feat(ci): Add jazzy

.docker/Dockerfile

@@ -61,7 +61,7 @@ RUN --mount=type=cache,target=/root/.ccache/ \
     # Enable ccache
     . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
     . "install/setup.sh" &&\
-    sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
+    sudo apt update && rosdep update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
     colcon build \
         --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
                      -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \

.github/upstream.repos

@@ -30,3 +30,8 @@ repositories:
     type: git
     url: https://github.com/tylerjw/serial.git
     version: ros2
+  # picknik_controllers, which is removed for rolling in https://github.com/moveit/moveit2_tutorials/pull/1104, is a dependency of ros2_kortex. Remove when rolling binaries are available.
+  picknik_controllers:
+    type: git
+    url: https://github.com/PickNikRobotics/picknik_controllers.git
+    version: 0.0.4

.github/workflows/ci.yaml

@@ -18,28 +18,38 @@ on:
 jobs:
   default:
     strategy:
+      fail-fast: false
       matrix:
         env:
+          - IMAGE: jazzy-release
+          - IMAGE: main-jazzy-tutorial-source
           - IMAGE: rolling-source
+        include:
+          - env:
+              IMAGE: rolling-source
+            continue-on-error: true
+
+    continue-on-error: ${{ matrix.continue-on-error || false }}
 
     env:
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
+      BEFORE_INIT: git config --global --add safe.directory '*'
       UPSTREAM_WORKSPACE: .github/upstream.repos
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
-      AFTER_SETUP_UPSTREAM_WORKSPACE_EMBED: set +u && source ~/ws_moveit/install/setup.bash && set - u
+      BEFORE_BUILD_TARGET_WORKSPACE: set +u && if [ -f ~/ws_moveit/install/setup.bash ]; then source ~/ws_moveit/install/setup.bash; fi && set -u
       TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: ${{ matrix.env.IMAGE }}
 
     name: ${{ matrix.env.IMAGE }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v7
         with:
           fetch-depth: 0
       - name: cache upstream_ws
-        uses: actions/cache@v4
+        uses: actions/cache@v6
         with:
           save-always: true
           path: ${{ env.BASEDIR }}/upstream_ws
@@ -49,15 +59,15 @@ jobs:
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws
-        uses: actions/cache@v4
+        uses: actions/cache@v6
         with:
           save-always: true
           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: actions/cache@v4
+        uses: actions/cache@v6
         with:
           save-always: true
           path: ${{ env.CCACHE_DIR }}

.github/workflows/deploy.yml

@@ -19,7 +19,7 @@ jobs:
     container:
       image: moveit/moveit2:rolling-source
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
 
     - name: Install Python dependencies
       shell: bash
@@ -59,7 +59,7 @@ jobs:
     container:
       image: ${{ matrix.container }}
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
 
     - name: Install Python dependencies
       shell: bash
@@ -94,7 +94,7 @@ jobs:
     runs-on: ubuntu-latest
     needs: upload_site_artifacts
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
       with:
         fetch-depth: 0
 

.github/workflows/format.yml

@@ -1,28 +1,31 @@
 # This is a format job. Pre-commit has a first-party GitHub action, so we use
 # that: https://github.com/pre-commit/action
 
-name: Format
+name: Formatting (pre-commit)
 
 on:
   workflow_dispatch:
   pull_request:
+  merge_group:
   push:
     branches:
       - main
-      - humble
-
-permissions:
-  contents: read # to fetch code (actions/checkout)
 
 jobs:
   pre-commit:
     name: Format
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v4
-    - uses: actions/setup-python@v5
+    - uses: actions/checkout@v7
+    - uses: actions/setup-python@v6
       with:
         python-version: '3.10'
     - name: Install clang-format-14
       run: sudo apt-get install clang-format-14
     - uses: pre-commit/action@v3.0.1
+      id: precommit
+    - name: Upload pre-commit changes
+      if: failure() && steps.precommit.outcome == 'failure'
+      uses: rhaschke/upload-git-patch-action@main
+      with:
+        name: pre-commit

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0
+    rev: v6.0.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict

doc/examples/examples.rst

@@ -51,7 +51,7 @@ The MoveIt Python API binds a subset of the C++ API. The Python API is useful fo
 
 Integration with a New Robot
 ----------------------------
-Before attempting to integrate a new robot with MoveIt 2, check whether your robot has already been set up (see the `list of robots running MoveIt <http://moveit.ros.org/robots/>`_). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt.
+Before attempting to integrate a new robot with MoveIt 2, check whether your robot has already been set up (see the `list of robots running MoveIt <https://moveit.ai/robots/>`_). Otherwise, follow the tutorials in this section to integrate your robot with MoveIt.
 
 .. toctree::
    :maxdepth: 1

doc/examples/motion_planning_pipeline/CMakeLists.txt

@@ -1,3 +1,9 @@
+==== BASE ====
+find_package(graph_msgs REQUIRED)
+find_package(moveit_visual_tools REQUIRED)
+find_package(rviz_visual_tools REQUIRED)
+
+==== BASE ====
 add_executable(motion_planning_pipeline_tutorial
     src/motion_planning_pipeline_tutorial.cpp)
 target_include_directories(motion_planning_pipeline_tutorial

doc/examples/ompl_interface/ompl_interface_tutorial.rst

@@ -133,7 +133,7 @@ You can adjust the amount of time MoveIt spends on smoothing by increasing the p
 
 Although not currently exposed at the top levels of MoveIt (TODO), more smoothing can be accomplished by setting the simplification duration to 0 (unlimited) in ``model_based_planning_context.cpp``. This will enable OMPL's ``simplifyMax()`` function.
 
-Besides the internal OMPL smoothers, recent efforts have been made to do post-proccessing with STOMP/CHOMP. See `this blog post <http://moveit.ros.org/moveit!/ros/2018/10/25/gsoc-motion-planning-support.html>`_.
+Besides the internal OMPL smoothers, recent efforts have been made to do post-proccessing with STOMP/CHOMP. See `this blog post <https://moveit.picknik.ai/main/doc/concepts/motion_planning.html#>`_.
 
 Persistent Roadmaps
 -------------------

doc/examples/planning_adapters/planning_adapters_tutorial.rst

@@ -26,7 +26,7 @@ As you add and remove packages from your workspace you will need to clean your w
   cd ~/ws_moveit/src
   catkin clean
 
-Now follow the instructions on the MoveIt homepage for `installing MoveIt Melodic from source <http://moveit.ros.org/install/source/>`_. Note that you can skip the **Prerequisites** section since you should already have a Catkin workspace.
+Now follow the instructions on the MoveIt homepage for `installing MoveIt Humble/jazzy/rolling from source <https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html>`_. Note that you can skip the **Prerequisites** section since you should already have a Catkin workspace.
 
 Re-source the setup files: ::
 

index.rst

@@ -6,7 +6,7 @@ Welcome to the unified MoveIt documentation, which includes tutorials, how-to gu
 MoveIt 2 is the robotic manipulation platform for ROS 2 and incorporates the latest advances in motion planning, manipulation, 3D perception, kinematics, control, and navigation. MoveIt 2 was first released in 2019; for ROS 1 documentation, see `MoveIt 1 tutorials <https://moveit.github.io/moveit_tutorials>`_.
 For the commercially supported version see `MoveIt Pro tutorials <https://docs.picknik.ai/en/stable/>`_.
 
-.. image:: http://moveit.ros.org/assets/images/roadmap.png
+.. image:: https://moveit.ai/assets/logo/moveit_logo-white.png
    :width: 400px
 
 How-To Use This Website
@@ -42,5 +42,5 @@ Help us improve these docs and we'll be happy to include you here also!
 Corporate Sponsorship
 ---------------------
 
-* The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with `PickNik Robotics <https://picknik.ai/>`_ (`Check out the blog post! <http://moveit.ros.org/moveit!/ros/2018/02/26/tutorials-documentation-codesprint.html>`_)
+* The tutorials had a major update in 2018 during a code sprint sponsored by Franka Emika in collaboration with `PickNik Robotics <https://picknik.ai/>`_ (`Check out the blog post! <https://moveit.ai/moveit!/ros/2018/02/26/tutorials-documentation-codesprint.html>`_)
 * The tutorials had another major update in 2022 during a doc-a-thon sponsored by `PickNik Robotics <https://picknik.ai/>`_.