build: add workflows based on moveit

.docker/ci-testing/Dockerfile

@@ -0,0 +1,14 @@
+# mujoco_ros/mujoco_ros:noetic-ci-testing
+
+ARG IMAGE=noetic
+FROM davidpl1/mujoco_ros:${IMAGE}-ci
+
+# Switch to ros-testing
+RUN echo "deb http://packages.ros.org/ros-testing/ubuntu `lsb_release -cs` main" | tee /etc/apt/sources.list.d/ros1-latest.list
+
+# Upgrade packages to ros-testing and clean apt-cache within one RUN command
+RUN apt-get -qq update && \
+    apt-get -qq -y dist-upgrade && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/*

.docker/ci/Dockerfile

@@ -0,0 +1,47 @@
+ARG ROS_DISTRO=noetic
+ARG MUJOCO_VERSIONS=[2.3.6]
+FROM ros:${ROS_DISTRO}-ros-base
+
+ENV TERM xterm
+ENV MUJOCO_DIR=${HOME}/mujoco/2.3.6
+
+# Setup temporary ROS workspace
+WORKDIR /root/ws_mujoco
+
+# Copy MuJoCo ROS sources from docker context
+COPY . src/mujoco_ros_pkgs
+
+# Combined commands for less stages
+RUN \
+    apt-get -q update && \
+    apt-get -q -y dist-upgrade && \
+    #
+    # Base dependencies
+    apt-get -q install --no-install-recommends -y \
+        wget git sudo python3-wstool \
+        # Build tools
+        python3-catkin-tools \
+        clang clang-format-10 clang-tidy clang-tools \
+        ccache tree && \
+    #
+    tree . && \
+    # Download upstream repo dependencies
+    wstool init --shallow src src/mujoco_ros_pkgs/.github/workflows/upstream.rosinstall && \
+    #
+    # Download all dependencies
+    rosdep update && \
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+    # Remove sources from the container
+    rm -rf src && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/* && \
+    #
+    tree . && \
+    # Install MuJoCo Versions
+    ./src/mujoco_ros_pkgs/.docker/ci/mujoco_installer.sh && \
+    # Globally disable git security
+    git config --global --add safe.directory "*"
+
+ENV IN_DOCKER 1

.docker/ci/mujoco_installer.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+mkdir -p ${HOME}/mujoco
+rm -rf ${HOME}/mujoco/*
+echo parsing MuJoCo versions: $MUJOCO_VERSIONS
+newstr=$(echo $MUJOCO_VERSIONS  | sed 's/\[//' ) # remove [
+newstr2=$(echo $newstr | sed 's/\]//' ) # remove ]
+IFS=, # split on ,
+read -r -a versions <<< "$newstr2"
+#set -o noglob # disable glob
+#set -- $newstr2 # split+glob with glob disabled
+
+for mj_version in "${versions[@]}"
+do
+	echo "installing MuJoCo Version ${mj_version} ..."
+	available=$(curl -o /dev/null --silent -Iw '%{http_code}' \
+		https://github.com/google-deepmind/mujoco/releases/download/${mj_version}/mujoco-${mj_version}-linux-x86_64.tar.gz)
+	if [[ $available -eq 404 ]]; then
+		echo "version ${mj_version} could not be found!"
+		continue
+	fi
+	curl -O -L https://github.com/google-deepmind/mujoco/releases/download/${mj_version}/mujoco-${mj_version}-linux-x86_64.tar.gz || echo "could not find version ${mj_version}!"
+	mkdir ${HOME}/mujoco/${mj_version}
+	tar -xzf mujoco-${mj_version}-linux-x86_64.tar.gz -C ${HOME}/mujoco/${mj_version} --strip-components 1
+	rm mujoco-${mj_version}-linux-x86_64.tar.gz
+done

.docker/source/Dockerfile

@@ -0,0 +1,30 @@
+ARG IMAGE=noetic
+
+FROM davidpl1/mujoco_ros:${IMAGE}-ci-testing
+
+ENV PYTHONIOENCODING UTF-8
+# Export ROS_UNDERLAY for downstream docker containers
+ENV ROS_UNDERLAY /root/ws_mujoco/install
+# Environment variable used in instructions on moveit.ros.org website for running clang-tidy
+ENV CATKIN_WS $(realpath $ROS_UNDERLAY/..)
+WORKDIR $ROS_UNDERLAY/..
+
+# Copy MoveIt sources from docker context
+COPY . src/mujoco_ros_pkgs
+
+# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
+# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
+RUN --mount=type=cache,target=/root/.ccache/ \
+    # Enable ccache
+    PATH=/usr/lib/ccache:$PATH && \
+    # Fetch required upstream sources for building
+    wstool init --shallow src src/mujoco_ros_pkgs/.github/workflows/upstream.rosinstall && \
+    #
+    catkin config --extend /opt/ros/$ROS_DISTRO --install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON && \
+    # Status rate is limited so that just enough info is shown to keep Docker from timing out,
+    # but not too much such that the Docker log gets too long (another form of timeout)
+    catkin build --limit-status-rate 0.001 --no-notify && \
+    ccache -s && \
+    #
+    # Update /ros_entrypoint.sh to source our new workspace
+    sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g" /ros_entrypoint.sh

.github/workflows/ci.yaml

@@ -0,0 +1,159 @@
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - noetic-devel
+      - noetic-master
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  default:
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - IMAGE: noetic-ci
+            CCOV: true
+            BUILDER: catkin_tools_devel
+            MUJOCO_VERSION: 2.3.6
+          - IMAGE: noetic-ci
+            CCOV: true
+            BUILDER: catkin_tools_devel
+            MUJOCO_VERSION: 2.3.7
+          - IMAGE: master-ci
+            CATKIN_LINT: true
+    env:
+      DOCKER_RUN_OPTS: MUJOCO_DIR=${HOME}/mujoco/${{ env.MUJOCO_VERSION }}
+      CXXFLAGS: -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
+      CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
+      DOCKER_IMAGE: docker.io/${{ secrets.DOCKERHUB_USER }}/mujoco_ros:${{ matrix.env.IMAGE }}
+      UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
+      DOWNSTREAM_WORKSPACE: .github/workflows/downstream.rosinstall
+      # Pull any updates to the upstream workspace
+      AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
+      AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
+      # Clear ccache stats before and log the stats after the build
+      AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
+      AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats
+      AFTER_BUILD_DOWNSTREAM_WORKSPACE: ccache --show-stats
+      # Compile CCOV with Debug. Enable -Werror.
+      TARGET_CMAKE_ARGS: >
+        -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
+        -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
+      UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
+      DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
+      BEFORE_CLANG_TIDY_CHECKS: |
+        # Show list of applied checks
+        (cd $TARGET_REPO_PATH; clang-tidy --list-checks)
+      BUILDER: ${{ matrix.env.BUILDER || 'catkin_tools' }}
+      CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
+      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
+
+    name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}"
+    runs-on: [self-hosted, jammy]
+    steps:
+      - name: "Free up disk space"
+        if: matrix.env.CCOV
+        run: |
+          sudo apt-get -qq purge build-essential "ghc*"
+          sudo apt-get clean
+          # cleanup docker images not used by us # can't do that right now
+          # docker system prune -af
+          # shift ccache folder to /mnt on a separate disk
+          sudo mkdir /mnt/ccache
+          mkdir ${{ env.CCACHE_DIR }}
+          sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache
+          # free up a lot of stuff from /usr/local # Also not a good idea on a self-hosted runner
+          # sudo rm -rf /usr/local
+          df -h
+      - uses: actions/checkout@v3
+      - name: Cache upstream workspace
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.BASEDIR }}/upstream_ws
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: ${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+          CACHE_PREFIX: upstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('.github/workflows/upstream.rosinstall', '.github/workflows/ci.yaml') }}
+      - name: Cache downstream workspace
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.BASEDIR }}/downstream_ws
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: ${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+          CACHE_PREFIX: downstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('.github/workflows/downstream.rosinstall', '.github/workflows/ci.yaml') }}
+      # 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 workspace
+        if: "!matrix.env.CCOV"
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: ${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+          CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
+      - name: Cache ccache
+        uses: rhaschke/cache@main
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+          CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
+
+      - id: ici
+        name: Run industrial_ci
+        uses: ros-industrial/industrial_ci@master
+        env: ${{ matrix.env }}
+
+      - name: Upload test artifacts (on failure)
+        uses: actions/upload-artifact@v3
+        if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
+        with:
+          name: test-results-${{ matrix.env.IMAGE }}
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: Generate codecov report
+        uses: rhaschke/lcov-action@main
+        if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
+        with:
+          docker: $DOCKER_IMAGE
+          workdir: ${{ env.BASEDIR }}/target_ws
+          ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
+      - name: Upload codecov report
+        uses: codecov/codecov-action@v3
+        if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
+        with:
+          files: ${{ env.BASEDIR }}/target_ws/coverage.info
+      - name: Upload clang-tidy changes
+        uses: rhaschke/upload-git-patch-action@main
+        if: always() && matrix.env.CLANG_TIDY
+        with:
+          name: clang-tidy
+          path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd))
+      - 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 ${{ env.BASEDIR }}/target_ws/logs
+          du -sh ${{ env.BASEDIR }}/target_ws