From ff9ac3c978d611c81e1f216d0a772971cdd8cc32 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 7 Nov 2021 03:11:21 +0100
Subject: [PATCH] TEMP: configure required upstream and downstream
 dependencies, drop RoboStack workflows

- https://github.com/ros-planning/srdfdom/pull/97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- https://github.com/frankaemika/franka_ros/pull/188
- https://github.com/ros-planning/moveit/pull/2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails
---
 .github/workflows/downstream.rosinstall |   8 +-
 .github/workflows/robostack.yaml        | 104 ------------------------
 .github/workflows/upstream.rosinstall   |   4 +
 3 files changed, 10 insertions(+), 106 deletions(-)
 delete mode 100644 .github/workflows/robostack.yaml

diff --git a/.github/workflows/downstream.rosinstall b/.github/workflows/downstream.rosinstall
index 96e49e42123..f403ec6b3e4 100644
--- a/.github/workflows/downstream.rosinstall
+++ b/.github/workflows/downstream.rosinstall
@@ -10,7 +10,11 @@
     local-name: moveit_tutorials
     uri: https://github.com/ros-planning/moveit_tutorials.git
     version: master
+- git:
+    local-name: franka_ros
+    uri: https://github.com/rhaschke/franka_ros
+    version: develop
 - git:
     local-name: panda_moveit_config
-    uri: https://github.com/ros-planning/panda_moveit_config.git
-    version: melodic-devel
+    uri: https://github.com/rhaschke/panda_moveit_config.git
+    version: rework-coarse-hand-collisions
diff --git a/.github/workflows/robostack.yaml b/.github/workflows/robostack.yaml
deleted file mode 100644
index 18409761905..00000000000
--- a/.github/workflows/robostack.yaml
+++ /dev/null
@@ -1,104 +0,0 @@
-name: RoboStack
-
-on:
-  workflow_dispatch:
-  pull_request:
-  push:
-    branches:
-      - master
-      - "[kmn]*-devel"
-
-jobs:
-  run_moveit_core_compilation:
-    runs-on: ${{ matrix.os }}
-    name: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-latest, macos-latest, windows-latest]
-
-    steps:
-    - uses: actions/checkout@v2
-
-    - name: Set up Build Dependencies
-      uses: mamba-org/provision-with-micromamba@v11
-      with:
-        environment-file: .github/robostack_env.yaml
-        micromamba-version: 0.17.0
-
-    - name: Set up MoveIt Core Dependencies on Unix
-      if: runner.os == 'Linux' || runner.os == 'macOS'
-      shell: bash -l -eo pipefail {0}
-      run: |
-        micromamba activate test
-        export PATH=$HOME/micromamba-bin:$PATH
-        rosdep init
-        rosdep update
-        rosdep install --from-paths moveit_core --ignore-src -r -y
-
-    - name: Build MoveIt Core on Unix
-      if: runner.os == 'Linux' || runner.os == 'macOS'
-      shell: bash -l -eo pipefail {0}
-      run: |
-        export CTEST_OUTPUT_ON_FAILURE=1
-        cd moveit_core
-
-        mkdir build
-        cd build
-
-        cmake .. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
-                 -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
-                 -DCMAKE_BUILD_TYPE=Release \
-                 -DCATKIN_SKIP_TESTING=OFF \
-                 -G "Ninja"
-
-        ninja
-        ninja run_tests
-
-    - name: Set up MoveIt Core Dependencies on Windows
-      if: runner.os == 'Windows'
-      shell: cmd
-      run: |
-        echo "Activate environment, and use rosdep to install dependencies"
-        call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test
-
-        rosdep init
-        rosdep update
-        rosdep install --from-paths moveit_core --ignore-src -r -y
-
-    - name: Build MoveIt Core on Windows
-      if: runner.os == 'Windows'
-      shell: cmd
-      run: |
-        echo "Remove unnecessary / colliding things from PATH"
-        set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%"
-        set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%"
-        set "PATH=%PATH:C:\Rust\.cargo\bin;=%"
-        set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%"
-        set "PATH=%PATH:C:\Program Files\Git\cmd;=%"
-        set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%"
-        set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%"
-        set "PATH=%PATH:C:\Program Files\CMake\bin;=%"
-        set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%"
-        set "PATH=%PATH:C:\Strawberry\c\bin;=%"
-        set "PATH=%PATH:C:\Strawberry\perl\bin;=%"
-        set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%"
-        set "PATH=%PATH:c:\tools\php;=%"
-        set "PATH=%PATH:ostedtoolcache=%"
-
-        call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test
-
-        cd moveit_core
-        mkdir build
-        cd build
-        SET "CTEST_OUTPUT_ON_FAILURE=1"
-
-        cmake .. -DCMAKE_PREFIX_PATH="%CONDA_PREFIX%\Library" ^
-                 -DCMAKE_INSTALL_PREFIX="%CONDA_PREFIX%\Library" ^
-                 -DCMAKE_BUILD_TYPE=Release ^
-                 -DCATKIN_SKIP_TESTING=OFF ^
-                 -DBoost_USE_STATIC_LIBS=OFF ^
-                 -G "Ninja"
-
-        ninja
-        ninja run_tests
diff --git a/.github/workflows/upstream.rosinstall b/.github/workflows/upstream.rosinstall
index 4582a6f25b9..416b2c46ceb 100644
--- a/.github/workflows/upstream.rosinstall
+++ b/.github/workflows/upstream.rosinstall
@@ -6,3 +6,7 @@
     local-name: geometric_shapes
     uri: https://github.com/ros-planning/geometric_shapes.git
     version: noetic-devel
+- git:
+    local-name: srdfdom
+    uri: https://github.com/ubi-agni/srdfdom
+    version: rework-acm-defaults