From c29de410aa7ca702881e4c2aa120850cf45310b0 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Thu, 9 Mar 2023 21:16:55 +0100
Subject: [PATCH] Fix ci testing (backport #1994) (#1997)

(cherry picked from commit caac9da542857d71d45d8b6d632cab8469847b46)

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
---
 .docker/ci-testing/Dockerfile | 56 +++++++++++++++++++++++++++++++----
 .github/workflows/docker.yaml |  1 -
 2 files changed, 50 insertions(+), 7 deletions(-)

diff --git a/.docker/ci-testing/Dockerfile b/.docker/ci-testing/Dockerfile
index c304416645..88ee8eb1ee 100644
--- a/.docker/ci-testing/Dockerfile
+++ b/.docker/ci-testing/Dockerfile
@@ -2,15 +2,59 @@
 # CI image using the ROS testing repository
 
 ARG ROS_DISTRO=rolling
-FROM ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-ci
+FROM osrf/ros2:testing
 LABEL maintainer Robert Haschke rhaschke@techfak.uni-bielefeld.de
 
-# Switch to ros-testing
-RUN echo "deb http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2-latest.list
+ENV TERM xterm
 
-# Upgrade packages to ros-shadow-fixed and clean apt-cache within one RUN command
-RUN apt-get -qq update && \
-    apt-get -qq upgrade && \
+# 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
+# to install them with every new build. The testing image and packages will only update every couple weeks.
+RUN \
+    # Update apt package list as previous containers clear the cache
+    apt-get -q update && \
+    apt-get -q -y upgrade && \
+    #
+    # Install base dependencies
+    apt-get -q install --no-install-recommends -y \
+        # Some basic requirements
+        wget git sudo curl \
+        # Preferred build tools
+        clang clang-format-14 clang-tidy clang-tools \
+        ccache \
+        ros-"$ROS_DISTRO"-ros-base && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/*
+
+# Setup (temporary) ROS workspace
+WORKDIR /root/ws_moveit
+
+# Copy MoveIt sources from docker context
+COPY . src/moveit2
+
+# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
+# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
+RUN \
+    # Update apt package list as previous containers clear the cache
+    apt-get -q update && \
+    apt-get -q -y upgrade && \
+    #
+    # Globally disable git security
+    # https://github.blog/2022-04-12-git-security-vulnerability-announced
+    git config --global --add safe.directory "*" && \
+    #
+    # Fetch all dependencies from moveit2.repos
+    vcs import src < src/moveit2/moveit2.repos && \
+    if [ -r src/moveit2/moveit2_"$ROS_DISTRO".repos ] ; then vcs import src < src/moveit2/moveit2_"$ROS_DISTRO".repos ; fi && \
+    #
+    # Download all dependencies of MoveIt
+    rosdep update && \
+    DEBIAN_FRONTEND=noninteractive \
+    rosdep install -y --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" --as-root=apt:false && \
+    # Remove the source code from this container
+    rm -rf src && \
     #
     # Clear apt-cache to reduce image size
     rm -rf /var/lib/apt/lists/*
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index 6ab8408a11..ff37875017 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -98,7 +98,6 @@ jobs:
             ${{ env.DH_IMAGE }}
 
   ci-testing:
-    needs: ci
     strategy:
       fail-fast: false
       matrix: