Add MoveIt to semi-binary workspace

Also enabled CCache, since building MoveIt takes a very long time otherwise.

Author: Felix Exner

.github/workflows/reusable_ici.yml

@@ -28,13 +28,26 @@ on:
         default: ''
         required: false
         type: string
+      ccache_dir:
+        description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
+        default: '.ccache'
+        required: false
+        type: string
+      basedir:
+        description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
+        default: '.work'
+        required: false
+        type: string
 
 jobs:
   reusable_ici:
     name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
     runs-on: ubuntu-latest
     env:
       DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net'
+      CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
+      BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
+      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
@@ -45,9 +58,32 @@ jobs:
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - run: docker network create --subnet=192.168.56.0/24 ursim_net
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
       - uses: 'ros-industrial/industrial_ci@master'
         env:
           UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
           ROS_DISTRO: ${{ inputs.ros_distro }}
           ROS_REPO: ${{ inputs.ros_repo }}
           CMAKE_ARGS: -DUR_ROBOT_DRIVER_BUILD_INTEGRATION_TESTS=ON
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws

Universal_Robots_ROS2_Driver.humble.repos

@@ -27,3 +27,12 @@ repositories:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
     version: humble
+  moveit2:
+    type: git
+    url: https://github.com/ros-planning/moveit2.git
+    version: humble
+
+  moveit_msgs:
+    type: git
+    url: https://github.com/ros-planning/moveit_msgs.git
+    version: humble

Universal_Robots_ROS2_Driver.iron.repos

@@ -27,3 +27,12 @@ repositories:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
     version: master
+  moveit2:
+    type: git
+    url: https://github.com/ros-planning/moveit2.git
+    version: iron
+
+  moveit_msgs:
+    type: git
+    url: https://github.com/ros-planning/moveit_msgs.git
+    version: iron

Universal_Robots_ROS2_Driver.rolling.repos

@@ -27,3 +27,12 @@ repositories:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
     version: master
+  moveit2:
+    type: git
+    url: https://github.com/ros-planning/moveit2.git
+    version: main
+
+  moveit_msgs:
+    type: git
+    url: https://github.com/ros-planning/moveit_msgs.git
+    version: ros2