diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 8d01df822..6ba775f1c 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -19,12 +19,11 @@ jobs: fail-fast: false matrix: env: - - IMAGE: jazzy-source + - IMAGE: rolling-release NAME: ccov TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage" - - IMAGE: rolling-source CLANG_TIDY: pedantic - - IMAGE: rolling-source + - IMAGE: rolling-release NAME: asan # Add fast_unwind_on_malloc=0 to fix stacktraces being too short or do not make sense # see https://github.com/google/sanitizers/wiki/AddressSanitizer @@ -34,6 +33,9 @@ jobs: -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions,fast_unwind_on_malloc=0" -e ASAN_OPTIONS="new_delete_type_mismatch=0,alloc_dealloc_mismatch=0" TARGET_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g" + - IMAGE: lyrical-release + - IMAGE: kilted-release + - IMAGE: jazzy-release env: CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml @@ -51,7 +53,7 @@ jobs: name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}" runs-on: ubuntu-latest steps: - - uses: actions/checkout@v6 + - uses: actions/checkout@v7 with: submodules: recursive @@ -106,7 +108,7 @@ jobs: lcov_capture_args: --ignore-errors=source,gcov,mismatch,negative ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"' - name: Upload codecov report - uses: codecov/codecov-action@v6 + uses: codecov/codecov-action@v7 if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0' with: files: ${{ env.BASEDIR }}/target_ws/coverage.info diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml index 15cca2942..1c2c984af 100644 --- a/.github/workflows/format.yaml +++ b/.github/workflows/format.yaml @@ -11,13 +11,13 @@ on: jobs: pre-commit: name: pre-commit - runs-on: ubuntu-latest + runs-on: ubuntu-26.04 steps: - - uses: actions/checkout@v6 + - uses: actions/checkout@v7 with: submodules: recursive - - name: Install clang-format-14 - run: sudo apt-get install clang-format-14 + - name: Install clang-format + run: sudo apt-get install clang-format - uses: pre-commit/action@v3.0.1 id: precommit - name: Upload pre-commit changes diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml index 900db7253..110e588ed 100644 --- a/.github/workflows/prerelease.yaml +++ b/.github/workflows/prerelease.yaml @@ -34,7 +34,7 @@ jobs: # free up a lot of stuff from /usr/local sudo rm -rf /usr/local df -h - - uses: actions/checkout@v6 + - uses: actions/checkout@v7 with: submodules: recursive - name: industrial_ci diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index cde915455..844abaa7f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -39,7 +39,7 @@ repos: - id: clang-format name: clang-format description: Format files with ClangFormat. - entry: clang-format-14 + entry: clang-format language: system files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$ args: ["-fallback-style=none", "-i"] diff --git a/core/include/moveit/task_constructor/stages/noop.h b/core/include/moveit/task_constructor/stages/noop.h index 9f770c773..71e3e8418 100644 --- a/core/include/moveit/task_constructor/stages/noop.h +++ b/core/include/moveit/task_constructor/stages/noop.h @@ -50,7 +50,7 @@ namespace stages { class NoOp : public PropagatingEitherWay { public: - NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name){}; + NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name) {}; private: bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& /*trajectory*/, diff --git a/core/package.xml b/core/package.xml index 9a437cb92..5ab15d972 100644 --- a/core/package.xml +++ b/core/package.xml @@ -37,7 +37,7 @@ launch_testing_ament_cmake moveit_resources_fanuc_moveit_config - moveit_planners + moveit_planners_ompl ament_cmake diff --git a/core/python/bindings/src/properties.cpp b/core/python/bindings/src/properties.cpp index 20d4ff674..a96b292e0 100644 --- a/core/python/bindings/src/properties.cpp +++ b/core/python/bindings/src/properties.cpp @@ -158,7 +158,7 @@ bool PropertyConverterBase::insert(const std::type_index& type_index, const std: return REGISTRY_SINGLETON.insert(type_index, ros_msg_name, to, from); } -__attribute__((visibility("default"))) // export this symbol as visible in the shared library +__attribute__((visibility("default"))) // export this symbol as visible in the shared library void export_properties(py::module& m) { // clang-format off py::classh(m, "Property", "Holds an arbitrarily typed value and a default value") diff --git a/core/src/container.cpp b/core/src/container.cpp index febc00fb9..797a6fb61 100644 --- a/core/src/container.cpp +++ b/core/src/container.cpp @@ -58,9 +58,8 @@ namespace task_constructor { // for debugging of how children interfaces evolve over time __attribute__((unused)) // silent unused-function warning -static void -printChildrenInterfaces(const ContainerBasePrivate& container, bool success, const Stage& creator, - std::ostream& os = std::cerr) { +static void printChildrenInterfaces(const ContainerBasePrivate& container, bool success, const Stage& creator, + std::ostream& os = std::cerr) { static unsigned int id = 0; const unsigned int width = 10; // indentation of name os << '\n' << (success ? '+' : '-') << ' ' << creator.name() << ' '; diff --git a/core/test/test_move_relative.cpp b/core/test/test_move_relative.cpp index f34abc80f..f606ff6d6 100644 --- a/core/test/test_move_relative.cpp +++ b/core/test/test_move_relative.cpp @@ -173,17 +173,15 @@ TEST_F(PandaMoveRelativeCartesian, cartesianRotateAttachedIKFrame) { TEST_F(PandaMoveRelativeJoint, jointOutsideBound) { // move joint inside limit auto initial_jpos = scene->getCurrentState().getJointPositions("panda_joint7"); - move->setDirection([initial_jpos] { - return std::map{ { "panda_joint7", 2.0 - *initial_jpos } }; - }()); + move->setDirection( + [initial_jpos] { return std::map{ { "panda_joint7", 2.0 - *initial_jpos } }; }()); EXPECT_TRUE(this->t.plan()) << "Plan should succeed, joint inside limit"; this->t.reset(); // move joint outside limit: 2.8973 - move->setDirection([initial_jpos] { - return std::map{ { "panda_joint7", 3.0 - *initial_jpos } }; - }()); + move->setDirection( + [initial_jpos] { return std::map{ { "panda_joint7", 3.0 - *initial_jpos } }; }()); EXPECT_FALSE(this->t.plan()) << "Plan should fail, joint outside limit"; }