From 77685920715d6aeda7c1cb1d172b9bf7e94158d8 Mon Sep 17 00:00:00 2001 From: Robert Haschke 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/ci.yaml | 9 +- .github/workflows/downstream.rosinstall | 2 +- .github/workflows/robostack.yaml | 104 ------------------------ .github/workflows/upstream.rosinstall | 4 + 4 files changed, 12 insertions(+), 107 deletions(-) delete mode 100644 .github/workflows/robostack.yaml diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 5620d6d59be..1dec336cead 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -32,10 +32,15 @@ jobs: DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }} UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall TARGET_WORKSPACE: $TARGET_REPO_PATH github:ros-planning/moveit_resources#master - DOWNSTREAM_WORKSPACE: .github/workflows/downstream.rosinstall + DOWNSTREAM_WORKSPACE: > + .github/workflows/downstream.rosinstall + github:frankaemika/franka_ros#develop # Pull any updates to the upstream workspace (after restoring it from cache) AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src - AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src + AFTER_SETUP_DOWNSTREAM_WORKSPACE: | + vcs pull $BASEDIR/downstream_ws/src + mv $BASEDIR/downstream_ws/src/franka_ros/franka_description $BASEDIR/downstream_ws/src + rm -rf $BASEDIR/downstream_ws/src/franka_ros # Clear the ccache stats before and log the stats after the build AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats diff --git a/.github/workflows/downstream.rosinstall b/.github/workflows/downstream.rosinstall index 96e49e42123..64387854425 100644 --- a/.github/workflows/downstream.rosinstall +++ b/.github/workflows/downstream.rosinstall @@ -13,4 +13,4 @@ - git: local-name: panda_moveit_config uri: https://github.com/ros-planning/panda_moveit_config.git - version: melodic-devel + version: noetic-devel 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