CI: Add Noble build

Author: rhaschke

.github/workflows/ci.yaml

@@ -19,15 +19,15 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: jammy-ci
-          - IMAGE: noetic-source
+          - IMAGE: noble-ci
             NAME: ccov
             TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
-          - IMAGE: noetic-source
+          - IMAGE: noble-ci
             CLANG_TIDY: true
             TARGET_CMAKE_ARGS: >-
               -DCMAKE_BUILD_TYPE=Release
               -DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wold-style-cast"
+          - IMAGE: jammy-ci
           - IMAGE: noetic-source
             NAME: asan
             DOCKER_RUN_OPTS: >-
@@ -39,15 +39,15 @@ jobs:
       CATKIN_LINT: true
       CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
       DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
-      UNDERLAY: ${{ matrix.env.IMAGE != 'jammy-ci' && '/root/ws_moveit/install' || '' }}
+      UNDERLAY: ${{ endsWith(matrix.env.IMAGE, '-source') && '/root/ws_moveit/install' || '' }}
       DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master"
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
       # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
       CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
       CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
-      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
+      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++ -std=c++17' }}
 
     name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
     runs-on: ubuntu-latest

.github/workflows/format.yaml

@@ -11,14 +11,14 @@ on:
 jobs:
   pre-commit:
     name: pre-commit
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
-      - name: Install clang-format-12
-        run: sudo apt-get install clang-format-12
-      - uses: rhaschke/install-catkin_lint-action@v1.0
+      - name: Install clang-format-14
+        run: sudo apt-get install clang-format-14
+      - uses: rhaschke/install-catkin_lint-action@main
         with:
           distro: noetic
       - uses: pre-commit/[email protected]

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -29,7 +29,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 24.8.0
+    rev: 24.10.0
     hooks:
       - id: black
         args: ["--line-length", "100"]
@@ -39,7 +39,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-12
+        entry: clang-format-14
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ["-fallback-style=none", "-i"]

core/src/stages/predicate_filter.cpp

@@ -80,8 +80,6 @@ void PredicateFilter::init(const moveit::core::RobotModelConstPtr& robot_model)
 void PredicateFilter::onNewSolution(const SolutionBase& s) {
 	const auto& props = properties();
 
-	// false-positive in clang-tidy 10.0.0: predicate might change comment
-	// NOLINTNEXTLINE(performance-unnecessary-copy-initialization)
 	std::string comment = s.comment();
 
 	double cost = s.cost();