Add Dockerfile for moveit-ci-testing

ubi-agni · Feb 16, 2025 · a195f9f · a195f9f
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diff --git a/.github/docker/moveit-ci-testing/Dockerfile b/.github/docker/moveit-ci-testing/Dockerfile
@@ -0,0 +1,16 @@
+# moveit/moveit:jammy-ci-testing
+# Sets up a base image to use for running Continuous Integration
+
+ARG DEB_DISTRO=jammy
+FROM moveit/moveit:${DEB_DISTRO}-ci
+LABEL org.opencontainers.image.authors="Robert Haschke <rhaschke@techfak.uni-bielefeld.de>"
+
+# Switch to ros-testing
+RUN . /etc/os-release && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net ${VERSION_CODENAME}-testing main" | tee /etc/apt/sources.list.d/ros1.list && \
+    # Upgrade packages to ros-testing and clean apt-cache within one RUN command
+    apt-get update && \
+    apt-get -qq -y dist-upgrade && \
+    #
+    # Clear apt-cache to reduce image size
+    rm -rf /var/lib/apt/lists/*
diff --git a/.github/docker/moveit-ci/Dockerfile b/.github/docker/moveit-ci/Dockerfile
@@ -1,8 +1,9 @@
 # moveit/moveit:jammy-ci
-# Sets up a base image to use for running Continuous Integration on Travis
+# Sets up a base image to use for running Continuous Integration
 
 ARG DEB_DISTRO=jammy
 FROM ubiagni/ros:${DEB_DISTRO}-ros-base
+LABEL org.opencontainers.image.authors="Robert Haschke <rhaschke@techfak.uni-bielefeld.de>"
 
 ENV TERM=xterm
 ENV IN_DOCKER=1

diff --git a/.github/docker/ros-base/Dockerfile b/.github/docker/ros-base/Dockerfile
@@ -1,5 +1,6 @@
 ARG DEB_DISTRO=jammy
 FROM ubiagni/ros:${DEB_DISTRO}-ros-core
+LABEL org.opencontainers.image.authors="Robert Haschke <rhaschke@techfak.uni-bielefeld.de>"
 
 # install bootstrap tools
 RUN apt-get update && apt-get install --no-install-recommends -y \

diff --git a/.github/docker/ros-core/Dockerfile b/.github/docker/ros-core/Dockerfile
@@ -1,5 +1,6 @@
 ARG DEB_DISTRO=jammy
 FROM ubuntu:${DEB_DISTRO}
+LABEL org.opencontainers.image.authors="Robert Haschke <rhaschke@techfak.uni-bielefeld.de>"
 
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \

diff --git a/.github/docker/ros-desktop-full/Dockerfile b/.github/docker/ros-desktop-full/Dockerfile
@@ -1,5 +1,6 @@
 ARG DEB_DISTRO=jammy
 FROM ubiagni/ros:${DEB_DISTRO}-ros-desktop
+LABEL org.opencontainers.image.authors="Robert Haschke <rhaschke@techfak.uni-bielefeld.de>"
 
 # install ros packages
 RUN apt-get update && apt-get install -y --no-install-recommends \

diff --git a/.github/docker/ros-desktop/Dockerfile b/.github/docker/ros-desktop/Dockerfile
@@ -1,5 +1,6 @@
 ARG DEB_DISTRO=jammy
 FROM ubiagni/ros:${DEB_DISTRO}-ros-robot
+LABEL org.opencontainers.image.authors="Robert Haschke <rhaschke@techfak.uni-bielefeld.de>"
 
 # install ros packages
 RUN apt-get update && apt-get install -y --no-install-recommends \

diff --git a/.github/docker/ros-robot/Dockerfile b/.github/docker/ros-robot/Dockerfile
@@ -1,5 +1,6 @@
 ARG DEB_DISTRO=jammy
 FROM ubiagni/ros:${DEB_DISTRO}-ros-base
+LABEL org.opencontainers.image.authors="Robert Haschke <rhaschke@techfak.uni-bielefeld.de>"
 
 # install ros packages
 RUN apt-get update && apt-get install -y --no-install-recommends \

diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
@@ -22,14 +22,12 @@ jobs:
       fail-fast: false
       matrix:
         DEB_DISTRO: [jammy, noble]
-        ROS_DISTRO: [one]
 
     uses: ./.github/workflows/docker.build.yaml
     secrets: inherit
     with:
       CONTEXT: ros-core
       DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
-      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
 
 
   ros-base:
@@ -44,7 +42,6 @@ jobs:
     with:
       CONTEXT: ros-base
       DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
-      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
 
 
   ros-robot:
@@ -59,7 +56,6 @@ jobs:
     with:
       CONTEXT: ros-robot
       DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
-      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
 
 
   ros-desktop:
@@ -74,7 +70,6 @@ jobs:
     with:
       CONTEXT: ros-desktop
       DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
-      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
 
 
   ros-desktop-full:
@@ -89,7 +84,6 @@ jobs:
     with:
       CONTEXT: ros-desktop-full
       DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
-      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
 
 
   moveit-ci:
@@ -105,4 +99,17 @@ jobs:
       CONTEXT: moveit-ci
       IMAGE: moveit/moveit:${{ matrix.DEB_DISTRO }}-ci
       DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
-      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+
+  moveit-ci-testing:
+    needs: moveit-ci
+    strategy:
+      fail-fast: false
+      matrix:
+        DEB_DISTRO: [jammy, noble]
+
+    uses: ./.github/workflows/docker.build.yaml
+    secrets: inherit
+    with:
+      CONTEXT: moveit-ci-testing
+      IMAGE: moveit/moveit:${{ matrix.DEB_DISTRO }}-ci-testing
+      DEB_DISTRO: ${{ matrix.DEB_DISTRO }}