Migrate to github actions (#634)

* Migrate to github actions
* Fix formating errors

.github/workflows/ci.yaml

@@ -0,0 +1,67 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  default:
+    strategy:
+      matrix:
+        env:
+          - IMAGE: master-source
+          - IMAGE: noetic-source
+    env:
+      DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
+      UNDERLAY: /root/ws_moveit/install
+      CATKIN_LINT: true
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CLANG_TIDY_BASE_REF: ${{ github.base_ref || github.ref }}
+
+    name: ${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      # 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: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
+          restore-keys: ${{ env.CACHE_PREFIX }}
+        env:
+          CACHE_PREFIX: target_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ${{ env.CACHE_PREFIX }}
+        env:
+          CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}
+
+      - name: industrial_ci
+        uses: ros-industrial/industrial_ci@master
+        env: ${{ matrix.env }}
+
+      - name: upload test artifacts (on failure)
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: prepare target_ws for cache
+        if: ${{ always() }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src ${{ env.BASEDIR }}/target_ws/logs
+          du -sh ${{ env.BASEDIR }}/target_ws

.github/workflows/deploy.yaml

@@ -0,0 +1,29 @@
+name: Build+Test+Deploy
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+
+jobs:
+  default:
+    name: Build + Test + Deploy Website
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: noetic
+    - uses: actions/setup-python@v2
+    - uses: ruby/setup-ruby@v1
+      with:
+        ruby-version: '2.7'
+    - name: "Build+Test: Run htmlproofer.sh"
+      run: ./htmlproofer.sh
+    - name: Deploy
+      if: ${{ success() && github.event_name == 'push'}}
+      uses: peaceiris/actions-gh-pages@v3
+      with:
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        publish_dir: ./build/html

.github/workflows/format.yaml

@@ -0,0 +1,23 @@
+# 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 (pre-commit)
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/setup-python@v2
+      - name: Install clang-format-10
+        run: sudo apt-get install clang-format-10
+      - uses: rhaschke/[email protected]
+        with:
+          distro: noetic
+      - uses: pre-commit/[email protected]

.gitignore

@@ -5,4 +5,4 @@ doc/html
 build
 Gemfile
 native_build
-*.gdb
+*.gdb

.pre-commit-config.yaml

@@ -0,0 +1,55 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black
+    rev: 20.8b1
+    hooks:
+      - id: black
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-10
+        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']
+      - id: catkin_lint
+        name: catkin_lint
+        description: Check package.xml and cmake files
+        entry: catkin_lint .
+        language: system
+        always_run: true
+        pass_filenames: false

README.md

@@ -10,10 +10,11 @@ These tutorials use the [reStructuredText](http://www.sphinx-doc.org/en/stable/r
 
 All content in this repository is open source and released under the [BSD License v3](https://opensource.org/licenses/BSD-3-Clause). Each individual source code file should contain a copy of the license.
 
-This repository is currently built automatically by two systems. Travis builds the documentation for Melodic and ROS Build Farm builds the documentation for older versions:
-- [![Travis Status](https://travis-ci.org/ros-planning/moveit_tutorials.svg?branch=master)](https://travis-ci.org/ros-planning/moveit_tutorials) [Github Pages + Travis](https://ros-planning.github.io/moveit_tutorials/): latest
-- [![ROS Melodic Build Farm Status](http://build.ros.org/buildStatus/icon?job=Mdoc__moveit_tutorials__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdoc__moveit_tutorials__ubuntu_bionic_amd64/) [ROS Melodic Build Farm](http://docs.ros.org/melodic/api/moveit_tutorials/html/)
-- [![ROS Kinetic Build Farm Status](http://build.ros.org/buildStatus/icon?job=Kdoc__moveit_tutorials__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdoc__moveit_tutorials__ubuntu_xenial_amd64/) [ROS Kinetic Build Farm](http://docs.ros.org/kinetic/api/moveit_tutorials/html/)
+This repository is currently built automatically by two systems. Github Actions builds the documentation for Noetic, and ROS Build Farm builds the documentation for older versions:
+
+- [ROS Noetic](https://ros-planning.github.io/moveit_tutorials/): [![CI](https://github.com/ros-planning/moveit_tutorials/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_tutorials/actions/workflows/ci.yaml?query=branch%3Amaster) [![Deploy](https://github.com/ros-planning/moveit_tutorials/actions/workflows/deploy.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_tutorials/actions/workflows/deploy.yaml?query=branch%3Amaster) [![Formatting](https://github.com/ros-planning/moveit_tutorials/actions/workflows/format.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_tutorials/actions/workflows/format.yaml?query=branch%3Amaster)
+- [ROS Melodic](http://docs.ros.org/melodic/api/moveit_tutorials/html/): [![build farm](http://build.ros.org/buildStatus/icon?job=Mdoc__moveit_tutorials__ubuntu_bionic_amd64)](http://build.ros.org/job/Mdoc__moveit_tutorials__ubuntu_bionic_amd64/)
+- [ROS Kinetic](http://docs.ros.org/kinetic/api/moveit_tutorials/html/): [![build farm](http://build.ros.org/buildStatus/icon?job=Kdoc__moveit_tutorials__ubuntu_xenial_amd64)](http://build.ros.org/job/Kdoc__moveit_tutorials__ubuntu_xenial_amd64/)
 
 ## Versions
 
@@ -48,7 +49,7 @@ We rely on the community to keep these tutorials up to date and bug free. If you
 
 **Code Formatting**
 
-* These tutorials use the same [style guidelines](http://moveit.ros.org/documentation/contributing/code/) as the MoveIt project. When modifying or adding to these tutorials, it is required that code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code/).
+* These tutorials use the same [style guidelines](http://moveit.ros.org/documentation/contributing/code/) as the MoveIt project. When modifying or adding to these tutorials, it is required that code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code/). To check and apply our style guidelines we use [pre-commit](https://pre-commit.com/).
 * Tutorials should exemplify best coding practices. If a contribution wouldn't pass review in the MoveIt project, then it shouldn't pass review in the tutorials.
 * Relevant code should be included and explained using the ``.. tutorial-formatter::`` tag.
 * Irrelevant code should be excluded from the generated html using the ``BEGIN_TUTORIAL``, ``END_TUTORIAL``, ``BEGIN_SUB_TUTORIAL``, and ``END_SUB_TUTORIAL`` tags.
@@ -62,6 +63,20 @@ We rely on the community to keep these tutorials up to date and bug free. If you
 * Tutorials should flow from show to tell with videos and demos at the beginning followed by explanations.
 * New tutorials should match the formatting, style and flow of existing tutorials whenever possible.
 
+**pre-commit**
+
+pre-commit is a tool that is used in ``moveit_tutorials`` to check and apply style guidelines automatically. To install pre-commit into your system:
+
+    pip3 install pre-commit
+
+In you catkin workspace, under ``moveit_tutorials`` directory you can install the git hooks like this:
+
+    cd $CATKIN_WS/src/moveit_tutorials && pre-commit install
+
+With this pre-commit will automatically run and check a list of styling including clang-format, end of files and trailing whitespaces whenever you run ``git commit``. To run pre-commit any time other than ``git commit`` you can use the following command:
+
+    cd $CATKIN_WS/src/moveit_tutorials && pre-commit run -a
+
 ### Directory Structure
 
 * Each tutorial should live in its own subdirectory within the `./doc/ <>` directory.