Several changes for ros build farm compatibility

.github/dependencies.repos

@@ -3,7 +3,31 @@ repositories:
     type: git
     url: https://github.com/ToyotaResearchInstitute/ament_cmake_doxygen
     version: main
-  pybind11:
+  maliput:
     type: git
-    url: https://github.com/RobotLocomotion/pybind11.git
-    version: c39ede1eedd4f39aa167d7b30b53ae45967c39b7
+    url: https://github.com/maliput/maliput
+    version: main
+  maliput_drake:
+    type: git
+    url: https://github.com/maliput/maliput_drake
+    version: main
+  maliput_dragway:
+    type: git
+    url: https://github.com/maliput/maliput_dragway
+    version: main
+  maliput_malidrive:
+    type: git
+    url: https://github.com/maliput/maliput_malidrive
+    version: main
+  maliput_multilane:
+    type: git
+    url: https://github.com/maliput/maliput_multilane
+    version: main
+  maliput_object:
+    type: git
+    url: https://github.com/maliput/maliput_object
+    version: main
+  maliput_py:
+    type: git
+    url: https://github.com/maliput/maliput_py
+    version: main

.github/workflows/build.yml

@@ -1,6 +1,7 @@
 name: gcc
 
 on:
+  push:
   pull_request:
     branches:
       - main
@@ -9,106 +10,19 @@ on:
 env:
   PACKAGE_NAME: maliput_integration
   ROS_DISTRO: foxy
-  ROS_WS: maliput_ws
 
 jobs:
   compile_and_test:
+    name: Compile and test
     runs-on: ubuntu-latest
     container:
       image: ubuntu:20.04
     steps:
-    # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
-    - uses: ros-tooling/[email protected]
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-    - uses: actions/checkout@v2
-      with:
-        path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
-    # clone private dependencies
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_py
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_py
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_malidrive
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_malidrive
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_dragway
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_dragway
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_multilane
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_multilane
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_object
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_object
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_drake
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_drake
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - name: check if dependencies have a matching branch
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src
-      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
-    # clone public dependencies
-    - name: vcs import
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
-    - run: colcon graph
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-    - name: rosdep install
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        rosdep update --include-eol-distros;
-        rosdep install  -i -y --rosdistro ${ROS_DISTRO} --skip-keys "pybind11" --from-paths src
-    # Build libraries.
-    - name: colcon build libraries
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        colcon build --packages-up-to ${PACKAGE_NAME} \
-          --event-handlers=console_direct+ \
-          --cmake-args -DBUILD_TESTING=ON -DBUILD_DOCS=OFF;
-    # Build tests for current package.
-    - name: colcon build tests
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        colcon build --packages-select ${PACKAGE_NAME} \
-          --event-handlers=console_direct+ \
-          --cmake-args -DBUILD_TESTING=ON -DBUILD_DOCS=OFF;
-    # Test package.
-    - name: colcon test
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        . install/setup.bash;
-        colcon test --packages-select ${PACKAGE_NAME} --event-handlers=console_direct+;
-        colcon test-result --verbose;
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/[email protected]
+    - uses: ros-tooling/[email protected]
+      id: action_ros_ci_step
+      with:
+        package-name: ${{ env.PACKAGE_NAME }}
+        target-ros2-distro: ${{ env.ROS_DISTRO }}
+        vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/dependencies.repos

.github/workflows/sanitizers.yml

@@ -34,59 +34,12 @@ jobs:
       LDFLAGS: -fuse-ld=lld-8
     steps:
     # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
-    - uses: ros-tooling/setup-ros@0.2.1
+    - uses: ros-tooling/setup-ros@v0.3
       env:
         ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
-    # clone private dependencies
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_py
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_py
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_malidrive
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_malidrive
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_dragway
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_dragway
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_multilane
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_multilane
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_object
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_object
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_drake
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_drake
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - name: check if dependencies have a matching branch
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src
-      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
     - name: clang 8 install
       shell: bash
       run: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}/.github/clang_suite_installation.sh
@@ -95,6 +48,10 @@ jobs:
       shell: bash
       working-directory: ${{ env.ROS_WS }}
       run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
+    - name: check if dependencies have a matching branch
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
     - run: colcon graph
       shell: bash
       working-directory: ${{ env.ROS_WS }}
@@ -103,7 +60,7 @@ jobs:
       working-directory: ${{ env.ROS_WS }}
       run: |
         rosdep update --include-eol-distros;
-        rosdep install  -i -y --rosdistro ${ROS_DISTRO} --skip-keys "pybind11" --from-paths src
+        rosdep install  -i -y --rosdistro ${ROS_DISTRO} --from-paths src
     - name: colcon build
       shell: bash
       working-directory: ${{ env.ROS_WS }}

.github/workflows/scan_build.yml

@@ -23,59 +23,12 @@ jobs:
       LDFLAGS: -fuse-ld=lld-8
     steps:
     # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
-    - uses: ros-tooling/setup-ros@0.2.1
+    - uses: ros-tooling/setup-ros@v0.3
       env:
         ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
-    # clone private dependencies
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_py
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_py
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_malidrive
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_malidrive
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_dragway
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_dragway
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_multilane
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_multilane
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_object
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_object
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_drake
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput_drake
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - name: check if dependencies have a matching branch
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src
-      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
     - name: clang 8 install
       shell: bash
       run: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}/.github/clang_suite_installation.sh
@@ -84,6 +37,10 @@ jobs:
       shell: bash
       working-directory: ${{ env.ROS_WS }}
       run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
+    - name: check if dependencies have a matching branch
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
     - run: colcon graph
       shell: bash
       working-directory: ${{ env.ROS_WS }}
@@ -92,7 +49,7 @@ jobs:
       working-directory: ${{ env.ROS_WS }}
       run: |
         rosdep update --include-eol-distros;
-        rosdep install  -i -y --rosdistro ${ROS_DISTRO} --skip-keys "pybind11" --from-paths src
+        rosdep install  -i -y --rosdistro ${ROS_DISTRO} --from-paths src
     - name: colcon build up-to
       shell: bash
       working-directory: ${{ env.ROS_WS }}

package.xml

@@ -9,7 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>ament_cmake_doxygen</build_depend>
+  <doc_depend>ament_cmake_doxygen</doc_depend>
 
   <depend>libgflags-dev</depend>
   <depend>maliput</depend>

src/applications/maliput_query.cc

@@ -486,6 +486,8 @@ class RoadNetworkQuery {
     PrintQueryTime(duration.count());
   }
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   /// Gets all right-of-way rules for the given `lane_s_range`.
   void GetRightOfWay(const maliput::api::LaneSRange& lane_s_range) {
     const auto start = std::chrono::high_resolution_clock::now();
@@ -517,6 +519,7 @@ class RoadNetworkQuery {
     const std::chrono::duration<double> duration = (end - start);
     PrintQueryTime(duration.count());
   }
+#pragma GCC diagnostic pop
 
   /// Gets all discrete-value-rules rules for the given `lane_s_range`.
   void GetDiscreteValueRule(const maliput::api::LaneSRange& lane_s_range) {
@@ -611,6 +614,8 @@ class RoadNetworkQuery {
 
     const maliput::api::rules::Phase& phase = it->second;
     (*out_) << "Right of way for " << phase_id.string() << ":" << std::endl;
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
     for (const auto& rule_id_to_rule_state_id : phase.rule_states()) {
       const maliput::api::rules::RightOfWayRule rule = road_rule_book->GetRule(rule_id_to_rule_state_id.first);
       const maliput::api::rules::RightOfWayRule::State& rule_state = rule.states().at(rule_id_to_rule_state_id.second);
@@ -620,6 +625,7 @@ class RoadNetworkQuery {
               << std::endl
               << std::endl;
     }
+#pragma GCC diagnostic pop
     const auto end = std::chrono::high_resolution_clock::now();
     const std::chrono::duration<double> duration = (end - start);
     PrintQueryTime(duration.count());

src/integration/tools.cc

@@ -111,8 +111,11 @@ std::unique_ptr<api::RoadNetwork> CreateDragwayRoadNetwork(const DragwayBuildPro
   std::unique_ptr<ManualPhaseProvider> phase_provider = std::make_unique<ManualPhaseProvider>();
   std::unique_ptr<IntersectionBook> intersection_book = std::make_unique<IntersectionBook>(rg.get());
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   std::unique_ptr<ManualRightOfWayRuleStateProvider> right_of_way_rule_state_provider =
       std::make_unique<ManualRightOfWayRuleStateProvider>();
+#pragma GCC diagnostic pop
   std::unique_ptr<ManualDiscreteValueRuleStateProvider> discrete_value_rule_state_provider =
       std::make_unique<ManualDiscreteValueRuleStateProvider>(rulebook.get());
   std::unique_ptr<ManualRangeValueRuleStateProvider> range_value_rule_state_provider =
@@ -139,8 +142,11 @@ std::unique_ptr<api::RoadNetwork> CreateMultilaneRoadNetwork(const MultilaneBuil
       LoadIntersectionBookFromFile(yaml_file_path, *rulebook, *phase_ring_book, rg.get(), phase_provider.get());
   std::unique_ptr<api::rules::RuleRegistry> rule_registry = std::make_unique<api::rules::RuleRegistry>();
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
   std::unique_ptr<ManualRightOfWayRuleStateProvider> right_of_way_rule_state_provider =
       std::make_unique<ManualRightOfWayRuleStateProvider>();
+#pragma GCC diagnostic pop
   std::unique_ptr<ManualDiscreteValueRuleStateProvider> discrete_value_rule_state_provider =
       std::make_unique<ManualDiscreteValueRuleStateProvider>(rulebook.get());
   std::unique_ptr<ManualRangeValueRuleStateProvider> range_value_rule_state_provider =