: Add any other context or screenshots about the feature request here.
+    validations:
+      required: false
diff --git a/.github/mergify.yml b/.github/mergify.yml
@@ -1,22 +1,4 @@
 pull_request_rules:
-  - name: backport to foxy at reviewers discretion
-    conditions:
-      - base=main
-      - "label=backport-foxy"
-    actions:
-      backport:
-        branches:
-          - foxy
-
-  - name: backport to galactic at reviewers discretion
-    conditions:
-      - base=main
-      - "label=backport-galactic"
-    actions:
-      backport:
-        branches:
-          - galactic
-
   - name: backport to humble at reviewers discretion
     conditions:
       - base=main

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -31,8 +31,10 @@ jobs:
           - IMAGE: jazzy-ci
             ROS_DISTRO: jazzy
     env:
+      # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option
+      # https://stackoverflow.com/a/41673702
       CXXFLAGS: >-
-        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
+        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unknown-warning-option -Wno-cpp
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: >
@@ -103,36 +105,36 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
-          save-always: true
         env:
+          GHA_CACHE_SAVE: always
           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
         if: "!matrix.env.CCOV"
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
-          save-always: true
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ${{ env.CACHE_PREFIX }}
-          save-always: true
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
       - name: Configure ccache
         run: |

diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
@@ -19,7 +19,7 @@ jobs:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
-        python-version: '3.10'
+        python-version: 3.x
     - name: Install clang-format-14
       run: sudo apt-get install clang-format-14
     - uses: pre-commit/action@v3.0.1

diff --git a/.github/workflows/sonar.yaml b/.github/workflows/sonar.yaml
@@ -72,23 +72,24 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
-          save-always: true
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-rolling-ci-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-rolling-ci-ccov-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ccache-rolling-ci-ccov-${{ github.sha }}
             ccache-rolling-ci-ccov
-          save-always: true
+        env:
+          GHA_CACHE_SAVE: always
       - name: Configure ccache
         run: |
           mkdir -p ${{ env.CCACHE_DIR }}
@@ -110,7 +111,7 @@ jobs:
         run: cat ${{ github.workspace }}/.work/target_ws/coverage.info
       - name: Install sonar-scanner
         if: steps.ici.outputs.target_test_results == '0'
-        uses: SonarSource/sonarcloud-github-c-cpp@v2
+        uses: SonarSource/sonarcloud-github-c-cpp@v3
       - name: Run sonar-scanner
         if: steps.ici.outputs.target_test_results == '0'
         env:

diff --git a/.github/workflows/tutorial_docker.yaml b/.github/workflows/tutorial_docker.yaml
@@ -16,7 +16,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, humble, iron]
+        ROS_DISTRO: [rolling, humble, iron, jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -51,7 +51,7 @@ jobs:
           path: .ccache
           key: docker-tutorial-ccache-${{ matrix.ROS_DISTRO }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }}
       - name: inject ccache into docker
-        uses: reproducible-containers/buildkit-cache-dance@v3.1.1
+        uses: reproducible-containers/buildkit-cache-dance@v3.1.2
         with:
           cache-source: .ccache
           cache-target: /root/.ccache/

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -47,7 +47,7 @@ repos:
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.3.0
     hooks:
       - id: codespell
         args: ['--write-changes', '--ignore-words=.codespell_words', '--skip="*.eps"']