Revert "Change Build Tutorial Image CI job to only build main again…

…st Rolling (moveit#782)"

This reverts commit 8cd7875.

.docker/Dockerfile

@@ -8,11 +8,14 @@ FROM moveit/moveit2:${ROS_DISTRO}-source as tutorial_image
 
 LABEL org.opencontainers.image.description "This container has working versions of the tutorials discussed here: https://moveit.picknik.ai/main/doc/tutorials/tutorials.html"
 
-# Copy sources from docker context
+# Copy MoveIt sources from docker context
 COPY . src/moveit2_tutorials
 
-# Fetch required upstream sources for building
-RUN vcs import src < src/moveit2_tutorials/.github/upstream.repos
+# 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/ \
+    # Fetch required upstream sources for building
+    vcs import src < /root/ws_moveit/src/moveit2_tutorials/.github/upstream.repos
 
 ######################### Hello World Tutorial  #########################################
 
@@ -25,7 +28,10 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
     --dependencies moveit_ros_planning_interface moveit_visual_tools rclcpp \
     --node-name hello_moveit hello_moveit
 
-# Replace template hello_moveit.cpp with implementation from planning_around_objects
+######################### Planning Around Objects  #######################################
+
+# Remove the hello_world tutorial cpp file and replace it with the planning_around_objects file
+RUN rm src/hello_moveit/src/hello_moveit.cpp
 COPY ./doc/tutorials/planning_around_objects/hello_moveit.cpp src/hello_moveit/src/hello_moveit.cpp
 
 ######################### Pick and Place (MTC) Image  #########################################
@@ -39,7 +45,8 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
         --dependencies moveit_task_constructor_core rclcpp \
         --node-name mtc_node mtc_tutorial
 
-# Replace template mtc_node.cpp with the example file
+# Remove the empty cpp file and replace it with the example file
+RUN rm src/mtc_tutorial/src/mtc_node.cpp
 COPY ./doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp src/mtc_tutorial/src/mtc_node.cpp
 
 # Add the launch folder to the tutorial package and CMakeLists.txt
@@ -51,7 +58,7 @@ RUN sed -i "s|ament_package()|install(DIRECTORY launch  DESTINATION share/\${PRO
 RUN --mount=type=cache,target=/root/.ccache/ \
     # Enable ccache
     . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
-    . "install/setup.sh" &&\
+     . "install/setup.sh" &&\
     sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
     sudo apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
     colcon build \

.github/workflows/docker-images.yml

@@ -9,7 +9,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [humble, rolling]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -19,6 +19,11 @@ jobs:
       PUSH: ${{ (github.ref_name == 'main') }}
 
     steps:
+      - name: Checkout distro branch
+        if: ${{ matrix.ROS_DISTRO != 'rolling' }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ matrix.ROS_DISTRO }}
       - name: Set lower case for container name
         run: |
           echo "GH_IMAGE_LC=${GH_IMAGE,,}" >>${GITHUB_ENV}