Add pre-release test to CI [master]

[tylerjw]

This one adds the pre-release test and sets it to run when there is a push to the master branch or when there is a workflow-dispatch. Because it runs on a bush to the master branch it won't block any PRs but it will let us know at any time if the pre-release test is failing on the master branch.

This also cleans up a few other CI things:

• use ccache dir correctly
• use yaml style lists
• use yaml file extension
• make links in README more useful

[rhaschke]

Looks good to me. I thought about adding MoveIt as a downstream repo for the prerelease test.
If we had issues in the past, then because moveit_resources and moveit didn't play nicely together.

[tylerjw]

I pushed a change to both this and the melodic-devel version that adds moveit as a downshtream dependency in the pre-release test.

[rhaschke]

See comments below.

[tylerjw]

Testing here: https://github.com/tylerjw/moveit_resources/runs/2477268464

[rhaschke]

I guess you verified that the test results are actually accessible from outside the docker container?

[tylerjw]

I tried doing that here... https://github.com/tylerjw/moveit_resources/runs/2478435289?check_suite_focus=true

It seems that non relative paths are not supported. That means that the test results have to end up in the repo or workspace directory. I don't think that's possible without changing industrial_ci to run the pre-release job there. I'm going to remove this feature from this pull request.

This was an attempt to show that the pre-release test was failing (even though it reports passing) because of the issue with colcon in the pre-release job. I created an issue for that here: ros-industrial/industrial_ci#666

[tylerjw]

Reading the industrial_ci code for pre-release it seems it does support ccache. I added that back in to speed up the pre-release builds.

That reporting the test results action only really works when you are making pull requests (becasue what it does is provide summaries of the test results in a comment in the pull request). There are two reasons that's not useful here, we are not running pre-release tests on PRs and that sort of reporting only works when the pull request comes from the repo itself instead of from a fork. There is a workaround in the readme for that second issue but it looks to be fairly nasty.

[tylerjw]

@rhaschke I think ccache might work in pre-release, or it might be possible to make it work. See: ros-industrial/industrial_ci#667

[tylerjw]

Testing here: https://github.com/tylerjw/moveit_resources/runs/2487302852

[rhaschke]

I think, this PR might be pending for a while, until ccache issues and test results reporting is fully resolved.
Independent of this, I triggered a release: ros/rosdistro#29384

[tylerjw]

I will remove the ccache from these PRs so we can merge them. I did push tags but didn't bloom because I was unable to get pre-release tests to pass for either noetic or melodic if you include the release branch of moveit in the test.

[rhaschke]

In principle, I approve, but the prerelease test you linked is failing with:

2021-05-02T19:17:12.6568260Z /tmp/ws2/src/moveit/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:44:10: fatal error: moveit_ros_planning/PlanningSceneMonitorDynamicReconfigureConfig.h: No such file or directory

This is strange as the corresponding file was created before:

2021-05-02T17:59:56.2380108Z Wrote header file in /tmp/ws2/devel_isolated/moveit_ros_planning/include/moveit_ros_planning/PlanningSceneMonitorDynamicReconfigureConfig.h

For some reason, planning_scene_monitor.cpp is built twice: once in section "build in isolation" and once in section "run_tests". Why the latter and why it cannot find the header anymore?

[tylerjw]

For some reason, planning_scene_monitor.cpp is built twice: once in section "build in isolation" and once in section "run_tests". Why the latter and why it cannot find the header anymore?

I don't know... I should have looked more closely at the output. I have no idea why this would happen.

[vatanaksoytezer]

Closing since this is merged with #81