Migrate CI to GitHub Actions (moveit#89)

.github/workflows/format.yaml

@@ -0,0 +1,31 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/setup-python@v2
+      - name: Install clang-format-10
+        run: sudo apt-get install clang-format-10
+      - name: Install catkin-lint
+        run: |
+          lsb_release -sc
+          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+          sudo apt-get -q update
+          sudo apt-get -q install python3-rosdep
+          sudo rosdep init
+          rosdep update
+          sudo apt-get -q install catkin-lint
+          export ROS_DISTRO=noetic
+      - uses: pre-commit/[email protected]

.github/workflows/industrial_ci_action.yaml

@@ -0,0 +1,68 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: BuildAndTest
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - ROS_DISTRO: noetic
+            ROS_REPO: main
+            CLANG_TIDY: true
+          - ROS_DISTRO: noetic
+            ROS_REPO: testing
+    env:
+      TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}${{ matrix.env.CCOV && '-ccov' || '' }}"
+      CLANG_TIDY: true
+      CLANG_TIDY_BASE_REF: "${{ github.base_ref || github.ref }}"
+
+    name: "${{ matrix.env.ROS_DISTRO }} + ${{ matrix.env.ROS_REPO }}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}-
+      - name: industrial_ci
+        uses: 'tylerjw/industrial_ci@clang-tidy-modified-filter'
+        env: ${{ matrix.env }}
+      - name: upload test artifacts (on failure)
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws

.pre-commit-config.yaml

@@ -0,0 +1,56 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black
+    rev: 20.8b1
+    hooks:
+      - id: black
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-10
+        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']
+      - id: catkin_lint
+        name: catkin_lint
+        description: Check package.xml and cmake files
+        entry: catkin_lint .
+        language: system
+        always_run: true
+        pass_filenames: false

CMakeLists.txt

@@ -54,6 +54,8 @@ add_library(${PROJECT_NAME}
   src/imarker_robot_state.cpp
   src/imarker_end_effector.cpp
 )
+target_compile_options(${PROJECT_NAME} PRIVATE
+  -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls)
 set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 add_dependencies(${PROJECT_NAME} graph_msgs_generate_messages_cpp)
 target_link_libraries(${PROJECT_NAME}
@@ -62,6 +64,8 @@ target_link_libraries(${PROJECT_NAME}
 
 # Demo executable
 add_executable(${PROJECT_NAME}_demo src/${PROJECT_NAME}_demo.cpp)
+target_compile_options(${PROJECT_NAME}_demo PRIVATE
+  -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls)
 target_link_libraries(${PROJECT_NAME}_demo
   ${catkin_LIBRARIES} ${PROJECT_NAME}
 )

README.md

@@ -17,7 +17,7 @@ This open source project was developed at [PickNik Robotics](https://picknik.ai/
 
 ## Status:
 
-* [![Build Status](https://travis-ci.org/ros-planning/moveit_visual_tools.svg)](https://travis-ci.org/ros-planning/moveit_visual_tools) Travis CI
+* [![Format](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/format.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/format.yaml?branch=master) [![BuildAndTest](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/industrial_ci_action.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/industrial_ci_action.yaml?branch=master) GitHub Actions
 * [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary/) ROS Buildfarm - AMD64 Xenial Debian Build - Ubuntu 16.04 LTS
 * [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__moveit_visual_tools__ubuntu_xenial_amd64)](http://build.ros.org/view/Kdev/job/Kdev__moveit_visual_tools__ubuntu_xenial_amd64/) ROS Buildfarm - AMD64 Xenial Devel Build - Ubuntu 16.04 LTS
 * [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_visual_tools__ubuntu_bionic__source)](http://build.ros.org/job/Msrc_uB__moveit_visual_tools__ubuntu_bionic__source/) ROS Buildfarm - AMD64 Bionic Source Build - Ubuntu 18.04 LTS

launch/debug_settings.gdb

@@ -1,2 +1,2 @@
 set breakpoint pending on
-break planning_scene.cpp:1600
+break planning_scene.cpp:1600

mainpage.dox

@@ -11,4 +11,4 @@
 \section Action Server for Generating Grasps
 - \link moveit_simple_grasps::GraspGeneratorServer \endlink
 
-*/
+*/