Use ROS-independent version of ICI (#861)

* Use ROS-independent version of ICI

* Added liboctomap-dev as dependency and ignore rosdep install

* Use variables for ccache directory

* Standardize rosdep skip list

* Added clang-tidy dependency

* Remove taskflow from rosdep exclusion list

* Added FCL 6.1 to dependencies file

* Changed from .rosinstall to .repos

* Added name to build stage of clang-tidy job

* Added catkin to rosdep skip list

* Added octomap to source dependencies

* Consolidated regular Ubuntu jobs into single matrix job

* Set fail-fast false

* Simplified nightly workflow

* Updated code coverage command

* Combined code coverage and clang tidy jobs

* Simplify clang format job

* Remove bionic build

* Support CI build on multiple versions of Windows

* Updated job names

* Added RICB to windows vcpkg list

* Add gtest to windows build

* Remove octomap and fcl from vcpkg install

* Add custom window dependencies

---------

Co-authored-by: Levi Armstrong <levi.armstrong@gmail.com>

.github/workflows/add_ros_apt_sources.sh

@@ -0,0 +1,4 @@
+#! /bin/bash
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+apt update -qq

.github/workflows/api_docs.yml

@@ -1,4 +1,4 @@
-name: DeployDocumentation
+name: Deploy Documentation
 
 on:
   push:

.github/workflows/benchmarking.yml

@@ -9,14 +9,8 @@ on:
   workflow_dispatch:
 
 jobs:
-  industrial_ci:
-    name: ${{ matrix.env.CI_NAME }}
+  benchmark:
     runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        env:
-          - {CI_NAME: Focal-Benchmark}
     steps:
       - uses: actions/checkout@v2
 
@@ -30,18 +24,20 @@ jobs:
       - name: ccache cache files
         uses: actions/cache@v1.1.0
         with:
-          path: ${{ matrix.env.CI_NAME }}/.ccache
-          key: ${{ matrix.env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          path: benchmark/.ccache
+          key: benchmark-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
           restore-keys: |
-            ${{ matrix.env.CI_NAME }}-ccache-
+            benchmark-ccache-
 
-      - uses: 'ros-industrial/industrial_ci@master'
+      - uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
         env:
-          ROS_DISTRO: noetic
-          UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
-          ROSDEP_SKIP_KEYS: "bullet ros_industrial_cmake_boilerplate fcl iwyu"
-          DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
-          CCACHE_DIR: "${{ github.workspace }}/${{ matrix.env.CI_NAME }}/.ccache"
+          DOCKER_IMAGE: ubuntu:20.04
+          ROS_DISTRO: false
+          ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev'
+          AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
+          UPSTREAM_WORKSPACE: 'dependencies.repos'
+          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
+          CCACHE_DIR: "${{ github.workspace }}/benchmark/.ccache"
           UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
           TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=OFF -DTESSERACT_ENABLE_BENCHMARKING=ON -DTESSERACT_ENABLE_RUN_BENCHMARKING=ON -DBENCHMARK_ARGS=CI_ONLY"
           DOCKER_RUN_OPTS: '-v ${{ github.workspace }}/benchmarks:/root/benchmarks'

.github/workflows/clang_format.yml

@@ -13,44 +13,15 @@ on:
     - cron: '0 5 * * *'
 
 jobs:
-  industrial_ci:
-    name: Format
+  clang_format:
     runs-on: ubuntu-latest
-    env:
-      CI_NAME: Clang-Format
-      OS_NAME: ubuntu
-      OS_CODE_NAME: bionic
-      ROS_DISTRO: melodic
-      ROS_REPO: main
-      ROSDEP_SKIP_KEYS: "bullet fcl"
-      CLANG_FORMAT_CHECK: file
-      CLANG_FORMAT_VERSION: 8
-      DOCKER_IMAGE: "rosindustrial/tesseract:melodic"
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v1
 
-      - name: Free Disk Space
+      - name: Run clang format
         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
-        uses: actions/cache@v1.1.0
-        with:
-          path: ${{ env.CI_NAME }}/.ccache
-          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ env.CI_NAME }}-ccache-
-
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{env}}
+          sudo apt update
+          sudo apt install -y git clang-format
+          ./.run-clang-format
+          output=$(git diff)
+          if [ -n "$output" ]; then exit 1; else exit 0; fi

.github/workflows/cmake_format.yml

@@ -13,8 +13,7 @@ on:
     - cron: '0 5 * * *'
 
 jobs:
-  cmake_lang:
-    name: Format
+  cmake_format:
     runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2

.github/workflows/code_quality.yml

@@ -0,0 +1,73 @@
+name: Code Quality
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/code_quality.yml'
+      - '.clang-tidy'
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  ci:
+    name: ${{ matrix.job_type }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        job_type: [clang-tidy, codecov]
+        include:
+          - job_type: clang-tidy
+            env:
+              TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
+              NOT_TEST_BUILD: true
+          - job_type: codecov
+            env:
+              TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
+              AFTER_SCRIPT: 'cd $target_ws && export MAKEFLAGS=ccov-all:${MAKEFLAGS:-} && colcon build --packages-select tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf
+                             && bash <(curl -s https://codecov.io/bash) -t c4af0da7-9fc3-4d3c-bb2e-6b2523ddd382 -s $target_ws/build -f *all-merged.info'
+    env:
+      DOCKER_IMAGE: ubuntu:20.04
+      ROS_DISTRO: false
+      ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev clang-tidy'
+      AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
+      UPSTREAM_WORKSPACE: 'dependencies.repos'
+      ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
+      CCACHE_DIR: "${{ github.workspace }}/${{ matrix.job_type }}/.ccache"
+      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
+    steps:
+      - uses: actions/checkout@v2
+
+      - 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/cache@v1.1.0
+        with:
+          path: ${{ matrix.job_type }}/.ccache
+          key: ${{ matrix.job_type }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          restore-keys: |
+            ${{ matrix.job_type }}-ccache-
+
+      - name: Build repository
+        uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
+        env: ${{ matrix.env }}
+