Use ROS-independent version of ICI

.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/benchmarking.yml

@@ -35,12 +35,14 @@ jobs:
           restore-keys: |
             ${{ matrix.env.CI_NAME }}-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"
+          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: "${{ github.workspace }}/${{ matrix.env.CI_NAME }}/.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"

.github/workflows/clang_format.yml

@@ -22,7 +22,7 @@ jobs:
       OS_CODE_NAME: bionic
       ROS_DISTRO: melodic
       ROS_REPO: main
-      ROSDEP_SKIP_KEYS: "bullet fcl"
+      ROSDEP_SKIP_KEYS: "fcl"
       CLANG_FORMAT_CHECK: file
       CLANG_FORMAT_VERSION: 8
       DOCKER_IMAGE: "rosindustrial/tesseract:melodic"

.github/workflows/clang_tidy.yml

@@ -18,17 +18,6 @@ jobs:
     runs-on: ubuntu-latest
     env:
       CI_NAME: Clang-Tidy
-      OS_NAME: ubuntu
-      OS_CODE_NAME: focal
-      ROS_DISTRO: noetic
-      ROS_REPO: main
-      UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
-      ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow"
-      DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
-      CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Clang-Tidy/.ccache"
-      NOT_TEST_BUILD: true
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-      TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
     steps:
       - uses: actions/checkout@v2
 
@@ -57,5 +46,16 @@ jobs:
           restore-keys: |
             ${{ env.CI_NAME }}-ccache-
 
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{env}}
+      - name: Build repository
+        uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
+        env:
+          DOCKER_IMAGE: ubuntu:20.04
+          ROS_DISTRO: false
+          ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev clang-tidy'
+          AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
+          UPSTREAM_WORKSPACE: 'dependencies.repos'
+          ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
+          CCACHE_DIR: "${{ github.workspace }}/${{ matrix.env.CI_NAME}}/.ccache"
+          NOT_TEST_BUILD: true
+          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
+          TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"

.github/workflows/codecov.yml

@@ -15,19 +15,6 @@ jobs:
   industrial_ci:
     name: CodeCov
     runs-on: ubuntu-latest
-    env:
-      CI_NAME: CodeCov
-      OS_NAME: ubuntu
-      OS_CODE_NAME: focal
-      ROS_DISTRO: noetic
-      ROS_REPO: main
-      UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
-      ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow"
-      DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
-      AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf --make-args ccov-all
-                     && bash <(curl -s https://codecov.io/bash) -t c4af0da7-9fc3-4d3c-bb2e-6b2523ddd382 -s $target_ws/build -f *all-merged.info'
     steps:
       - uses: actions/checkout@v2
 
@@ -40,5 +27,15 @@ jobs:
           docker rmi $(docker image ls -aq)
           df -h
 
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{env}}
+      - uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
+        env:
+          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"
+          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
+          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
+          AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf --make-args ccov-all
+                         && bash <(curl -s https://codecov.io/bash) -t c4af0da7-9fc3-4d3c-bb2e-6b2523ddd382 -s $target_ws/build -f *all-merged.info'

.github/workflows/nightly.yml

@@ -19,29 +19,26 @@ jobs:
       matrix:
         env:
           - {CI_NAME: Bionic-Build-Nightly,
-             OS_NAME: ubuntu,
-             OS_CODE_NAME: bionic,
-             ROS_DISTRO: melodic,
-             ROS_REPO: main,
-             UPSTREAM_WORKSPACE: 'dependencies.rosinstall',
+             DOCKER_IMAGE: ubuntu:18.04,
+             ROS_DISTRO: false,
+             ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev',
+             AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh',
+             UPSTREAM_WORKSPACE: 'dependencies.repos',
              DOWNSTREAM_WORKSPACE: 'github:ros-industrial-consortium/tesseract_planning#master github:ros-industrial-consortium/trajopt_ros#master github:ros-industrial-consortium/tesseract_ros#master',
-             ROSDEP_SKIP_KEYS: "bullet ros_industrial_cmake_boilerplate fcl iwyu",
-             DOCKER_IMAGE: "rosindustrial/tesseract:melodic",
-             CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Bionic-Build-Nightly/.ccache",
-             PARALLEL_TESTS: false,
+             ROSDEP_SKIP_KEYS: "ros_industrial_cmake_boilerplate fcl iwyu octomap catkin",
+             CCACHE_DIR: "${{ github.workspace }}/${{ matrix.env.CI_NAME}}/.ccache",
              UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
              TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
              DOWNSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"}
           - {CI_NAME: Focal-Build-Nightly,
-             OS_NAME: ubuntu,
-             OS_CODE_NAME: focal,
-             ROS_DISTRO: noetic,
-             ROS_REPO: main,
-             UPSTREAM_WORKSPACE: 'dependencies.rosinstall',
+             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',
              DOWNSTREAM_WORKSPACE: 'github:ros-industrial-consortium/tesseract_planning#master github:ros-industrial-consortium/trajopt_ros#master github:ros-industrial-consortium/tesseract_ros#master',
-             ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow",
-             DOCKER_IMAGE: "rosindustrial/tesseract:noetic",
-             CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Focal-Build-Nightly/.ccache",
+             ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin",
+             CCACHE_DIR: "${{ github.workspace }}/${{ matrix.env.CI_NAME}}/.ccache",
              UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
              TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
              DOWNSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"}
@@ -74,5 +71,5 @@ jobs:
           restore-keys: |
             ${{ matrix.env.CI_NAME }}-ccache-
 
-      - uses: 'ros-industrial/industrial_ci@master'
+      - uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
         env: ${{matrix.env}}

.github/workflows/focal_build.yml → .github/workflows/ubuntu.yml

@@ -1,4 +1,4 @@
-name: Focal-Build
+name: Ubuntu
 
 on:
   push:
@@ -7,22 +7,28 @@ on:
   pull_request:
     paths:
       - 'tesseract**'
-      - '.github/workflows/focal_build.yml'
-      - '**.rosinstall'
+      - '.github/workflows/ubuntu.yml'
+      - '**.repos'
   schedule:
     - cron: '0 5 * * *'
   release:
     types:
       - released
 
 jobs:
-  industrial_ci:
-    name: Noetic
+  ci:
+    name: Ubuntu
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        distro: [bionic, focal]
+        include:
+          - distro: bionic
+            image: ubuntu:18.04
+          - distro: focal
+            image: ubuntu:20.04
     env:
-      CI_NAME: Focal-Build
-      CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Focal-Build/.ccache"
-      ROS_DISTRO: noetic
+      CCACHE_DIR: "${{ github.workspace }}/${{ matrix.distro }}/.ccache"
       REGISTRY: ghcr.io
       IMAGE_NAME: ${{ github.repository }}
       PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
@@ -50,10 +56,10 @@ jobs:
         continue-on-error: true
         uses: actions/cache@v1.1.0
         with:
-          path: ${{ env.CI_NAME }}/.ccache
-          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          path: ${{ matrix.distro }}/.ccache
+          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
           restore-keys: |
-            ${{ env.CI_NAME }}-ccache-
+            ${{ matrix.distro }}-ccache-
 
       - name: Login to Github container registry
         uses: docker/login-action@v1
@@ -72,8 +78,8 @@ jobs:
             prefix=
             suffix=
           tags: |
-            type=ref,event=branch,prefix=${{ env.ROS_DISTRO }}-
-            type=semver,pattern={{major}}.{{minor}},prefix=${{ env.ROS_DISTRO }}-
+            type=ref,event=branch,prefix=${{ matrix.distro }}-
+            type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.distro }}-
 
       - name: Set build type
         run: |
@@ -85,21 +91,18 @@ jobs:
           fi
 
       - name: Build repository
-        uses: 'ros-industrial/industrial_ci@master'
+        uses: 'marip8/industrial_ci@2f4c8ab919f0aafddd514e586325defabd2911ea'
         env:
-          OS_NAME: ubuntu
-          OS_CODE_NAME: focal
-          ROS_REPO: main
-          UPSTREAM_WORKSPACE: 'dependencies.rosinstall'
-          ROSDEP_SKIP_KEYS: "bullet fcl ompl orocos_kdl python-numpy ifopt python descartes_opw descartes_samplers descartes_light opw_kinematics ros_industrial_cmake_boilerplate iwyu taskflow"
-          DOCKER_IMAGE: "rosindustrial/tesseract:${{ env.ROS_DISTRO }}"
-          PARALLEL_TESTS: false
-          PARALLEL_BUILDS: false
+          DOCKER_IMAGE: ${{ matrix.image }}
+          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"
           PREFIX: ${{ github.repository }}_
-          BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source $BASEDIR/${PREFIX}target_ws/install/setup.bash"
           UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
           TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} -DTESSERACT_ENABLE_TESTING=ON"
-          AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps --verbose tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_scene_graph tesseract_srdf tesseract_state_solver tesseract_urdf --make-args test'
+          BEFORE_RUN_TARGET_TEST_EMBED: "ici_with_unset_variables source $BASEDIR/${PREFIX}target_ws/install/setup.bash"
           DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}
 
       - name: Push post-build Docker

.github/workflows/windows_2019.yml

@@ -8,7 +8,7 @@ on:
     paths:
       - 'tesseract**'
       - '.github/workflows/windows_2019.yml'
-      - '**.rosinstall'
+      - '**.repos'
   schedule:
     - cron: '0 5 * * *'
 
@@ -52,7 +52,7 @@ jobs:
       run: |
         set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release\bin
         set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release
-        vcs import --input "${{ github.workspace }}/workspace/src/tesseract/dependencies.rosinstall" src/
+        vcs import --input "${{ github.workspace }}/workspace/src/tesseract/dependencies.repos" src/
         if %ERRORLEVEL% GEQ 1 exit 1
         colcon build --event-handlers console_direct+ --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON
         if %ERRORLEVEL% GEQ 1 exit 1

README.md

@@ -96,7 +96,7 @@ See [issue #66](https://github.com/tesseract-robotics/tesseract/issues/66)
 ## Build Instructions
 
 1) Clone repository into your workspace
-2) Clone the repositories in the dependencies.rosinstall file using wstool or some other method (e.g. manually git cloning them)
+2) Clone the repositories in the dependencies.repos file using wstool or some other method (e.g. manually git cloning them)
 3) Build the workspace using catkin tools, colcon, or a similar tool
 
 NOTE: For noetic tesseract_ext is not required. Install the following dependencies: libbullet-dev, libbullet-extras-dev and ros-noetic-fcl. Taskflow can be install using the PPA below.