Migrate to GitHub Actions

.ci.prepare_codecov

@@ -0,0 +1,19 @@
+#!/bin/bash
+pushd $BASEDIR
+
+BLUE='\033[0;34m'
+NOCOLOR='\033[0m'
+
+echo -e "${BLUE}Capture coverage info${NOCOLOR}"
+lcov --capture --directory target_ws --output-file coverage.info
+
+echo -e "${BLUE}Extract repository files${NOCOLOR}"
+lcov --extract coverage.info "$BASEDIR/target_ws/src/$TARGET_REPO_NAME/*" --output-file coverage.info
+
+echo -e "${BLUE}Filter out test files${NOCOLOR}"
+lcov --remove coverage.info '*/test/*' --output-file coverage.info
+
+echo -e "${BLUE}Output coverage data for debugging${NOCOLOR}" 
+lcov --list coverage.info
+
+popd

.clang-format

@@ -8,7 +8,6 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
@@ -51,7 +50,7 @@ SpaceAfterCStyleCast: false
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
-BraceWrapping: {
+BraceWrapping:
     AfterClass: 'true'
     AfterControlStatement: 'true'
     AfterEnum : 'true'
@@ -62,5 +61,4 @@ BraceWrapping: {
     BeforeCatch : 'true'
     BeforeElse : 'true'
     IndentBraces : 'false'
-}
 ...

.codecov.yaml

@@ -0,0 +1,10 @@
+coverage:
+  precision: 2
+  round: up
+  range: "45...70"
+  status:
+    project:
+      default:
+        target: auto
+        threshold: 5%
+    patch: off

.github/workflows/format.yml

@@ -0,0 +1,20 @@
+# 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
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: Format
+    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: pre-commit/[email protected]

.github/workflows/industrial_ci_action.yml

@@ -0,0 +1,48 @@
+# 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: BuildAndTest
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    env:
+      DOCKER_IMAGE: 'moveit/moveit:melodic-source'
+      UPSTREAM_WORKSPACE: 'upstream.rosinstall'
+      BEFORE_INSTALL_UPSTREAM_DEPENDENCIES_EMBED: 'set +u && source /root/ws_moveit/install/setup.bash && set -u'
+      AFTER_RUN_TARGET_TEST: './.ci.prepare_codecov'
+      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage'"
+      ADDITIONAL_DEBS: 'lcov'
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+      BASEDIR: ${{ github.workspace }}/.work
+
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: cache ccache
+        uses: actions/cache@v2
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ github.sha }}  
+          restore-keys: |
+            ccache-
+      - name: cache upstream_ws
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/upstream_ws
+          key: upstream_ws-${{ hashFiles('upstream.rosinstall') }}-${{ github.run_id }}
+          restore-keys: |
+            upstream_ws-${{ hashFiles('upstream.rosinstall') }}
+      - name: industrial_ci
+        uses: 'ros-industrial/industrial_ci@master'
+      - name: upaload test artifacts (on failure)
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: upaload codecov report
+        uses: codecov/codecov-action@v1
+        with:
+          files: ${{ env.BASEDIR }}/coverage.info

.pre-commit-config.yaml

@@ -0,0 +1,52 @@
+# 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-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+
+  - 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']
+
+  - repo: local
+    hooks:
+      - id: misspelled-moveit
+        name: misspelled-moveit
+        description: MoveIt should be spelled exactly as MoveIt
+        language: pygrep
+        entry: Moveit|MoveIt!
+        exclude: .pre-commit-config.yaml|README.md

README.md

@@ -11,6 +11,7 @@ upgrade to OpenCV 3.4, or use a ChArUco board.
 For full discussion of the ongoing effort from Yu Yan @ Intel, see this [Github
 discussion](https://github.com/ros-planning/moveit/issues/1070).
 
-## Travis - Continuous Integration
+## GitHub Actions - Continuous Integration
+
+[![Format](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yml?branch=master) [![BuildAndTest](https://github.com/ros-planning/moveit_calibration/actions/workflows/industrial_ci_action.yml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_calibration/actions/workflows/industrial_ci_action.yml?branch=master) [![codecov](https://codecov.io/gh/ros-planning/moveit_calibration/branch/master/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit_calibration)
 
-[![Build Status](https://travis-ci.com/ros-planning/moveit_calibration.svg?branch=master)](https://travis-ci.com/ros-planning/moveit_calibration)

upstream.rosinstall

@@ -0,0 +1,4 @@
+- git:
+    local-name: rviz_visual_tools
+    uri: https://github.com/PickNikRobotics/rviz_visual_tools
+    version: master