Fix remaining CI issues

.docker/ci-testing/Dockerfile

@@ -7,7 +7,7 @@ LABEL maintainer="Robert Haschke rhaschke@techfak.uni-bielefeld.de"
 
 # Switch to ros-testing
 RUN apt-get update && \
-    apt-get install -y ros2-testing-apt-source && \
+    apt-get install -y ros2-testing-apt-source --no-install-recommends && \
     # Upgrade packages to ros-testing and clean apt-cache within one RUN command
     apt-get update && \
     apt-get -qq -y dist-upgrade && \

.docker/ci/Dockerfile

@@ -24,6 +24,9 @@ RUN \
     apt-get -q install --no-install-recommends -y \
         # Some basic requirements
         wget git sudo curl \
+        # Use default gfortran for libopenmpi-dev
+        # https://bugs.launchpad.net/ubuntu/+source/openmpi/+bug/2166011
+        gfortran \
         # Preferred build tools
         clang clang-format clang-tidy clang-tools \
         ccache && \
@@ -34,12 +37,12 @@ RUN \
     #
     # 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 && \
+    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 -r --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false || true && \
+        rosdep install -y -r --from-paths src --ignore-src --rosdistro "${ROS_DISTRO}" --as-root=apt:false || true && \
     # Remove the source code from this container
     rm -rf src && \
     #

.docker/release/Dockerfile

@@ -10,7 +10,8 @@ ENV RTI_NC_LICENSE_ACCEPTED=yes
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 RUN apt-get update -q && \
-    apt-get install -y ros2-testing-apt-source && apt-get update -q && \
+    apt-get install -y ros2-testing-apt-source --no-install-recommends && \
+    apt-get update -q && \
     apt-get upgrade -q -y && \
-    apt-get install -y "ros-${ROS_DISTRO}-moveit-*" --no-install-recommends && \
+    apt-get install -y gfortran "ros-${ROS_DISTRO}-moveit-*" --no-install-recommends && \
     rm -rf /var/lib/apt/lists/*

.docker/source/Dockerfile

@@ -16,7 +16,7 @@ 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 --mount=type=cache,target=/root/.ccache/ \
+RUN --mount=type=cache,target=/root/.ccache \
     # Enable ccache
     PATH=/usr/lib/ccache:$PATH && \
     # Fetch required upstream sources for building
@@ -28,7 +28,7 @@ RUN --mount=type=cache,target=/root/.ccache/ \
     apt-get -q update && \
     rosdep update && \
     DEBIAN_FRONTEND=noninteractive \
-    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+        rosdep install -y --from-paths src --ignore-src --rosdistro "${ROS_DISTRO}" --as-root=apt:false && \
     rm -rf /var/lib/apt/lists/* && \
     # Build the workspace
     colcon build \

.docker/tutorial-source/Dockerfile

@@ -4,36 +4,32 @@
 # Source build of the repos file from the tutorial site
 
 ARG ROS_DISTRO=rolling
-ARG GZ_VERSION=ionic
 
 FROM moveit/moveit2:${ROS_DISTRO}-source
-LABEL maintainer="Tyler Weaver tyler@picknik.ai"
+LABEL maintainer="Robert Haschke rhaschke@techfak.uni-bielefeld.de"
 
 # 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/,sharing=locked \
+RUN --mount=type=cache,target=/root/.ccache \
         # Install Gazebo, which is needed by some dependencies.
-        sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
-        wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \
-        sudo apt update && \
-        sudo apt-get install -y "gz-${GZ_VERSION}" && \
+        apt-get -q update && \
+        apt-get install -y "ros-${ROS_DISTRO}-ros-gz" --no-install-recommends && \
         # Enable ccache
         PATH=/usr/lib/ccache:$PATH && \
         # Checkout the tutorial repo
         git clone https://github.com/moveit/moveit2_tutorials src/moveit2_tutorials && \
         # Fetch required upstream sources for building
-        vcs import --skip-existing src < src/moveit2_tutorials/moveit2_tutorials.repos && \
+        vcs import --skip-existing src < src/moveit2_tutorials/.github/upstream.repos && \
         # Source ROS install
         . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
         # Install dependencies from rosdep
-        apt-get -q update && \
         rosdep update && \
         DEBIAN_FRONTEND=noninteractive \
-        rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+            rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
         rm -rf /var/lib/apt/lists/* && \
         # Build the workspace
         colcon build \
         --cmake-args "-DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli" \
         --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \
         --event-handlers desktop_notification- status- && \
-        ccache -s && \
+        ccache -s

.dockerignore

@@ -1,36 +1,6 @@
 # ignore everything
-*
+**
 # but include these:
 !moveit2*.repos
 !**/package.xml
 !**/COLCON_IGNORE
-
-# https://github.com/moby/moby/issues/42788
-!moveit_plugins/moveit_plugins/package.xml
-!moveit_plugins/moveit_ros_control_interface/package.xml
-!moveit_plugins/moveit_simple_controller_manager/package.xml
-!moveit_kinematics/package.xml
-!moveit_common/package.xml
-!moveit_setup_assistant/package.xml
-!moveit_core/package.xml
-!moveit_commander/package.xml
-!moveit_planners/ompl/package.xml
-!moveit_planners/chomp/chomp_motion_planner/package.xml
-!moveit_planners/chomp/chomp_interface/package.xml
-!moveit_planners/pilz_industrial_motion_planner_testutils/package.xml
-!moveit_planners/pilz_industrial_motion_planner/package.xml
-!moveit_planners/moveit_planners/package.xml
-!moveit_runtime/package.xml
-!moveit/package.xml
-!moveit_ros/warehouse/package.xml
-!moveit_ros/moveit_servo/package.xml
-!moveit_ros/occupancy_map_monitor/package.xml
-!moveit_ros/perception/package.xml
-!moveit_ros/move_group/package.xml
-!moveit_ros/robot_interaction/package.xml
-!moveit_ros/visualization/package.xml
-!moveit_ros/planning/package.xml
-!moveit_ros/planning_interface/package.xml
-!moveit_ros/benchmarks/package.xml
-!moveit_ros/moveit_ros/package.xml
-!moveit_ros/hybrid_planning/package.xml

.github/workflows/ci.yaml

@@ -24,13 +24,12 @@ jobs:
           - IMAGE: lyrical-ci-testing
             IKFAST_TEST: true
             EXTRA_CXX_FLAGS: -Wno-error=deprecated-declarations
+            CLANG_TIDY: pedantic
           - IMAGE: rolling-ci
           - IMAGE: lyrical-ci-testing
             EXTRA_CXX_FLAGS: -Wno-error=deprecated-declarations
           - IMAGE: jazzy-ci
             IKFAST_TEST: true
-            # Moved here because Ubuntu 26.04 has issues compiling with clang++
-            CLANG_TIDY: pedantic
           - IMAGE: humble-ci
     env:
       # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option
@@ -176,6 +175,7 @@ jobs:
       - name: Generate codecov report
         uses: rhaschke/lcov-action@main
         if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
+        continue-on-error: true  # ignore non-suppressable errors of lcov
         with:
           docker: ${{ env.DOCKER_IMAGE }}
           workdir: ${{ env.BASEDIR }}/target_ws

.github/workflows/docker.build.yaml

@@ -0,0 +1,93 @@
+name: Build Docker image
+
+on:
+  workflow_call:
+    inputs:
+      image:
+        required: true
+        type: string
+      dockerfile:
+        required: true
+        type: string
+      ros_distro:
+        required: true
+        type: string
+      check_apt_updates:
+        default: false
+        type: boolean
+      full_source_context:
+        default: false
+        type: boolean
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+      contents: read
+    env:
+      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
+
+    steps:
+      - uses: actions/checkout@v7
+      - uses: rhaschke/docker-run-action@main
+        name: Check for apt updates
+        continue-on-error: true
+        id: apt
+        if: inputs.check_apt_updates
+        with:
+          image: ${{ inputs.image }}
+          run: |
+            apt-get update
+            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
+            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v4
+        id: setup-buildx
+      - name: Login to Github Container Registry
+        if: env.PUSH == 'true'
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Login to DockerHub
+        if: env.PUSH == 'true'
+        uses: docker/login-action@v4
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Cache
+        uses: actions/cache@v5
+        id: cache
+        with:
+          path: caches
+          key: docker-tutorial-cache-${{ inputs.ros_distro }}-${{ hashFiles(inputs.dockerfile) }}
+      - name: Inject caches into docker
+        uses: reproducible-containers/buildkit-cache-dance@v3
+        with:
+          builder: ${{ steps.setup-buildx.outputs.name }}
+          cache-dir: caches
+          dockerfile: ${{ inputs.dockerfile }}
+          skip-extraction: ${{ steps.cache.outputs.cache-hit }}
+
+      - name: Remove .dockerignore
+        if: inputs.full_source_context
+        run: rm .dockerignore  # enforce full source context
+      - name: Build and Push
+        uses: docker/build-push-action@v7
+        with:
+          context: .
+          file: ${{ inputs.dockerfile }}
+          build-args: ROS_DISTRO=${{ inputs.ros_distro }}
+          push: ${{ env.PUSH }}
+          no-cache: ${{ (inputs.check_apt_updates && steps.apt.outputs.no_cache) || github.event_name == 'workflow_dispatch' }}
+          cache-to: type=gha,mode=max
+          cache-from: |
+            type=gha
+            type=registry,ref=ghcr.io/${{ inputs.image }}
+          tags: |
+            ${{ inputs.image }}
+            ghcr.io/${{ inputs.image }}