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Continuous Integration for MoveIt

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moveit_ci's Introduction

The MoveIt Motion Planning Framework for ROS. For the ROS 2 repository see MoveIt 2. For the commercially supported version see MoveIt Pro.

Easy-to-use open source robotics manipulation platform for developing commercial applications, prototyping designs, and benchmarking algorithms.

Branches Policy

We develop latest features on master.
The *-devel branches correspond to released and stable versions of MoveIt for specific distributions of ROS. noetic-devel is synced to master currently.
Bug fixes occasionally get backported to these released versions of MoveIt.
To facilitate compile-time switching, the patch version of MOVEIT_VERSION of a development branch will be incremented by 1 w.r.t. the package.xml's version number.

MoveIt Status

Continuous Integration

service	Melodic	Master
GitHub
CodeCov
build farm

Licenses

ROS Buildfarm

MoveIt Package	Melodic Source	Melodic Debian	Noetic Source	Noetic Debian
moveit
moveit_core
moveit_kinematics
moveit_planners
moveit_planners_ompl
moveit_planners_chomp
chomp_motion_planner
moveit_chomp_optimizer_adapter
pilz_industrial_motion_planner
pilz_industrial_motion_planner_testutils
moveit_plugins
moveit_fake_controller_manager
moveit_simple_controller_manager
moveit_ros_control_interface
moveit_ros
moveit_ros_planning
moveit_ros_move_group
moveit_ros_planning_interface
moveit_ros_benchmarks
moveit_ros_perception
moveit_ros_occupancy_map_monitor
moveit_ros_manipulation
moveit_ros_robot_interaction
moveit_ros_visualization
moveit_ros_warehouse
moveit_servo
moveit_runtime
moveit_commander
moveit_setup_assistant
moveit_msgs
geometric_shapes
srdfdom
moveit_visual_tools
moveit_tutorials

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moveit_ci's Issues

Kinetic CI Failing Due to Old Docker Containers

WARNING: The following packages cannot be authenticated!

Due to ROS recent security breach.

So I just retriggered all the Dockerhub images for Kinetic to build, fyi.

catkin_lint test report error for the depends on 3rd party source code package

Recently we tried to use moveit_ci with our random_pick application that is to be added in a PR to the moveit_example_apps project. Since the application depends on a 3rd party package "gpd", but it is not in the release of ros-melodic-* or other binary form. The catkin_lint test reports error on it. Please check here for the result.

Since catkin_lint test is implemented before a ros workspace is prepared, the "gpd" added in a .rosinstall file seems not possible to fix this. Another thought is to use before_script or a custom docker container with "gpd" installed, and use CI_SOURCE_PATH to bring the "gpd" to the catkin_lint test. But this will also enable clang-format test for "gpd", and it is not supposed to pass.

Currently, seems all ways are blocked in front of me. Is there some methods could get the catkin_lint test pass?

replace ros-shadow-fixed by ros-testing

The industrial CI forwards ros-shadow-fixed to ros-testing: https://github.com/ros-industrial/industrial_ci/blob/82154e0457a19c9f824560c57729091abdd436b6/industrial_ci/src/env.sh#L130-L132

The MoveIt CI should also propagate this change to the CI and documentation, i.e. replace ros-shadow-fixed by ros-testing.

Package 'mesa-utils' has no installation candidate

Using DOCKER_IMAGE=moveit/moveit:master-source, we just hit

apt-get -qq install -y wget sudo python-catkin-tools xvfb mesa-utils ccache
E: Package 'mesa-utils' has no installation candidate

over at MTC:
moveit/moveit_task_constructor#104
https://travis-ci.org/ros-planning/moveit_task_constructor/jobs/568551575#L231

Does anyone understand where this comes from?

@rhaschke @davetcoleman @mlautman

Skip CI if file changes are .md or .rst

This would save build time.

For inspiration, see #73

noetic support

At the moment, standard usage fails for noetic, because there are not docker containers available yet:

$ git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
$ .moveit_ci/travis.sh
Starting Docker image: moveit/moveit:noetic-ci
docker pull moveit/moveit:noetic-ci
Error response from daemon: manifest for moveit/moveit:noetic-ci not found
The command "docker pull moveit/moveit:noetic-ci" failed with error code 1. 
The command ".moveit_ci/travis.sh" exited with 2.

https://travis-ci.com/github/v4hn/srdfdom/jobs/312340227

I don't know who has permissions to setup these docker images though and what exactly is included there.

    <testcase name="float/0" value_param="0" status="run" time="0.245" classname="float_test/MeshFilterTestFloat">

      <failure message="/root/ros_ws/src/moveit/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp:234&#x0A;      Expected: filtered_depth[idx]&#x0A;      Which is: 1&#x0A;To be equal to: gt_depth[idx]&#x0A;      Which is: 0" type=""><![CDATA[/root/ros_ws/src/moveit/moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp:234

      Expected: filtered_depth[idx]

      Which is: 1

To be equal to: gt_depth[idx]

      Which is: 0]]></failure>

    </testcase>

Add clang-tidy

There is a moveit issue to run clang-tidy on pull requests. Should it be run automatically in the CI?

Monitor and report on 'documentation coverage'?

Thought @davetcoleman might like this: psycofdj/coverxygen:

Generate doxygen's documentation coverage report

It's lcov but for documentation.

Add catkin_lint

e.g. Malformatted package.xml moveit/moveit_msgs#26 (comment) wasn't captured so far at anywhere in Pull Request --> ros.org Release pipeline afaik.

Having an optional job to run catkin_lint in CI may be one way to solve it.

cf. Related discussion ros-industrial/industrial_ci#58

Running CI locally without docker causes permission errors.

What did I do?
Observed this behaviour on commit 28249e9

I exported the environment variables as suggested in the ReadMe:

export IN_DOCKER=1             # pretend running docker
export CI_SOURCE_PATH=$PWD     # repository location in, i.e. /tmp/travis/moveit
export ROS_WS=/tmp/ros_ws      # define a new ROS workspace location
mkdir $ROS_WS                  # and create it
.moveit_ci/travis.sh

Expected behaviour
CI runs locally without Docker.

Actual behaviour
CI exits pretty much immediately saying it has no permissions.

Testing branch 'pilz_planner_merge-clang_tidy_fixes' of 'moveit' on ROS 'melodic'
Inside Docker container
CXX compiler info
clang++ --version
clang version 6.0.0-1ubuntu2 (tags/RELEASE_600/final)
Target: x86_64-pc-linux-gnu
Thread model: posix
InstalledDir: /usr/bin
Updating system packages
apt-get -qq update
E: Could not open lock file /var/lib/apt/lists/lock - open (13: Permission denied)
E: Unable to lock directory /var/lib/apt/lists/
W: Problem unlinking the file /var/cache/apt/pkgcache.bin - RemoveCaches (13: Permission denied)
W: Problem unlinking the file /var/cache/apt/srcpkgcache.bin - RemoveCaches (13: Permission denied)
The command "apt-get -qq update" failed [trial 1 of 3].
E: Could not open lock file /var/lib/apt/lists/lock - open (13: Permission denied)
E: Unable to lock directory /var/lib/apt/lists/
W: Problem unlinking the file /var/cache/apt/pkgcache.bin - RemoveCaches (13: Permission denied)
W: Problem unlinking the file /var/cache/apt/srcpkgcache.bin - RemoveCaches (13: Permission denied)
The command "apt-get -qq update" failed [trial 2 of 3].
E: Could not open lock file /var/lib/apt/lists/lock - open (13: Permission denied)
E: Unable to lock directory /var/lib/apt/lists/
W: Problem unlinking the file /var/cache/apt/pkgcache.bin - RemoveCaches (13: Permission denied)
W: Problem unlinking the file /var/cache/apt/srcpkgcache.bin - RemoveCaches (13: Permission denied)
The command "apt-get -qq update" failed [trial 3 of 3].
The command "apt-get -qq update" failed with error code 100.