Deduplicate joint trajectory points in Pilz Move Group Sequence capab… #1341
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: "Tutorial Docker Images" | |
| on: | |
| schedule: | |
| # 5 PM UTC every Sunday | |
| - cron: '0 17 * * 6' | |
| workflow_dispatch: | |
| pull_request: | |
| merge_group: | |
| push: | |
| branches: | |
| - main | |
| jobs: | |
| tutorial-source: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ROS_DISTRO: [rolling, humble, iron] | |
| runs-on: ubuntu-latest | |
| permissions: | |
| packages: write | |
| contents: read | |
| env: | |
| GH_IMAGE: ghcr.io/moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} | |
| DH_IMAGE: moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }} | |
| PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| - name: Login to Github Container Registry | |
| if: env.PUSH == 'true' | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: ghcr.io | |
| username: ${{ github.repository_owner }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| - name: Login to DockerHub | |
| if: env.PUSH == 'true' | |
| uses: docker/login-action@v3 | |
| with: | |
| username: ${{ secrets.DOCKERHUB_USERNAME }} | |
| password: ${{ secrets.DOCKERHUB_TOKEN }} | |
| - name: "Remove .dockerignore" | |
| run: rm .dockerignore # enforce full source context | |
| - name: Cache ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: .ccache | |
| key: docker-tutorial-ccache-${{ matrix.ROS_DISTRO }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }} | |
| - name: inject ccache into docker | |
| uses: reproducible-containers/[email protected] | |
| with: | |
| cache-source: .ccache | |
| cache-target: /root/.ccache/ | |
| - name: Build and Push | |
| uses: docker/build-push-action@v6 | |
| with: | |
| context: . | |
| file: .docker/${{ github.job }}/Dockerfile | |
| build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }} | |
| push: ${{ env.PUSH }} | |
| cache-from: type=gha | |
| cache-to: type=gha,mode=max | |
| tags: | | |
| ${{ env.GH_IMAGE }} | |
| ${{ env.DH_IMAGE }} | |
| delete_untagged: | |
| runs-on: ubuntu-latest | |
| needs: | |
| - tutorial-source | |
| steps: | |
| - name: Delete Untagged Images | |
| if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') | |
| uses: actions/github-script@v7 | |
| with: | |
| github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }} | |
| script: | | |
| const response = await github.request("GET /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions", { | |
| per_page: ${{ env.PER_PAGE }} | |
| }); | |
| for(version of response.data) { | |
| if (version.metadata.container.tags.length == 0) { | |
| console.log("delete " + version.id) | |
| const deleteResponse = await github.request("DELETE /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions/" + version.id, { }); | |
| console.log("status " + deleteResponse.status) | |
| } | |
| } | |
| env: | |
| OWNER: moveit | |
| PACKAGE_NAME: moveit2 | |
| PER_PAGE: 100 |