Fix CI for Jazzy, Lyrical, Rolling

.docker/Dockerfile

@@ -61,7 +61,7 @@ RUN --mount=type=cache,target=/root/.ccache/ \
     # Enable ccache
     . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
     . "install/setup.sh" &&\
-    sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
+    sudo apt update && rosdep update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
     colcon build \
         --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
                      -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \

.github/upstream.repos

@@ -7,10 +7,6 @@ repositories:
     type: git
     url: https://github.com/moveit/moveit_visual_tools
     version: ros2
-  rosparam_shortcuts:
-    type: git
-    url: https://github.com/PickNikRobotics/rosparam_shortcuts
-    version: ros2
   rviz_visual_tools:
     type: git
     url: https://github.com/PickNikRobotics/rviz_visual_tools.git
@@ -30,3 +26,7 @@ repositories:
     type: git
     url: https://github.com/tylerjw/serial.git
     version: ros2
+  picknik_controllers:
+    type: git
+    url: https://github.com/PickNikRobotics/picknik_controllers.git
+    version: main

.github/workflows/ci.yaml

@@ -23,49 +23,57 @@ jobs:
         env:
           - IMAGE: rolling-source
           - IMAGE: rolling-release
+          - IMAGE: lyrical-release
+          - IMAGE: jazzy-release
 
     env:
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
+      # Use /root/ws_moveit/install as UNDERLAY in *-source images
+      UNDERLAY: ${{ endsWith(matrix.env.IMAGE, '-source') && '/root/ws_moveit/install' || '' }}
       UPSTREAM_WORKSPACE: .github/upstream.repos
+      BEFORE_SETUP_UPSTREAM_WORKSPACE: git config --global --add safe.directory "*"
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
       TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: ${{ matrix.env.IMAGE }}
 
     name: ${{ matrix.env.IMAGE }}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v7
         with:
           fetch-depth: 0
       - name: cache upstream_ws
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
-          save-always: true
           path: ${{ env.BASEDIR }}/upstream_ws
-          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('.github/upstream.repos') }}-${{ github.run_id }}
-          restore-keys: |
-            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('.github/upstream.repos') }}
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: ${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+          CACHE_PREFIX: upstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('.github/upstream.repos') }}
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
-          save-always: true
           path: ${{ env.BASEDIR }}/target_ws
-          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
-          restore-keys: |
-            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: ${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+          CACHE_PREFIX: target_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
-          save-always: true
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
+            ${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ${{ env.CACHE_PREFIX }}
+        env:
+          GHA_CACHE_SAVE: always
+          CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: industrial_ci
         uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}

.github/workflows/deploy.yml

@@ -6,7 +6,6 @@ on:
   push:
     branches:
       - main
-      - humble
 
 permissions:
   contents: read
@@ -19,7 +18,7 @@ jobs:
     container:
       image: moveit/moveit2:rolling-source
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
 
     - name: Install Python dependencies
       shell: bash
@@ -59,7 +58,7 @@ jobs:
     container:
       image: ${{ matrix.container }}
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
 
     - name: Install Python dependencies
       shell: bash
@@ -85,7 +84,7 @@ jobs:
       run: tar cvzf artifact.tar.gz --directory=build/html .
 
     - name: Upload HTML Artifact
-      uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v7
       with:
         name: '${{ matrix.branch }}_html_artifacts'
         path: artifact.tar.gz
@@ -94,15 +93,10 @@ jobs:
     runs-on: ubuntu-latest
     needs: upload_site_artifacts
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
       with:
         fetch-depth: 0
 
-    - uses: actions/setup-python@v5
-      with:
-        python-version: '3.10'
-        cache: 'pip'
-
     - name: Install Python dependencies
       run: |
         python -m pip install --upgrade pip
@@ -117,7 +111,7 @@ jobs:
 
     # TODO (peterdavidfagan): don't hardcode branches for downloads
     - name: Download Rolling Artifacts
-      uses: actions/download-artifact@v4
+      uses: actions/download-artifact@v8
       with:
         name: main_html_artifacts
         path: .
@@ -129,7 +123,7 @@ jobs:
         rm artifact.tar.gz
 
     - name: Download Humble Artifacts
-      uses: actions/download-artifact@v4
+      uses: actions/download-artifact@v8
       with:
         name: humble_html_artifacts
         path: .
@@ -151,7 +145,7 @@ jobs:
         cp -rf python_api/ build/html/main/doc/api/   # restore artifact html
 
     - name: Upload pages artifact
-      uses: actions/upload-pages-artifact@v3
+      uses: actions/upload-pages-artifact@v5
       if: github.repository_owner == 'moveit'
       with:
         path: build/html
@@ -166,4 +160,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v4
+        uses: actions/deploy-pages@v5

.github/workflows/docker-images.yml

@@ -31,7 +31,7 @@ jobs:
           username: ${{ github.repository_owner }}
           password: ${{ secrets.GITHUB_TOKEN }}
       - name: Build Tutorial Image
-        uses: docker/build-push-action@v6
+        uses: docker/build-push-action@v7
         with:
           file: .docker/Dockerfile
           build-args: |

.github/workflows/docker.yml

@@ -21,7 +21,7 @@ jobs:
     steps:
       - name: Delete Untagged Images
         if: (github.event_name == 'schedule')
-        uses: actions/github-script@v7
+        uses: actions/github-script@v9
         with:
           github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
           script: |

.github/workflows/format.yml

@@ -9,20 +9,22 @@ on:
   push:
     branches:
       - main
-      - humble
 
 permissions:
   contents: read # to fetch code (actions/checkout)
 
 jobs:
   pre-commit:
     name: Format
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-26.04
     steps:
-    - uses: actions/checkout@v4
-    - uses: actions/setup-python@v5
-      with:
-        python-version: '3.10'
-    - name: Install clang-format-14
-      run: sudo apt-get install clang-format-14
+    - uses: actions/checkout@v7
+    - name: Install clang-format
+      run: sudo apt-get install clang-format
     - uses: pre-commit/action@v3.0.1
+      id: precommit
+    - name: Upload pre-commit changes
+      if: failure() && steps.precommit.outcome == 'failure'
+      uses: rhaschke/upload-git-patch-action@main
+      with:
+        name: pre-commit

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0
+    rev: v6.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -28,7 +28,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 24.10.0
+    rev: 26.5.1
     hooks:
       - id: black
 
@@ -43,13 +43,13 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-14
+        entry: clang-format
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
 
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.4.0
+    rev: v2.4.3
     hooks:
       - id: codespell
         args: ['--write-changes', '--ignore-words=.codespell_words']

CMakeLists.txt

@@ -9,33 +9,24 @@ set(THIS_PACKAGE_INCLUDE_DIRS
   doc/interactivity/include
 )
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-  ament_cmake
-  Boost
-  control_msgs
-  Eigen3
-  interactive_markers
-  moveit_core
-  moveit_msgs
-  moveit_ros_planning
-  moveit_ros_planning_interface
-  moveit_ros_trajectory_cache
-  moveit_servo
-  moveit_task_constructor_core
-  moveit_visual_tools
-  pluginlib
-  rclcpp
-  rclcpp_action
-  rviz_visual_tools
-  tf2_geometry_msgs
-  tf2_geometry_msgs
-  tf2_ros
-  warehouse_ros_sqlite
-)
-
-foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
-  find_package(${Dependency} REQUIRED)
-endforeach()
+find_package(ament_cmake)
+find_package(Boost CONFIG REQUIRED)
+find_package(control_msgs)
+find_package(Eigen3)
+find_package(interactive_markers)
+find_package(moveit_core)
+find_package(moveit_ros_planning)
+find_package(moveit_ros_planning_interface)
+find_package(moveit_ros_trajectory_cache)
+find_package(moveit_servo)
+find_package(moveit_task_constructor_core)
+find_package(moveit_visual_tools)
+find_package(pluginlib)
+find_package(rclcpp)
+find_package(rclcpp_action)
+find_package(rviz_visual_tools)
+find_package(tf2_ros)
+find_package(warehouse_ros_sqlite)
 
 include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
 
@@ -77,9 +68,6 @@ add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
 add_subdirectory(doc/tutorials/quickstart_in_rviz)
 add_subdirectory(doc/how_to_guides/pick_ik)
 
-ament_export_dependencies(
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
-)
 
 ament_export_include_directories(include)