Merge branch 'moveit:humble' into humble

Author: rcywongaa

.clang-tidy

@@ -1,8 +1,6 @@
 ---
-# TODO(henningkayser): Re-enable performance-unnecessary-value-param once #214 is resolved
 Checks:          '-*,
                   performance-*,
-                  -performance-unnecessary-value-param,
                   llvm-namespace-comment,
                   modernize-redundant-void-arg,
                   modernize-use-nullptr,

.docker/ci-testing/Dockerfile

@@ -1,16 +1,68 @@
-# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci-testing
+# ghcr.io/ros-planning/moveit2:${OUR_ROS_DISTRO}-ci-testing
 # CI image using the ROS testing repository
 
-ARG ROS_DISTRO=rolling
-FROM ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci
+FROM osrf/ros2:testing
 LABEL maintainer Robert Haschke [email protected]
 
-# Switch to ros-testing
-RUN echo "deb http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2-latest.list
+ENV TERM xterm
 
-# Upgrade packages to ros-shadow-fixed and clean apt-cache within one RUN command
-RUN apt-get -qq update && \
-    apt-get -qq upgrade && \
+# Overwrite the ROS_DISTRO set in osrf/ros2:testing to the distro tied to this Dockerfile (OUR_ROS_DISTRO).
+# In case ROS_DISTRO is now different from what was set in osrf/ros2:testing, run `rosdep update` again
+# to get any missing dependencies.
+# https://docs.docker.com/engine/reference/builder/#using-arg-variables explains why ARG and ENV can't have
+# the same name (ROS_DISTRO is an ENV in the osrf/ros2:testing image).
+ARG OUR_ROS_DISTRO=rolling
+ENV ROS_DISTRO=${OUR_ROS_DISTRO}
+RUN rosdep update --rosdistro $ROS_DISTRO
+
+# Install ROS 2 base packages and build tools
+# We are installing ros-<distro>-ros-base here to mimic the behavior of the ros:<distro>-ros-base images.
+# This step is split into a separate layer so that we can rely on cached dependencies instead of having
+# to install them with every new build. The testing image and packages will only update every couple weeks.
+RUN \
+    # Update apt package list as previous containers clear the cache
+    apt-get -q update && \
+    apt-get -q -y upgrade && \
+    #
+    # Install base dependencies
+    apt-get -q install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo curl \
+        # Preferred build tools
+        clang clang-format-14 clang-tidy clang-tools \
+        ccache \
+        ros-"$ROS_DISTRO"-ros-base && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/*
+
+# Setup (temporary) ROS workspace
+WORKDIR /root/ws_moveit
+
+# Copy MoveIt sources from docker context
+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 \
+    # Update apt package list as previous containers clear the cache
+    apt-get -q update && \
+    apt-get -q -y upgrade && \
+    #
+    # Globally disable git security
+    # https://github.blog/2022-04-12-git-security-vulnerability-announced
+    git config --global --add safe.directory "*" && \
+    #
+    # Fetch all dependencies from moveit2.repos
+    vcs import src < src/moveit2/moveit2.repos && \
+    if [ -r src/moveit2/moveit2_"$ROS_DISTRO".repos ] ; then vcs import src < src/moveit2/moveit2_"$ROS_DISTRO".repos ; fi && \
+    #
+    # Download all dependencies of MoveIt
+    rosdep update && \
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" --as-root=apt:false && \
+    # Remove the source code from this container
+    rm -rf src && \
     #
     # Clear apt-cache to reduce image size
     rm -rf /var/lib/apt/lists/*

.docker/ci/Dockerfile

@@ -6,6 +6,8 @@ FROM ros:${ROS_DISTRO}-ros-base
 LABEL maintainer Robert Haschke [email protected]
 
 ENV TERM xterm
+# Allow non-interactive installation of ros-humble-rmw-connextdds
+ENV RTI_NC_LICENSE_ACCEPTED yes
 
 # Setup (temporary) ROS workspace
 WORKDIR /root/ws_moveit
@@ -18,14 +20,14 @@ COPY . src/moveit2
 RUN \
     # Update apt package list as previous containers clear the cache
     apt-get -q update && \
-    apt-get -q -y upgrade && \
+    apt-get -q -y upgrade --with-new-pkgs && \
     #
     # Install some base dependencies
     apt-get -q install --no-install-recommends -y \
         # Some basic requirements
         wget git sudo curl \
         # Preferred build tools
-        clang clang-format-12 clang-tidy clang-tools \
+        clang clang-format-14 clang-tidy clang-tools \
         ccache && \
     #
     # Globally disable git security

.docker/release/Dockerfile

@@ -5,6 +5,9 @@ ARG ROS_DISTRO=rolling
 FROM ros:${ROS_DISTRO}-ros-base
 LABEL maintainer Robert Haschke [email protected]
 
+# Allow non-interactive installation of ros-humble-rmw-connextdds
+ENV RTI_NC_LICENSE_ACCEPTED yes
+
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 RUN apt-get update -q && \
     apt-get upgrade -q -y && \

.docker/source/Dockerfile

@@ -4,7 +4,7 @@
 # Downloads the moveit source code and install remaining debian dependencies
 
 ARG ROS_DISTRO=rolling
-FROM ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci-testing
+FROM moveit/moveit2:${ROS_DISTRO}-ci-testing
 LABEL maintainer Robert Haschke [email protected]
 
 # Export ROS_UNDERLAY for downstream docker containers

.github/workflows/ci.yaml

@@ -23,27 +23,36 @@ jobs:
             ROS_DISTRO: humble
             IKFAST_TEST: true
             CLANG_TIDY: pedantic
+            # Silent gmock/gtest warnings by picking more recent googletest version
+            AFTER_BUILD_UPSTREAM_WORKSPACE: |
+              git clone --depth 1 --quiet --branch 1.11.9000 https://github.com/ament/googletest "${BASEDIR}/upstream_ws/src/googletest"
+              builder_run_build "/opt/ros/${ROS_DISTRO}" "${BASEDIR}/upstream_ws" --packages-select gtest_vendor gmock_vendor
     env:
       CXXFLAGS: >-
         -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
-      DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }}
-      UPSTREAM_WORKSPACE: moveit2.repos $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
+      DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
+      UPSTREAM_WORKSPACE: >
+        moveit2.repos
+        $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
       # Pull any updates to the upstream workspace (after restoring it from cache)
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
+      # Uninstall binaries that are duplicated in the .repos file
+      # TODO(andyz): remove this once a sync containing 35b93c8 happens
+      AFTER_SETUP_UPSTREAM_WORKSPACE_EMBED: sudo apt remove ros-${{ matrix.env.ROS_DISTRO }}-moveit-msgs -y
       AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
       # Clear the ccache stats before and log the stats after the build
       AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
       BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z
       AFTER_BUILD_TARGET_WORKSPACE: ccache -s
       # Changing linker to lld as ld has a behavior where it takes a long time to finish
-      # Compile CCOV with Debug. Enable -Werror (except CLANG_TIDY=pedantic, which makes the clang-tidy step fail on warnings)
+      # Compile CCOV with Debug. Enable -Werror.
       TARGET_CMAKE_ARGS: >
         -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld
         -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
-        -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}$CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+        -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
       UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
       DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
       CCACHE_DIR: ${{ github.workspace }}/.ccache
@@ -75,7 +84,7 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: testspace-com/setup-testspace@v1
         if: github.repository == 'ros-planning/moveit2'
         with:
@@ -91,7 +100,7 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: pat-s/[email protected].1
+        uses: pat-s/[email protected].11
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
@@ -102,15 +111,15 @@ jobs:
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: Cache target workspace
         if: "!matrix.env.CCOV"
-        uses: pat-s/[email protected].1
+        uses: pat-s/[email protected].11
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
         env:
           CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: pat-s/[email protected].1
+        uses: pat-s/[email protected].11
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}

.github/workflows/docker.yaml

@@ -31,22 +31,22 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
       - name: Login to Github Container Registry
         if: env.PUSH == 'true'
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.repository_owner }}
           password: ${{ secrets.GITHUB_TOKEN }}
       - name: Login to DockerHub
         if: env.PUSH == 'true'
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and Push
-        uses: docker/build-push-action@v3
+        uses: docker/build-push-action@v5
         with:
           file: .docker/${{ github.job }}/Dockerfile
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
@@ -72,22 +72,22 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
       - name: Login to Github Container Registry
         if: env.PUSH == 'true'
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.repository_owner }}
           password: ${{ secrets.GITHUB_TOKEN }}
       - name: Login to DockerHub
         if: env.PUSH == 'true'
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and Push
-        uses: docker/build-push-action@v3
+        uses: docker/build-push-action@v5
         with:
           file: .docker/${{ github.job }}/Dockerfile
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
@@ -98,7 +98,6 @@ jobs:
             ${{ env.DH_IMAGE }}
 
   ci-testing:
-    needs: ci
     strategy:
       fail-fast: false
       matrix:
@@ -114,25 +113,25 @@ jobs:
 
     steps:
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
       - name: Login to Github Container Registry
         if: env.PUSH == 'true'
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.repository_owner }}
           password: ${{ secrets.GITHUB_TOKEN }}
       - name: Login to DockerHub
         if: env.PUSH == 'true'
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: Build and Push
-        uses: docker/build-push-action@v3
+        uses: docker/build-push-action@v5
         with:
           file: .docker/${{ github.job }}/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          build-args: OUR_ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: ${{ env.PUSH }}
           no-cache: true
           tags: |
@@ -155,26 +154,26 @@ jobs:
       PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'ros-planning/moveit2') }}
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v3
       - name: Login to Github Container Registry
         if: env.PUSH == 'true'
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ghcr.io
           username: ${{ github.repository_owner }}
           password: ${{ secrets.GITHUB_TOKEN }}
       - name: Login to DockerHub
         if: env.PUSH == 'true'
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
       - name: "Remove .dockerignore"
         run: rm .dockerignore  # enforce full source context
       - name: Build and Push
-        uses: docker/build-push-action@v3
+        uses: docker/build-push-action@v5
         with:
           context: .
           file: .docker/${{ github.job }}/Dockerfile

.github/workflows/docker_lint.yaml

@@ -21,8 +21,8 @@ jobs:
     name: Lint Dockerfiles
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
-      - uses: hadolint/hadolint-action@v2.1.0
+      - uses: actions/checkout@v4
+      - uses: hadolint/hadolint-action@v3.1.0
         with:
           dockerfile: .docker/${{ matrix.DOCKERFILE_PATH }}/Dockerfile
           config: .docker/.hadolint.yaml

.github/workflows/format.yaml

@@ -15,8 +15,8 @@ jobs:
     name: Format
     runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v3
-    - uses: actions/setup-python@v4
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: '3.10'
     - name: Install clang-format-12

.github/workflows/prerelease.yaml

@@ -21,6 +21,6 @@ jobs:
     name: "${{ matrix.distro }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: industrial_ci
         uses: ros-industrial/industrial_ci@master

.gitignore

@@ -51,7 +51,7 @@ qtcreator-*
 # Vim
 *.swp
 
-# Continous Integration
+# Continuous Integration
 .moveit_ci
 
 *.pyc

.pre-commit-config.yaml

@@ -42,7 +42,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-12
+        entry: clang-format-14
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']

Doxyfile

@@ -2081,7 +2081,7 @@ TAGFILES               =
 # tag file that is based on the input files it reads. See section "Linking to
 # external documentation" for more information about the usage of tag files.
 
-GENERATE_TAGFILE       =
+GENERATE_TAGFILE       = $(DOXYGEN_OUTPUT_DIRECTORY)/MoveIt.tag
 
 # If the ALLEXTERNALS tag is set to YES, all external class will be listed in
 # the class index. If set to NO, only the inherited external classes will be