Allow RobotState::setFromIK to work with subframes (backport #3077) #1949
Workflow file for this run
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| name: "Tutorial Docker Images" | |
| on: | |
| schedule: | |
| # 5 PM UTC every Sunday | |
| - cron: '0 17 * * 6' | |
| workflow_dispatch: | |
| pull_request: | |
| merge_group: | |
| push: | |
| branches: | |
| - humble | |
| jobs: | |
| tutorial-source: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ROS_DISTRO: [humble] | |
| runs-on: ubuntu-latest | |
| permissions: | |
| packages: write | |
| contents: read | |
| env: | |
| GH_IMAGE: ghcr.io/moveit/moveit2:humble-${{ matrix.ROS_DISTRO }}-${{ github.job }} | |
| DH_IMAGE: moveit/moveit2:humble-${{ matrix.ROS_DISTRO }}-${{ 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 }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }} | |
| - name: inject ccache into docker | |
| uses: reproducible-containers/buildkit-cache-dance@v3.1.2 | |
| with: | |
| cache-source: .ccache | |
| cache-target: /root/.ccache/ | |
| - name: Build and Push | |
| uses: docker/build-push-action@v6 | |
| with: | |
| context: . | |
| file: .docker/${{ 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 |