Merge pull request #68 from marip8/update/ci

Removed dependency on Qt ADS repo and Gazebo

.github/workflows/clang_tidy.yml

@@ -12,23 +12,13 @@ on:
 jobs:
   industrial_ci:
     name: ClangTidy
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [humble]
     env:
-      CI_NAME: Clang-Tidy
-      OS_NAME: ubuntu
-      OS_CODE_NAME: jammy
-      ROS_DISTRO: humble
-      ROS_REPO: main
-      BEFORE_INIT: './.add-gazebo-ppa'
-      UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
-      ROSDEP_SKIP_KEYS: "catkin taskflow orocos_kdl fcl gz-common5 gz-math7 gz-rendering7"
-      ADDITIONAL_DEBS: "clang-tidy libgz-common5-dev libgz-math7-dev libgz-rendering7-dev"
-      DOCKER_IMAGE: "ros:humble"
-      CCACHE_DIR: "/home/runner/work/tesseract_ros/tesseract_ros/Clang-Tidy/.ccache"
-      NOT_TEST_BUILD: true
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
-      TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
-      CXXFLAGS: "-std=c++17"
+      CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
     steps:
       - uses: actions/checkout@v1
 
@@ -52,10 +42,19 @@ 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-
 
       - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{env}}
+        env:
+          ROS_DISTRO: humble
+          ROS_REPO: main
+          UPSTREAM_WORKSPACE: 'dependencies.repos'
+          ROSDEP_SKIP_KEYS: "catkin taskflow orocos_kdl fcl gz-common5 gz-math7 gz-rendering7 qt_advanced_docking"
+          ADDITIONAL_DEBS: "clang-tidy"
+          NOT_TEST_BUILD: true
+          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release -DBUILD_RENDERING=OFF -DBUILD_STUDIO=OFF"
+          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
+          CXXFLAGS: "-std=c++17"

.github/workflows/ubuntu.yml

@@ -21,8 +21,7 @@ jobs:
       matrix:
         distro: [foxy, humble, rolling]
     env:
-      CI_NAME: ${{ matrix.distro }}-Build
-      CCACHE_DIR: "/home/runner/work/tesseract_ros2/tesseract_ros2/${{ matrix.distro }}-Build/.ccache"
+      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' }}
@@ -49,10 +48,10 @@ 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: ${{ env.CCACHE_DIR }}
+          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
           restore-keys: |
-            ${{ env.CI_NAME }}-ccache-
+            ${{ env.matrix.distro }}-ccache-
 
       - name: Login to Github container registry
         uses: docker/login-action@v1
@@ -85,19 +84,15 @@ jobs:
 
       - uses: 'ros-industrial/industrial_ci@master'
         env:
-          OS_NAME: ubuntu
           ROS_DISTRO: ${{ matrix.distro }}
           ROS_REPO: main
-          BEFORE_INIT: './.add-gazebo-ppa'
-          UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
-          ROSDEP_SKIP_KEYS: "catkin taskflow fcl gz-common5 gz-math7 gz-rendering7"
-          ADDITIONAL_DEBS: "libgz-common5-dev libgz-math7-dev libgz-rendering7-dev"
-          DOCKER_IMAGE: "ros:${{ matrix.distro }}"
+          UPSTREAM_WORKSPACE: 'dependencies.repos'
+          ROSDEP_SKIP_KEYS: "catkin taskflow fcl gz-common5 gz-math7 gz-rendering7 qt_advanced_docking"
           PARALLEL_TESTS: false
           NOT_TEST_BUILD: true
           PREFIX: ${{ github.repository }}_
-          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
+          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release -DBUILD_RENDERING=OFF -DBUILD_STUDIO=OFF"
+          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }}"
           BEFORE_RUN_TARGET_TEST_EMBED: "source /root/target_ws/install/local_setup.bash"
           AFTER_SCRIPT: 'rm -r $BASEDIR/${PREFIX}upstream_ws/build $BASEDIR/${PREFIX}target_ws/build'
           DOCKER_COMMIT: ${{ steps.meta.outputs.tags }}

.github/workflows/unstable.yml

@@ -0,0 +1,64 @@
+name: Unstable
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron: '0 5 * * 6'
+  workflow_dispatch:
+  release:
+    types:
+      - released
+
+jobs:
+  industrial_ci:
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [humble]
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/${{ matrix.distro }}/.ccache
+    steps:
+      - uses: actions/checkout@v1
+
+      - 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: ${{ env.CCACHE_DIR }}
+          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          restore-keys: |
+            ${{ env.matrix.distro }}-ccache-
+
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: ${{ matrix.distro }}
+          ROS_REPO: main
+          UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
+          ROSDEP_SKIP_KEYS: "catkin taskflow fcl gz-common5 gz-math7 gz-rendering7 qt_advanced_docking"
+          PARALLEL_TESTS: false
+          NOT_TEST_BUILD: true
+          PREFIX: ${{ github.repository }}_
+          UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release -DBUILD_RENDERING=OFF -DBUILD_STUDIO=OFF"
+          TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
+          BEFORE_RUN_TARGET_TEST_EMBED: "source /root/target_ws/install/local_setup.bash"

README.md

@@ -2,60 +2,59 @@
 
 Platform             | CI Status
 ---------------------|:---------
-Linux (Focal)        | [![Build Status](https://github.com/tesseract-robotics/tesseract_ros2/workflows/Focal-Build/badge.svg)](https://github.com/tesseract-robotics/tesseract_ros2/actions)
-Linux (Jammy)        | [![Build Status](https://github.com/tesseract-robotics/tesseract_ros2/workflows/Jammy-Build/badge.svg)](https://github.com/tesseract-robotics/tesseract_ros2/actions)
+Ubuntu               | [![Build Status](https://github.com/tesseract-robotics/tesseract_ros2/workflows/Ubuntu/badge.svg)](https://github.com/tesseract-robotics/tesseract_ros2/actions)
 Lint  (Clang-Format) | [![Build Status](https://github.com/tesseract-robotics/tesseract_ros2/workflows/Clang-Format/badge.svg)](https://github.com/tesseract-robotics/tesseract_ros2/actions)
 Lint  (Clang Tidy)   | [![Build Status](https://github.com/tesseract-robotics/tesseract_ros2/workflows/Clang-Tidy/badge.svg)](https://github.com/tesseract-robotics/tesseract_ros2/actions)
 
+### Supported ROS Distros
+| Distro         | Support |
+| :---           | :---:   |
+| ROS Foxy       | ✓ |
+| ROS Humble     | ✓ |
+
 [![Github Issues](https://img.shields.io/github/issues/ros-industrial-consortium/tesseract_ros.svg)](http://github.com/ros-industrial-consortium/tesseract_ros/issues)
 
 [![license - apache 2.0](https://img.shields.io/:license-Apache%202.0-yellowgreen.svg)](https://opensource.org/licenses/Apache-2.0)
 [![license - bsd 2 clause](https://img.shields.io/:license-BSD%202--Clause-blue.svg)](https://opensource.org/licenses/BSD-2-Clause)
 
 [![support level: consortium](https://img.shields.io/badge/support%20level-consortium-brightgreen.png)](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)
 
-## Tesseract ROS Packages
-
-* **tesseract_ros_examples** – This package contains ROS examples using tesseract and tesseract_ros for motion planning and collision checking.
-* **tesseract_rosutils** – This package contains the utilities like converting from ROS message types to native Tesseract types and the reverse.
-* **tesseract_msgs** – This package contains the ROS message types used by Tesseract ROS.
-* **tesseract_rviz** – This package contains the ROS visualization plugins for Rviz to visualize Tesseract. All of the features have been composed in libraries to enable to the ability to create custom displays quickly.
-* **tesseract_monitoring** – This package contains different types of environment monitors. It currently contains a contact monitor and environment monitor. The contact monitor will monitor the active environment state and publish contact information. This is useful if the robot is being controlled outside of ROS, but you want to make sure it does not collide with objects in the environment. The second is the environment monitor, which is the main environment which facilitates requests to add, remove, disable and enable collision objects, while publishing its current state to keep other ROS nodes updated with the latest environment.
-* **tesseract_planning_server** - This package contains a planning server supporting asynchronous execution of multiple planning requests.
-
-## TODO's
-
-.. Warning:: These packages are under heavy development and are subject to change.
-
-
-See [issue #66](https://github.com/ros-industrial-consortium/tesseract/issues/66)
-
-## Install Instructions
-
-Clone this repository and the packages in the dependencies.rosinstall into your workspace. Build using [catkin_tools](https://catkin-tools.readthedocs.io/en/latest/) or something similar
-
-.. NOTE: To speed up clean build you may want to add tesseract_ext to an extended workspace.
+## Package Descriptions
 
-## Tesseract Examples
-### Online Planning Example
-This example demonstrates using TrajOpt to plan in an "online" manner. Use the joint state publisher gui to change the location of the collision obstacle or the target and watch it dynamically plan. Adjust the box_size parameter for faster adaption.
+### `tesseract_ros_examples`
+This package contains ROS examples using tesseract and tesseract_ros for motion planning and collision checking.
 
-```roslaunch tesseract_ros_examples online_planning_example.launch```
+### `tesseract_rosutils`
+This package contains the utilities like converting from ROS message types to native Tesseract types and the reverse.
 
-![Online Planning Example](gh_pages/_static/examples/online_planning_example.gif)
+### `tesseract_msgs`
+This package contains the ROS message types used by Tesseract ROS.
 
-## Building with Clang-Tidy Enabled
+### `tesseract_rviz`
+This package contains the ROS visualization plugins for Rviz to visualize Tesseract.
+All of the features have been composed in libraries to enable to the ability to create custom displays quickly.
 
-Must pass the -DTESSERACT_ENABLE_CLANG_TIDY=ON to cmake when building. This is automatically enabled if cmake argument -DTESSERACT_ENABLE_TESTING_ALL=ON is passed.
+### `tesseract_monitoring`
+This package contains different types of environment monitors.
+It currently contains a contact monitor and environment monitor.
+The contact monitor will monitor the active environment state and publish contact information.
+This is useful if the robot is being controlled outside of ROS, but you want to make sure it does not collide with objects in the environment.
+The second is the environment monitor, which is the main environment which facilitates requests to add, remove, disable and enable collision objects, while publishing its current state to keep other ROS nodes updated with the latest environment.
 
-## Running Tesseract ROS Tests
+### `tesseract_planning_server`
+This package contains a planning server supporting asynchronous execution of multiple planning requests.
 
-Tesseract ROS Packages use the typical method so pass catkin argument `run_tests` when wanting to run these tests.
+## Build
+- Create a `colcon` workspace and clone this repository into its `src` directory
 
-## Build Branch Sphinx Documentation
+- Add the dependencies
+    ```bash
+    cd <colcon_ws>
+    vcs import < src/tesseract_ros2/dependencies.repos
+    rosdep install --from-paths src -iry
+    ```
 
-```
-cd gh_pages
-sphinx-build . output
-```
-Now open gh_pages/output/index.rst and remove *output* directory before commiting changes.
+- Build
+    ```bash
+    colcon build --symlink-install --cmake-args -DTESSERACT_BUILD_FCL=OFF -DBUILD_RENDERING=OFF -DBUILD_STUDIO=OFF
+    ```

dependencies.repos

@@ -2,27 +2,27 @@ repositories:
   ros_industrial_cmake_boilerplate:
     type: git
     url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.7
+    version: 0.5.4
   tesseract:
     type: git
     url: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.18.1
+    version: 0.18.2
   trajopt:
     type: git
     url: https://github.com/tesseract-robotics/trajopt.git
     version: 0.6.0
   tesseract_planning:
     type: git
     url: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.18.3
+    version: 0.18.5
   tesseract_qt:
     type: git
     url: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.18.1
+    version: 0.18.4
   descartes_light:
     type: git
     url: https://github.com/swri-robotics/descartes_light.git
-    version: fbb74eb
+    version: 0.3.2
   opw_kinematics:
     type: git
     url: https://github.com/Jmeyer1292/opw_kinematics.git
@@ -35,10 +35,6 @@ repositories:
     type: git
     url: https://github.com/taskflow/taskflow.git
     version: v3.4.0
-  Qt-Advanced-Docking-System:
-    type: git
-    url: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
-    version: ros
   fcl:
     type: git
     url: https://github.com/flexible-collision-library/fcl.git

dependencies_unstable.repos

@@ -35,10 +35,6 @@ repositories:
     type: git
     url: https://github.com/taskflow/taskflow.git
     version: v3.4.0
-  Qt-Advanced-Docking-System:
-    type: git
-    url: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
-    version: ros
   fcl:
     type: git
     url: https://github.com/flexible-collision-library/fcl.git

dependencies_with_ext.repos

@@ -2,31 +2,27 @@ repositories:
   ros_industrial_cmake_boilerplate:
     type: git
     url: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.7
-  tesseract_ext:
-    type: git
-    url: https://github.com/tesseract-robotics/tesseract_ext.git
-    version: master
+    version: 0.5.4
   tesseract:
     type: git
     url: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.18.1
+    version: 0.18.2
   trajopt:
     type: git
     url: https://github.com/tesseract-robotics/trajopt.git
     version: 0.6.0
   tesseract_planning:
     type: git
     url: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.18.3
+    version: 0.18.5
   tesseract_qt:
     type: git
     url: https://github.com/tesseract-robotics/tesseract_qt.git
-    version: 0.18.1
+    version: 0.18.4
   descartes_light:
     type: git
     url: https://github.com/swri-robotics/descartes_light.git
-    version: fbb74eb
+    version: 0.3.2
   opw_kinematics:
     type: git
     url: https://github.com/Jmeyer1292/opw_kinematics.git
@@ -39,11 +35,11 @@ repositories:
     type: git
     url: https://github.com/taskflow/taskflow.git
     version: v3.4.0
-  Qt-Advanced-Docking-System:
-    type: git
-    url: https://github.com/Levi-Armstrong/Qt-Advanced-Docking-System.git
-    version: ros
   fcl:
     type: git
     url: https://github.com/flexible-collision-library/fcl.git
     version: 0.7.0
+  tesseract_ext:
+    type: git
+    url: https://github.com/tesseract-robotics/tesseract_ext.git
+    version: master