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tylerjwtylerjw
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Run CI with upstream debians by default (#565)
So long as the released versions of our upstream repos don't have a breaking change we just depend on the debains in our tests. As soon as someone makes a change where they need the repos file, they can comment them back out until upstream changes are synced into the buildfarm.
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‎.github/workflows/build_and_test.yaml‎

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@@ -23,8 +23,9 @@ jobs:
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CLANG_TIDY: true
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env:
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DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
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UPSTREAM_WORKSPACE: moveit2.repos
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AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
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# The released versions of all upstream repos are current
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# UPSTREAM_WORKSPACE: moveit2.repos
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# AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
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BEFORE_TARGET_TEST_EMBED: ${{ matrix.env.IKFAST_TEST && 'set +u && source moveit_kinematics/test/test_ikfast_plugins.sh && set -u' || '' }}
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AFTER_RUN_TARGET_TEST: ${{ matrix.env.CCOV && './.ci.prepare_codecov' || '' }}
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TARGET_CMAKE_ARGS: >
@@ -53,13 +54,14 @@ jobs:
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sudo rm -rf /usr/local/*
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df -h
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- uses: actions/checkout@v2
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- name: cache upstream_ws
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/upstream_ws
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key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}-${{ github.run_id }}
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restore-keys: |
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upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}
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# The released versions of all upstream repos are current
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# - name: cache upstream_ws
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# uses: pat-s/[email protected]
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# with:
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# path: ${{ env.BASEDIR }}/upstream_ws
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# key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}-${{ github.run_id }}
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# restore-keys: |
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# upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: cache target_ws

‎.github/workflows/build_and_test_galactic.yaml‎

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@@ -20,8 +20,9 @@ jobs:
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- ROS_DISTRO: galactic
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ROS_REPO: testing
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env:
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UPSTREAM_WORKSPACE: moveit2.repos
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AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
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# The released versions of all upstream repos are current
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# UPSTREAM_WORKSPACE: moveit2.repos
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# AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
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TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v2
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- name: cache upstream_ws
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/upstream_ws
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key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}-${{ github.run_id }}
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restore-keys: |
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upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}
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# The released versions of all upstream repos are current
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# - name: cache upstream_ws
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# uses: pat-s/[email protected]
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# with:
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# path: ${{ env.BASEDIR }}/upstream_ws
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# key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}-${{ github.run_id }}
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# restore-keys: |
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# upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: cache target_ws

‎.github/workflows/build_and_test_rolling.yaml‎

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@@ -18,7 +18,7 @@ jobs:
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- ROS_DISTRO: rolling
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ROS_REPO: main
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env:
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UPSTREAM_WORKSPACE: moveit2.repos
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UPSTREAM_WORKSPACE: moveit2_rolling.repos
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AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
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TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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uses: pat-s/[email protected]
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with:
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path: ${{ env.BASEDIR }}/upstream_ws
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key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}-${{ github.run_id }}
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key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2_rolling.repos') }}-${{ github.run_id }}
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restore-keys: |
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upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}
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upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2_rolling.repos') }}
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# The target directory cache doesn't include the source directory because
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# that comes from the checkout. See "prepare target_ws for cache" task below
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- name: cache target_ws

‎moveit2_rolling.repos‎

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repositories:
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geometric_shapes:
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type: git
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url: https://github.com/ros-planning/geometric_shapes
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version: ros2
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warehouse_ros:
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type: git
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url: https://github.com/ros-planning/warehouse_ros
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version: ros2
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warehouse_ros_mongo:
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type: git
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url: https://github.com/ros-planning/warehouse_ros_mongo
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version: ros2

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