ci: cover kilted and lyrical, and add a real Resolute rolling job - #753
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nbbrooks wants to merge 1 commit into
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ci: cover kilted and lyrical, and add a real Resolute rolling job#753nbbrooks wants to merge 1 commit into
nbbrooks wants to merge 1 commit into
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The ros2 branch is released to four distros but the matrix tests two: jazzy 0.1.5-1 jazzy-source kilted 0.1.5-1 NOT tested lyrical 0.1.5-3 NOT tested rolling 0.1.5-2 rolling-source -- see below (humble is released from its own branch and is not affected.) The rolling-source jobs do not test Resolute. With a prebuilt image, ROS_DISTRO: rolling does not imply Resolute -- the OS comes from the image, and moveit/moveit2:rolling-source is Ubuntu noble, built 2026-01-24, with MoveIt compiled inside it. Rolling moved to Resolute, so those jobs have been green while testing a distro/OS pairing that no longer ships. The tag will not refresh either: moveit2's docker.yaml has 12 successes to 85 failures, last success 2026-06-24. Rather than convert them, add bare-OS jobs alongside -- the same shape moveit2's own ci.yaml uses, where a non-blocking "rolling-resolute" job sits next to the prebuilt rolling-ci ones. That keeps ccov, clang-tidy and asan running against MoveIt main while giving the branch a Resolute signal it did not have. kilted-main noble blocking lyrical-main resolute non-blocking rolling-testing resolute non-blocking lyrical and rolling will both fail initially: E: Unable to locate package ros-lyrical-moveit-core Only moveit_common, moveit_configs_utils, moveit_msgs and moveit_resources are published for Resolute; moveit_core is not, which blocks every downstream package there on lyrical as well as rolling. Both jobs are non-blocking and start passing once moveit2 is released for Resolute. DOCKER_IMAGE moves out of the static job env into a step gated on `! matrix.env.OS_CODE_NAME`, since bare-OS jobs must leave it unset. CACHE_PREFIX and the job name fall back to <distro>-<repo> where IMAGE is absent. UNDERLAY already handled this correctly. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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Why
The
ros2branch is released to four distros but the matrix tests two:jazzy-sourcerolling-source— see below(humble is released from its own branch, unaffected.)
The rolling jobs don't test Resolute
With a prebuilt image,
ROS_DISTRO: rollingdoesn't imply Resolute — the OS comes from the image.moveit/moveit2:rolling-sourceis Ubuntu noble, built 2026-01-24, with MoveIt compiled inside it. Rolling moved to Resolute, so those jobs have been green while testing a distro/OS pairing that no longer ships.They won't refresh either: moveit2's
docker.yamlhas 12 successes to 85 failures, last success 2026-06-24 (currently a hardcodedclang-format-14that Resolute doesn't package).How
Rather than converting them, add bare-OS jobs alongside — the shape moveit2's own
ci.yamluses, where a non-blockingrolling-resolutejob sits next to the prebuiltrolling-ciones. That keepsccov,clang-tidyandasanrunning against MoveItmainwhile giving the branch a Resolute signal it has never had.jazzy-source • ccovrolling-source • clang-tidyrolling-source • asankilted-mainlyrical-mainrolling-testingDOCKER_IMAGEmoves out of the static jobenv:into a step gated on! matrix.env.OS_CODE_NAME, since bare-OS jobs must leave it unset.CACHE_PREFIXand the job name fall back to<distro>-<repo>whereIMAGEis absent.UNDERLAYalready handled this correctly — it's conditional onendsWith(matrix.env.IMAGE, '-source').Only
moveit_common,moveit_configs_utils,moveit_msgsandmoveit_resourcesare published for Resolute;moveit_coreis not. That blocks every downstream package there — on lyrical as well as rolling. Both jobs are non-blocking and will start passing on their own once moveit2 is released for Resolute.This mirrors moveit_visual_tools#157 and rviz_visual_tools#301, both merged.
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