From 2ecd83a122e20fc21dcc25a6d73018a1b51d6900 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Tue, 21 Nov 2023 07:49:56 -0600
Subject: [PATCH] fixup

---
 .github/workflows/clang_format.yml           | 54 +++---------
 .github/workflows/cmake_format.yml           | 13 ++-
 .github/workflows/ubuntu.yml                 | 39 +++++++++
 .github/workflows/ubunut.yml                 | 90 --------------------
 .github/workflows/unstable.yml               | 46 ++++++++++
 .github/workflows/unstable_build.yml         | 57 -------------
 .github/workflows/windows.yml                | 54 +++++-------
 .github/workflows/windows_dependencies.repos | 16 ++++
 dependencies.repos                           | 20 -----
 dependencies_unstable.repos                  | 20 -----
 10 files changed, 144 insertions(+), 265 deletions(-)
 create mode 100644 .github/workflows/ubuntu.yml
 delete mode 100644 .github/workflows/ubunut.yml
 create mode 100644 .github/workflows/unstable.yml
 delete mode 100644 .github/workflows/unstable_build.yml
 create mode 100644 .github/workflows/windows_dependencies.repos

diff --git a/.github/workflows/clang_format.yml b/.github/workflows/clang_format.yml
index 311f2a23..3e5fd97d 100644
--- a/.github/workflows/clang_format.yml
+++ b/.github/workflows/clang_format.yml
@@ -3,50 +3,24 @@ name: Clang-Format
 on:
   push:
     branches:
-      - master
+      - main
   pull_request:
-  schedule:
-    - cron: '0 5 * * *'
+
+  # allow manually starting this workflow
+  workflow_dispatch:
 
 jobs:
-  industrial_ci:
-    name: Format
-    runs-on: ubuntu-latest
-    env:
-      CI_NAME: Clang-Format
-      OS_NAME: ubuntu
-      OS_CODE_NAME: bionic
-      ROS_DISTRO: melodic
-      ROS_REPO: main
-      ROSDEP_SKIP_KEYS: "bullet bullet-extras opw_kinematics ros_industrial_cmake_boilerplate fcl ifopt benchmark"
-      CLANG_FORMAT_CHECK: file
-      CLANG_FORMAT_VERSION: 8
-      DOCKER_IMAGE: "rosindustrial/tesseract:melodic"
+  clang_format:
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v1
 
-      - name: Free Disk Space
-        run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
-
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
+      - name: Run clang format
         run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        uses: actions/cache@v1.1.0
-        with:
-          path: ${{ env.CI_NAME }}/.ccache
-          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ env.CI_NAME }}-ccache-
-
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{env}}
+          sudo apt update
+          sudo apt install -y git clang-format-8
+          if [ $? -ge 1 ]; then return 1; fi
+          ./.run-clang-format
+          if [ $? -ge 1 ]; then return 1; fi
+          output=$(git diff)
+          if [ -n "$output" ]; then exit 1; else exit 0; fi
diff --git a/.github/workflows/cmake_format.yml b/.github/workflows/cmake_format.yml
index 6f6c611e..0bcd9ca2 100644
--- a/.github/workflows/cmake_format.yml
+++ b/.github/workflows/cmake_format.yml
@@ -3,21 +3,26 @@ name: CMake-Format
 on:
   push:
     branches:
-      - master
+      - main
   pull_request:
-  schedule:
-    - cron: '0 5 * * *'
+
+  # allow manually starting this workflow
+  workflow_dispatch:
 
 jobs:
   cmake_lang:
     name: Format
     runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v2
 
       - name: Run CMake Lang Format Check
         run: |
           sudo pip3 install cmakelang
+          RED='\033[0;31m'
+          NC='\033[0m' # No Color
           ./.run-cmake-format
           output=$(git diff)
+          if [ -n "$output" ]; then printf "${RED}CMake format error: run script './.run-cmake-formate'${NC}\n"; fi
+          if [ -n "$output" ]; then printf "${RED}${output}${NC}\n"; fi
           if [ -n "$output" ]; then exit 1; else exit 0; fi
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
new file mode 100644
index 00000000..373d540d
--- /dev/null
+++ b/.github/workflows/ubuntu.yml
@@ -0,0 +1,39 @@
+name: Ubuntu
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  ci:
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [focal, jammy]
+    container:
+      image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-0.21
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
+
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@v2
+        with:
+          before-script: source /opt/tesseract/install/setup.bash
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: dependencies.repos
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTRAJOPT_ENABLE_TESTING=ON
diff --git a/.github/workflows/ubunut.yml b/.github/workflows/ubunut.yml
deleted file mode 100644
index 24f80639..00000000
--- a/.github/workflows/ubunut.yml
+++ /dev/null
@@ -1,90 +0,0 @@
-name: Ubuntu
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  schedule:
-    - cron: '0 5 * * *'
-
-jobs:
-  ci:
-    name: ${{ matrix.distro }}
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        distro: [focal, jammy]
-    container:
-      image: ubuntu:${{ matrix.distro }}
-      env:
-        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
-        DEBIAN_FRONTEND: noninteractive
-        TZ: Etc/UTC
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v4
-        with:
-          path: target_ws/src
-
-      - name: Install Depends
-        shell: bash
-        run: |
-          apt update
-          apt upgrade -y
-          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git clang-tidy liboctomap-dev
-          python3 -m pip install vcstool -q
-          python3 -m pip install colcon-common-extensions -q
-          python3 -m pip install rosdep -q
-          rosdep init
-          rosdep update
-          cd $GITHUB_WORKSPACE/target_ws/src
-          curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-          apt update -qq
-
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/cache@v1.1.0
-        with:
-          path: ${{ matrix.distro }}/.ccache
-          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ matrix.distro }}-ccache-
-
-      - name: Build Upstream Workspace
-        shell: bash
-        run: |
-          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
-          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
-          cd $GITHUB_WORKSPACE/upstream_ws
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
-          if [ $? -ge 1 ]; then return 1; fi
-
-      - name: Build Target Workspace
-        shell: bash
-        run: |
-          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
-          cd $GITHUB_WORKSPACE/target_ws
-          rosdep install --from-paths src --ignore-src -r -y
-          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTRAJOPT_ENABLE_TESTING=ON -DTRAJOPT_ENABLE_CLANG_TIDY=ON
-          if [ $? -ge 1 ]; then return 1; fi
-
-      - name: Run Tests
-        shell: bash
-        run: |
-          cd $GITHUB_WORKSPACE/target_ws
-          source $GITHUB_WORKSPACE/target_ws/install/setup.bash
-          colcon test --event-handlers console_direct+ --return-code-on-test-failure
-          if [ $? -ge 1 ]; then return 1; fi
-          colcon test-result --verbose
-          if [ $? -ge 1 ]; then return 1; fi
diff --git a/.github/workflows/unstable.yml b/.github/workflows/unstable.yml
new file mode 100644
index 00000000..190c214a
--- /dev/null
+++ b/.github/workflows/unstable.yml
@@ -0,0 +1,46 @@
+name: Ubuntu
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  ci:
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [focal, jammy]
+    container:
+      image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-master
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/sr
+
+      - name: Install Depends
+        shell: bash
+        run: |
+          apt update
+          apt upgrade -y
+          apt install -y clang-tidy
+
+      - name: Build and Tests
+        uses: tesseract-robotics/colcon-action@v2
+        with:
+          before-script: source /opt/tesseract/install/setup.bash
+          ccache-prefix: ${{ matrix.distro }}
+          vcs-file: dependencies.repos
+          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
+          target-path: target_ws/src
+          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTRAJOPT_ENABLE_TESTING=ON -DTRAJOPT_ENABLE_CLANG_TIDY=ON
diff --git a/.github/workflows/unstable_build.yml b/.github/workflows/unstable_build.yml
deleted file mode 100644
index a7983231..00000000
--- a/.github/workflows/unstable_build.yml
+++ /dev/null
@@ -1,57 +0,0 @@
-name: Unstable-Build
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  schedule:
-    - cron: '0 5 * * *'
-
-jobs:
-  industrial_ci:
-    name: Noetic
-    runs-on: ubuntu-latest
-    env:
-      CI_NAME: Focal-Build
-      OS_NAME: ubuntu
-      OS_CODE_NAME: focal
-      ROS_DISTRO: noetic
-      ROS_REPO: main
-      UPSTREAM_WORKSPACE: "dependencies_unstable.repos"
-      ROSDEP_SKIP_KEYS: "bullet bullet-extras opw_kinematics ros_industrial_cmake_boilerplate fcl ifopt"
-      DOCKER_IMAGE: "rosindustrial/tesseract:noetic"
-      PARALLEL_TESTS: false
-      CCACHE_DIR: "/home/runner/work/trajopt_ros/trajopt_ros/Focal-Build/.ccache"
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTRAJOPT_ENABLE_TESTING=ON -DTRAJOPT_ENABLE_CLANG_TIDY=ON"
-      AFTER_SCRIPT: 'catkin build -w $target_ws --no-deps --verbose trajopt trajopt_ifopt trajopt_sco trajopt_sqp --make-args test'
-      ADDITIONAL_DEBS: clang-tidy
-    steps:
-      - uses: actions/checkout@v1
-
-      - name: Free Disk Space
-        run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
-
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        uses: actions/cache@v1.1.0
-        with:
-          path: ${{ env.CI_NAME }}/.ccache
-          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ env.CI_NAME }}-ccache-
-
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{env}}
diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
index 7b0c4cf8..5c7f90d8 100644
--- a/.github/workflows/windows.yml
+++ b/.github/workflows/windows.yml
@@ -8,7 +8,7 @@ on:
     paths:
       - 'trajopt**'
       - '.github/workflows/windows.yml'
-      - '.github/workflows/dependencies.repos'
+      - '.github/workflows/windows_dependencies.repos'
   schedule:
     - cron: '0 5 * * *'
 
@@ -21,14 +21,9 @@ jobs:
       matrix:
         os: [windows-2019,windows-2022]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v2
       with:
-        path: workspace/src/trajopt
-
-    - name: configure-msvc
-      uses: ilammy/msvc-dev-cmd@v1
-      with:
-        arch: x64
+        path: target_ws/src
 
     - name: vcpkg build
       uses: johnwason/vcpkg-action@v4
@@ -41,33 +36,24 @@ jobs:
         extra-args: --clean-after-build
         token: ${{ github.token }}
         cache-key: ci-${{ matrix.os }}
-        revision: master
+        revision: 2023.08.09
 
-    - name: install-depends
-      shell: cmd
-      run: |
-        python -m pip install vcstool -q
-        python -m pip install colcon-common-extensions -q
-        python -m pip install ninja -q
+    - name: configure-msvc
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64
 
-    - name: build-workspace
-      working-directory: workspace
-      shell: cmd
+    - name: update environment
+      shell: bash
       run: |
-        set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release\bin
-        set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release
-        vcs import --input "${{ github.workspace }}/workspace/src/trajopt/dependencies.repos" src/
-        if %ERRORLEVEL% GEQ 1 exit 1
-        colcon build --event-handlers console_direct+ --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_ENABLE_TESTING=ON -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF
-        if %ERRORLEVEL% GEQ 1 exit 1
+        echo "PATH=${{ env.PATH }};$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release\bin" >> "$GITHUB_ENV"
+        echo "CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release" >> "$GITHUB_ENV"
 
-    - name: run-test
-      working-directory: workspace
-      shell: cmd
-      run: |
-        call ./install/setup.bat
-        set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\x64-windows-release\bin
-        colcon test --event-handlers console_direct+ --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp --return-code-on-test-failure
-        if %ERRORLEVEL% GEQ 1 exit 1
-        colcon test-result --verbose
-        if %ERRORLEVEL% GEQ 1 exit 1
+    - name: Build and Tests
+      uses: tesseract-robotics/colcon-action@v2
+      with:
+        ccache-prefix: ${{ matrix.distro }}
+        vcs-file: .github/workflows/windows_dependencies.repos
+        upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF
+        target-path: target_ws/src
+        target-args: --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_ENABLE_TESTING=ON
diff --git a/.github/workflows/windows_dependencies.repos b/.github/workflows/windows_dependencies.repos
new file mode 100644
index 00000000..5021efbd
--- /dev/null
+++ b/.github/workflows/windows_dependencies.repos
@@ -0,0 +1,16 @@
+- git:
+    local-name: ros_industrial_cmake_boilerplate
+    uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
+    version: master
+- git:
+    local-name: tesseract
+    uri: https://github.com/ros-industrial-consortium/tesseract.git
+    version: master
+- git:
+    local-name: opw_kinematics
+    uri: https://github.com/Jmeyer1292/opw_kinematics.git
+    version: master
+- git:
+    local-name: ifopt
+    uri: https://github.com/ethz-adrl/ifopt.git
+    version: master
diff --git a/dependencies.repos b/dependencies.repos
index 3c036010..c0fbf3be 100644
--- a/dependencies.repos
+++ b/dependencies.repos
@@ -1,24 +1,4 @@
-- git:
-    local-name: ros_industrial_cmake_boilerplate
-    uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.5.4
-- git:
-    local-name: tesseract
-    uri: https://github.com/ros-industrial-consortium/tesseract.git
-    version: 0.21.2
-- git:
-    local-name: opw_kinematics
-    uri: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: 0.5.0
 - git:
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
     version: 2.1.3
-- git:
-    local-name: fcl
-    uri: https://github.com/flexible-collision-library/fcl.git
-    version: 0.6.1
-- git:
-    local-name: octomap
-    uri: https://github.com/OctoMap/octomap.git
-    version: v1.9.8
diff --git a/dependencies_unstable.repos b/dependencies_unstable.repos
index 6ac76cd4..3d077fac 100644
--- a/dependencies_unstable.repos
+++ b/dependencies_unstable.repos
@@ -1,24 +1,4 @@
-- git:
-    local-name: ros_industrial_cmake_boilerplate
-    uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: master
-- git:
-    local-name: tesseract
-    uri: https://github.com/ros-industrial-consortium/tesseract.git
-    version: master
-- git:
-    local-name: opw_kinematics
-    uri: https://github.com/Jmeyer1292/opw_kinematics.git
-    version: master
 - git:
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git
     version: master
-- git:
-    local-name: fcl
-    uri: https://github.com/flexible-collision-library/fcl.git
-    version: 0.6.1
-- git:
-    local-name: octomap
-    uri: https://github.com/OctoMap/octomap.git
-    version: v1.9.8