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Backport #1908 and #2035 #2081

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Apr 5, 2023
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Backport #1908 and #2035 #2081

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64003fe
Temporarily switch to dockerhub for CI jobs (#1908)
vatanaksoytezer Jan 29, 2023
c06ddee
Allow ci-testing Dockerfile to update the ROS_DISTRO (#2035)
adlarkin Mar 24, 2023
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12 changes: 10 additions & 2 deletions .docker/ci-testing/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,12 +1,20 @@
# 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 osrf/ros2:testing
LABEL maintainer Robert Haschke [email protected]

ENV TERM xterm

# 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
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2 changes: 1 addition & 1 deletion .docker/source/Dockerfile
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Expand Up @@ -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
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6 changes: 4 additions & 2 deletions .github/workflows/ci.yaml
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Expand Up @@ -31,8 +31,10 @@ jobs:
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 $BASEDIR/upstream_ws/src
# Uninstall binaries that are duplicated in the .repos file
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2 changes: 1 addition & 1 deletion .github/workflows/docker.yaml
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Expand Up @@ -131,7 +131,7 @@ jobs:
uses: docker/build-push-action@v4
with:
file: .docker/${{ 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: |
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