CI: Fix docker builds

.docker/ci-testing/Dockerfile

@@ -1,68 +1,16 @@
-# ghcr.io/moveit/moveit2:${OUR_ROS_DISTRO}-ci-testing
+# ghcr.io/moveit/moveit2:${ROS_DISTRO}-ci-testing
 # CI image using the ROS testing repository
 
-FROM osrf/ros2:testing
+ARG ROS_DISTRO=rolling
+FROM moveit/moveit2:${ROS_DISTRO}-ci
 LABEL maintainer="Robert Haschke rhaschke@techfak.uni-bielefeld.de"
 
-ENV TERM=xterm
-
-# Overwrite the ROS_DISTRO set in osrf/ros2:testing to the distro tied to this Dockerfile (OUR_ROS_DISTRO).
-# In case ROS_DISTRO is now different from what was set in osrf/ros2:testing, run `rosdep update` again
-# to get any missing dependencies.
-# https://docs.docker.com/engine/reference/builder/#using-arg-variables explains why ARG and ENV can't have
-# the same name (ROS_DISTRO is an ENV in the osrf/ros2:testing image).
-ARG OUR_ROS_DISTRO=rolling
-ENV ROS_DISTRO=${OUR_ROS_DISTRO}
-RUN rosdep update --rosdistro $ROS_DISTRO
-
-# Install ROS 2 base packages and build tools
-# We are installing ros-<distro>-ros-base here to mimic the behavior of the ros:<distro>-ros-base images.
-# This step is split into a separate layer so that we can rely on cached dependencies instead of having
-# to install them with every new build. The testing image and packages will only update every couple weeks.
-RUN \
-    # Update apt package list as previous containers clear the cache
-    apt-get -q update && \
-    apt-get -q -y upgrade && \
-    #
-    # Install base dependencies
-    apt-get -q install --no-install-recommends -y \
-        # Some basic requirements
-        wget git sudo curl \
-        # Preferred build tools
-        clang clang-format-14 clang-tidy clang-tools \
-        ccache \
-        ros-"$ROS_DISTRO"-ros-base && \
-    #
-    # Clear apt-cache to reduce image size
-    rm -rf /var/lib/apt/lists/*
-
-# Setup (temporary) ROS workspace
-WORKDIR /root/ws_moveit
-
-# Copy MoveIt sources from docker context
-COPY . src/moveit2
-
-# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
-# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
-RUN \
-    # Update apt package list as previous containers clear the cache
-    apt-get -q update && \
-    apt-get -q -y upgrade && \
-    #
-    # Globally disable git security
-    # https://github.blog/2022-04-12-git-security-vulnerability-announced
-    git config --global --add safe.directory "*" && \
-    #
-    # Fetch all dependencies from moveit2.repos
-    vcs import src < src/moveit2/moveit2.repos && \
-    if [ -r src/moveit2/moveit2_"$ROS_DISTRO".repos ] ; then vcs import src < src/moveit2/moveit2_"$ROS_DISTRO".repos ; fi && \
-    #
-    # Download all dependencies of MoveIt
-    rosdep update && \
-    DEBIAN_FRONTEND=noninteractive \
-    rosdep install -y --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" --as-root=apt:false && \
-    # Remove the source code from this container
-    rm -rf src && \
+# Switch to ros-testing
+RUN apt-get update && \
+    apt-get install -y ros2-testing-apt-source && \
+    # 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/*

.docker/ci/Dockerfile

@@ -15,7 +15,7 @@
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN \
     # Update apt package list as previous containers clear the cache
     apt-get -q update && \
     apt-get -q -y upgrade && \
@@ -39,7 +39,7 @@
     # Download all dependencies of MoveIt
     rosdep update && \
     DEBIAN_FRONTEND=noninteractive \
-    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+    rosdep install -y -r --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false || true && \
     # Remove the source code from this container
     rm -rf src && \
     #

.docker/source/Dockerfile

@@ -4,7 +4,7 @@
 # Downloads the moveit source code and install remaining debian dependencies
 
 ARG ROS_DISTRO=rolling
-FROM moveit/moveit2:${ROS_DISTRO}-ci
+FROM moveit/moveit2:${ROS_DISTRO}-ci-testing
 LABEL maintainer="Robert Haschke rhaschke@techfak.uni-bielefeld.de"
 
 # Export ROS_UNDERLAY for downstream docker containers
@@ -16,7 +16,7 @@
 
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN --mount=type=cache,target=/root/.ccache/ \
     # Enable ccache
     PATH=/usr/lib/ccache:$PATH && \
     # Fetch required upstream sources for building

.docker/tutorial-source/Dockerfile

@@ -6,18 +6,9 @@
 ARG ROS_DISTRO=rolling
 ARG GZ_VERSION=ionic
 
-FROM moveit/moveit2:${ROS_DISTRO}-ci
+FROM moveit/moveit2:${ROS_DISTRO}-source
 LABEL maintainer="Tyler Weaver tyler@picknik.ai"
 
-ARG GZ_VERSION
-
-# Export ROS_UNDERLAY for downstream docker containers
-ENV ROS_UNDERLAY=/root/ws_moveit/install
-WORKDIR $ROS_UNDERLAY/..
-
-# Copy MoveIt sources from docker context
-COPY . src/moveit2
-
 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
 # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
 RUN --mount=type=cache,target=/root/.ccache/,sharing=locked \

.github/workflows/ci.yaml

@@ -46,7 +46,7 @@ jobs:
             ROS_DISTRO: humble
           - IMAGE: jazzy-ci
             ROS_DISTRO: jazzy
-          - IMAGE: lyrical-ci
+          - IMAGE: lyrical-ci-testing
             ROS_DISTRO: lyrical
     env:
       # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option

.github/workflows/docker.yaml

@@ -25,12 +25,11 @@ jobs:
       packages: write
       contents: read
     env:
-      GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
-      DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
       PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
 
     steps:
-      - uses: rhaschke/docker-run-action@v5
+      - uses: rhaschke/docker-run-action@main
         name: Check for apt updates
         continue-on-error: true
         id: apt
@@ -62,11 +61,11 @@ jobs:
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: ${{ env.PUSH }}
           no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
-          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
+          cache-from: type=registry,ref=ghcr.io/${{ env.IMAGE }}
           cache-to: type=inline
           tags: |
-            ${{ env.GH_IMAGE }}
-            ${{ env.DH_IMAGE }}
+            ${{ env.IMAGE }}
+            ghcr.io/${{ env.IMAGE }}
 
   ci:
     strategy:
@@ -78,12 +77,11 @@ jobs:
       packages: write
       contents: read
     env:
-      GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
-      DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
       PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
 
     steps:
-      - uses: rhaschke/docker-run-action@v5
+      - uses: rhaschke/docker-run-action@main
         name: Check for apt updates
         continue-on-error: true
         id: apt
@@ -115,15 +113,13 @@ jobs:
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: ${{ env.PUSH }}
           no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
-          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
+          cache-from: type=registry,ref=ghcr.io/${{ env.IMAGE }}
           cache-to: type=inline
           tags: |
-            ${{ env.GH_IMAGE }}
-            ${{ env.GH_IMAGE }}-testing
-            ${{ env.DH_IMAGE }}
-            ${{ env.DH_IMAGE }}-testing
+            ${{ env.IMAGE }}
+            ghcr.io/${{ env.IMAGE }}
 
-  source:
+  ci-testing:
     needs: ci
     strategy:
       fail-fast: false
@@ -134,8 +130,60 @@ jobs:
       packages: write
       contents: read
     env:
-      GH_IMAGE: ghcr.io/moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
-      DH_IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
+
+    steps:
+      - uses: rhaschke/docker-run-action@main
+        name: Check for apt updates
+        continue-on-error: true
+        id: apt
+        with:
+          image: ${{ env.IMAGE }}
+          run: |
+            apt-get update
+            have_updates=$(apt-get --simulate upgrade | grep -q "^0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.$" && echo false || echo true)
+            echo "no_cache=$have_updates" >> "$GITHUB_OUTPUT"
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v4
+      - name: Login to Github Container Registry
+        if: env.PUSH == 'true'
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Login to DockerHub
+        if: env.PUSH == 'true'
+        uses: docker/login-action@v4
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: Build and Push
+        uses: docker/build-push-action@v7
+        with:
+          file: .docker/${{ github.job }}/Dockerfile
+          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          push: ${{ env.PUSH }}
+          no-cache: ${{ steps.apt.outputs.no_cache || github.event_name == 'workflow_dispatch' }}
+          cache-from: type=registry,ref=ghcr.io/${{ env.IMAGE }}
+          cache-to: type=inline
+          tags: |
+            ${{ env.IMAGE }}
+            ghcr.io/${{ env.IMAGE }}
+
+  source:
+    needs: ci-testing
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+      contents: read
+    env:
+      IMAGE: moveit/moveit2:${{ matrix.ROS_DISTRO }}-${{ github.job }}
       PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
 
     steps:
@@ -164,21 +212,80 @@ jobs:
           file: .docker/${{ github.job }}/Dockerfile
           build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
           push: ${{ env.PUSH }}
-          cache-from: type=registry,ref=${{ env.GH_IMAGE }}
+          cache-from: type=registry,ref=ghcr.io/${{ env.IMAGE }}
           cache-to: type=inline
           tags: |
-            ${{ env.GH_IMAGE }}
-            ${{ env.DH_IMAGE }}
+            ${{ env.IMAGE }}
+            ghcr.io/${{ env.IMAGE }}
+
+  tutorial-source:
+    needs: source
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+      contents: read
+    env:
+      IMAGE: moveit/moveit2:main-${{ matrix.ROS_DISTRO }}-${{ github.job }}
+      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2') }}
+
+    steps:
+      - uses: actions/checkout@v7
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v4
+      - name: Login to Github Container Registry
+        if: env.PUSH == 'true'
+        uses: docker/login-action@v4
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Login to DockerHub
+        if: env.PUSH == 'true'
+        uses: docker/login-action@v4
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: "Remove .dockerignore"
+        run: rm .dockerignore  # enforce full source context
+      - name: Cache ccache
+        uses: actions/cache@v5
+        with:
+          path: .ccache
+          key: docker-tutorial-ccache-${{ matrix.ROS_DISTRO }}-${{ hashFiles( '.docker/tutorial-source/Dockerfile' ) }}
+      - name: inject ccache into docker
+        uses: reproducible-containers/buildkit-cache-dance@v3.3.0
+        with:
+           cache-map: |
+              {
+                ".ccache": "/root/.ccache/"
+              }
+      - name: Build and Push
+        uses: docker/build-push-action@v7
+        with:
+          context: .
+          file: .docker/${{ github.job }}/Dockerfile
+          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          push: ${{ env.PUSH }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          tags: |
+            ${{ env.IMAGE }}
+            ghcr.io/${{ env.IMAGE }}
 
   delete_untagged:
     runs-on: ubuntu-latest
     needs:
       - release
       - source
+      - tutorial-source
     steps:
       - name: Delete Untagged Images
         if: (github.event_name != 'pull_request') && (github.repository == 'moveit/moveit2')
-        uses: actions/github-script@v8
+        uses: actions/github-script@v9
         with:
           github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
           script: |