Disable hybrid planning test, don't cache ci docker at all and don't cache upstream_ws if repos file is changed

.github/workflows/ci.yaml

@@ -79,14 +79,19 @@ jobs:
         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

.github/workflows/docker.yaml

@@ -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 }}
             ${{ env.DH_IMAGE }}
@@ -76,19 +62,8 @@ jobs:
       DH_IMAGE: moveit/moveit2:${{ 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 }}
             ${{ env.DH_IMAGE }}
@@ -129,19 +101,8 @@ jobs:
       DH_IMAGE: moveit/moveit2:${{ 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 }}
             ${{ env.DH_IMAGE }}
@@ -205,8 +163,7 @@ jobs:
           file: .docker/${{ 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 }}

moveit_ros/hybrid_planning/test/CMakeLists.txt

@@ -18,11 +18,12 @@ if(BUILD_TESTING)
   # Run all lint tests in package.xml except those listed above
   ament_lint_auto_find_test_dependencies()
 
+  # TODO (vatanaksoytezer / andyze: Flaky behaviour, investigate and re-enable this test asap)
   # Basic integration tests
-  ament_add_gtest_executable(test_basic_integration
-      test_basic_integration.cpp
-  )
-  ament_target_dependencies(test_basic_integration ${THIS_PACKAGE_INCLUDE_DEPENDS})
-  add_ros_test(launch/test_basic_integration.test.py TIMEOUT 50 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
+  # ament_add_gtest_executable(test_basic_integration
+  #     test_basic_integration.cpp
+  # )
+  # ament_target_dependencies(test_basic_integration ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  # add_ros_test(launch/test_basic_integration.test.py TIMEOUT 50 ARGS "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
 
 endif()