ci: cover kilted and lyrical, and add a real Resolute rolling job

.github/workflows/ci.yaml

@@ -19,12 +19,11 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: jazzy-source
+          - IMAGE: rolling-release
             NAME: ccov
             TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
-          - IMAGE: rolling-source
             CLANG_TIDY: pedantic
-          - IMAGE: rolling-source
+          - IMAGE: rolling-release
             NAME: asan
             # Add fast_unwind_on_malloc=0 to fix stacktraces being too short or do not make sense
             # see https://github.com/google/sanitizers/wiki/AddressSanitizer
@@ -34,6 +33,9 @@ jobs:
               -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions,fast_unwind_on_malloc=0"
               -e ASAN_OPTIONS="new_delete_type_mismatch=0,alloc_dealloc_mismatch=0"
             TARGET_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g"
+          - IMAGE: lyrical-release
+          - IMAGE: kilted-release
+          - IMAGE: jazzy-release
 
     env:
       CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
@@ -51,7 +53,7 @@ jobs:
     name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
         with:
           submodules: recursive
 
@@ -106,7 +108,7 @@ jobs:
           lcov_capture_args: --ignore-errors=source,gcov,mismatch,negative
           ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
       - name: Upload codecov report
-        uses: codecov/codecov-action@v6
+        uses: codecov/codecov-action@v7
         if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
         with:
           files: ${{ env.BASEDIR }}/target_ws/coverage.info

.github/workflows/format.yaml

@@ -11,13 +11,13 @@ on:
 jobs:
   pre-commit:
     name: pre-commit
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-26.04
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
         with:
           submodules: recursive
-      - name: Install clang-format-14
-        run: sudo apt-get install clang-format-14
+      - name: Install clang-format
+        run: sudo apt-get install clang-format
       - uses: pre-commit/action@v3.0.1
         id: precommit
       - name: Upload pre-commit changes

.github/workflows/prerelease.yaml

@@ -34,7 +34,7 @@ jobs:
           # free up a lot of stuff from /usr/local
           sudo rm -rf /usr/local
           df -h
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
         with:
           submodules: recursive
       - name: industrial_ci

.pre-commit-config.yaml

@@ -39,7 +39,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-14
+        entry: clang-format
         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/include/moveit/task_constructor/stages/noop.h

@@ -50,7 +50,7 @@ namespace stages {
 class NoOp : public PropagatingEitherWay
 {
 public:
-	NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name){};
+	NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name) {};
 
 private:
 	bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& /*trajectory*/,

core/package.xml

@@ -37,7 +37,7 @@
 	<test_depend>launch_testing_ament_cmake</test_depend>
 	<!-- test_depend>launch_testing_ros</test_depend -->
 	<test_depend>moveit_resources_fanuc_moveit_config</test_depend>
-	<test_depend>moveit_planners</test_depend>
+	<test_depend>moveit_planners_ompl</test_depend>
 
 	<export>
 		<build_type>ament_cmake</build_type>

core/python/bindings/src/properties.cpp

@@ -158,7 +158,7 @@ bool PropertyConverterBase::insert(const std::type_index& type_index, const std:
 	return REGISTRY_SINGLETON.insert(type_index, ros_msg_name, to, from);
 }
 
-__attribute__((visibility("default"))) // export this symbol as visible in the shared library
+__attribute__((visibility("default")))  // export this symbol as visible in the shared library
 void export_properties(py::module& m) {
 	// clang-format off
 	py::classh<Property>(m, "Property", "Holds an arbitrarily typed value and a default value")

core/src/container.cpp

@@ -58,9 +58,8 @@ namespace task_constructor {
 
 // for debugging of how children interfaces evolve over time
 __attribute__((unused))  // silent unused-function warning
-static void
-printChildrenInterfaces(const ContainerBasePrivate& container, bool success, const Stage& creator,
-                        std::ostream& os = std::cerr) {
+static void printChildrenInterfaces(const ContainerBasePrivate& container, bool success, const Stage& creator,
+                                    std::ostream& os = std::cerr) {
 	static unsigned int id = 0;
 	const unsigned int width = 10;  // indentation of name
 	os << '\n' << (success ? '+' : '-') << ' ' << creator.name() << ' ';

core/test/test_move_relative.cpp

@@ -173,17 +173,15 @@ TEST_F(PandaMoveRelativeCartesian, cartesianRotateAttachedIKFrame) {
 TEST_F(PandaMoveRelativeJoint, jointOutsideBound) {
 	// move joint inside limit
 	auto initial_jpos = scene->getCurrentState().getJointPositions("panda_joint7");
-	move->setDirection([initial_jpos] {
-		return std::map<std::string, double>{ { "panda_joint7", 2.0 - *initial_jpos } };
-	}());
+	move->setDirection(
+	    [initial_jpos] { return std::map<std::string, double>{ { "panda_joint7", 2.0 - *initial_jpos } }; }());
 	EXPECT_TRUE(this->t.plan()) << "Plan should succeed, joint inside limit";
 
 	this->t.reset();
 
 	// move joint outside limit: 2.8973
-	move->setDirection([initial_jpos] {
-		return std::map<std::string, double>{ { "panda_joint7", 3.0 - *initial_jpos } };
-	}());
+	move->setDirection(
+	    [initial_jpos] { return std::map<std::string, double>{ { "panda_joint7", 3.0 - *initial_jpos } }; }());
 
 	EXPECT_FALSE(this->t.plan()) << "Plan should fail, joint outside limit";
 }