Fix CI permission errors

moveit · May 2, 2022 · ac25c3f · ac25c3f
1 parent cd39fc2
commit ac25c3f
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Showing 3 changed files with 120 additions and 2 deletions.
diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
@@ -29,6 +29,13 @@ RUN \
         ccache && \
     #
     # Fetch all dependencies from moveit2.repos
+    # Fetch required upstream sources for building
+    # As of 5/2/2022, permissions need to be set explicitly.
+    # See https://github.com/actions/checkout/issues/760.
+    git config --global --add safe.directory /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/geometric_shapes && \
+    git config --global --add safe.directory /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/moveit_resources && \
+    git config --global --add safe.directory /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/srdfdom && \
+    #
     vcs import src < src/moveit2/moveit2.repos && \
     if [ -r src/moveit2/moveit2_${ROS_DISTRO}.repos ] ; then vcs import src < src/moveit2/moveit2_${ROS_DISTRO}.repos ; fi && \
     #

diff --git a/.docker/source/Dockerfile b/.docker/source/Dockerfile
@@ -19,7 +19,14 @@ COPY . src/moveit2
 RUN --mount=type=cache,target=/root/.ccache/ \
     # Enable ccache
     PATH=/usr/lib/ccache:$PATH && \
+    #
     # Fetch required upstream sources for building
+    # As of 5/2/2022, permissions need to be set explicitly.
+    # See https://github.com/actions/checkout/issues/760.
+    git config --global --add safe.directory /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/geometric_shapes && \
+    git config --global --add safe.directory /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/moveit_resources && \
+    git config --global --add safe.directory /home/runner/work/moveit2/moveit2/.work/upstream_ws/src/srdfdom && \
+    #
     vcs import src < src/moveit2/moveit2.repos && \
     if [ -r src/moveit2/moveit2_${ROS_DISTRO}.repos ] ; then vcs import src < src/moveit2/moveit2_${ROS_DISTRO}.repos ; fi && \
     #

diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py
@@ -1,6 +1,10 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+)
 from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 
 from launch_ros.actions import Node
@@ -60,7 +64,7 @@ def generate_moveit_rviz_launch(moveit_config):
         package="rviz2",
         executable="rviz2",
         output="log",
-        respawn=True,
+        respawn=False,
         arguments=["-d", LaunchConfiguration("rviz_config")],
         parameters=rviz_parameters,
     )
@@ -231,3 +235,103 @@ def generate_move_group_launch(moveit_config):
         additional_env={"DISPLAY": ":0"},
     )
     return ld
+
+
+def generate_demo_launch(moveit_config):
+    """
+    Launches a self contained demo
+
+    Includes
+     * static_virtual_joint_tfs
+     * robot_state_publisher
+     * move_group
+     * moveit_rviz
+     * warehouse_db (optional)
+     * ros2_control_node + controller spawners
+    """
+    ld = LaunchDescription()
+    ld.add_action(
+        DeclareBooleanLaunchArg(
+            "db",
+            default_value=False,
+            description="By default, we do not start a database (it can be large)",
+        )
+    )
+    ld.add_action(
+        DeclareBooleanLaunchArg(
+            "debug",
+            default_value=False,
+            description="By default, we are not in debug mode",
+        )
+    )
+    ld.add_action(DeclareBooleanLaunchArg("use_rviz", default_value=True))
+
+    # If there are virtual joints, broadcast static tf by including virtual_joints launch
+    virtual_joints_launch = (
+        moveit_config.package_path / "launch/static_virtual_joint_tfs.launch.py"
+    )
+    if virtual_joints_launch.exists():
+        ld.add_action(
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(str(virtual_joints_launch)),
+            )
+        )
+
+    # Given the published joint states, publish tf for the robot links
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                str(moveit_config.package_path / "launch/rsp.launch.py")
+            ),
+        )
+    )
+
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                str(moveit_config.package_path / "launch/move_group.launch.py")
+            ),
+        )
+    )
+
+    # Run Rviz and load the default config to see the state of the move_group node
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                str(moveit_config.package_path / "launch/moveit_rviz.launch.py")
+            ),
+            condition=IfCondition(LaunchConfiguration("use_rviz")),
+        )
+    )
+
+    # If database loading was enabled, start mongodb as well
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                str(moveit_config.package_path / "launch/warehouse_db.launch.py")
+            ),
+            condition=IfCondition(LaunchConfiguration("db")),
+        )
+    )
+
+    # Fake joint driver
+    ld.add_action(
+        Node(
+            package="controller_manager",
+            executable="ros2_control_node",
+            parameters=[
+                moveit_config.robot_description,
+                str(moveit_config.package_path / "config/ros2_controllers.yaml"),
+            ],
+        )
+    )
+
+    ld.add_action(
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                str(moveit_config.package_path / "launch/spawn_controllers.launch.py")
+            ),
+        )
+    )
+
+    return ld