Update CI rules for Jazzy

.github/workflows/ci.yaml

@@ -9,39 +9,35 @@ on:
   merge_group:
   push:
     branches:
-      - main
+      - jazzy
 
 jobs:
   default:
     strategy:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: rolling-ci
-            CCOV: true
-            ROS_DISTRO: rolling
-          - IMAGE: rolling-ci
-            ROS_DISTRO: rolling
-            IKFAST_TEST: true
-            CLANG_TIDY: pedantic
-          - IMAGE: humble-ci
-            ROS_DISTRO: humble
           - IMAGE: jazzy-ci
+            CCOV: true
             ROS_DISTRO: jazzy
-          - IMAGE: jazzy-ci-testing
+          - IMAGE: jazzy-ci
             ROS_DISTRO: jazzy
+            IKFAST_TEST: true
+            CLANG_TIDY: pedantic
+            # Silent gmock/gtest warnings by picking more recent googletest version
+            AFTER_BUILD_UPSTREAM_WORKSPACE: |
+              git clone --depth 1 --quiet --branch 1.11.9000 https://github.com/ament/googletest "${BASEDIR}/upstream_ws/src/googletest"
+              builder_run_build "/opt/ros/${ROS_DISTRO}" "${BASEDIR}/upstream_ws" --packages-select gtest_vendor gmock_vendor
     env:
-      # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option
-      # https://stackoverflow.com/a/41673702
       CXXFLAGS: >-
-        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unknown-warning-option -Wno-cpp
+        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: >
         moveit2.repos
         $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f)
       # Pull any updates to the upstream workspace (after restoring it from cache)
-      AFTER_SETUP_UPSTREAM_WORKSPACE: apt remove -y ros-$ROS_DISTRO-geometric-shapes; vcs pull $BASEDIR/upstream_ws/src
+      AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
       AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
       # Clear the ccache stats before and log the stats after the build
       AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
@@ -165,7 +161,6 @@ jobs:
         with:
           docker: $DOCKER_IMAGE
           workdir: ${{ env.BASEDIR }}/target_ws
-          lcov_capture_args: --ignore-errors=gcov,gcov,mismatch,mismatch,negative,negative
           ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
       - name: Upload codecov report
         uses: codecov/codecov-action@v5

.github/workflows/docker.yaml

@@ -7,7 +7,7 @@ on:
   workflow_dispatch:
   push:
     branches:
-      - main
+      - jazzy
   pull_request:
     paths:
       - .docker/**
@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -72,7 +72,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -128,7 +128,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write

.github/workflows/tutorial_docker.yaml

@@ -16,7 +16,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, jazzy]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write