DevOps Improvement Ideas

[vatanaksoytezer]

This is a WMD track to improve and document the existing DevOps pipeline in MoveIt. Some work I can think of includes:

• Consider doing the CI builds with ninja to get faster builds.
• Document docker based setup instructions on the moveit.ros.org website and promote using dockers
• Promote using binary releases for Foxy and Galactic
• Improve dockerfiles and builds to utilize more caching
• Consider adding https://github.com/wagoodman/dive to evaluate dockerfiles
• Use existing buildfarm doc jobs for API documentation instead of our own solution. See https://github.com/ros-planning/moveit/pull/2914
• Point tutorials for all ROS 2 distros from ROS 1 tutorial documentation
• Fix flaky rdf integration test
• Increase test coverage

Please feel free to add your thoughts and improvement ideas here.

[JafarAbdi]

• Port moveit_task_constructor_core integration tests, requires porting:
  • tams_ur5_setup_moveit_config
  • pr2_moveit_config
  • pa10_shadow_moveit
  • https://github.com/ros-planning/moveit_task_constructor/blob/ros2/core/test/CMakeLists.txt
  • https://github.com/ros-planning/moveit_task_constructor/blob/ros2/core/package.xml

[JafarAbdi]

• Port moveit_task_constructor_demo integration test https://github.com/ros-planning/moveit_task_constructor/blob/ros2/demo/CMakeLists.txt#L64-L65
  • Example of a ported integration test https://github.com/ros-planning/moveit_task_constructor/blob/ros2/core/test/move_to.launch.py

[JafarAbdi]

https://github.com/ros-planning/moveit2/issues/618

[JafarAbdi]

Not ported tests for core features:

• https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning_interface/test/subframes_test.test
• https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test
• https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning/trajectory_execution_manager/test/test_execution_manager.test
• https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning_interface/test/moveit_cpp_test.test
• https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning_interface/test/move_group_pick_place_test.test
• https://github.com/ros-planning/moveit2/blob/main/moveit_ros/planning_interface/test/move_group_interface_cpp_test.test

[mikeferguson]

@vatanaksoytezer should we rename this ticket? Looks like most of these things are not ticketed elsewhere (unlike our other WMD tickets)

[vatanaksoytezer]

@mikeferguson yeah for sure, feel free to edit yourself or suggest any better names, I'm happy to change.