From 0c428c24d854cbbefbf363552704a22e6acf56d0 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Mon, 22 Mar 2021 00:26:52 -0600
Subject: [PATCH 01/10] try caching whole workspaces

---
 .github/workflows/industrial_ci_action.yml  | 43 +++++++++++++++------
 README.md                                   |  2 -
 warehouse_ros_mongo.repos => upstream.repos |  0
 3 files changed, 31 insertions(+), 14 deletions(-)
 rename warehouse_ros_mongo.repos => upstream.repos (100%)

diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index ce0c764..546e37e 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -11,33 +11,52 @@ jobs:
       matrix:
         env:
           - {
-            ROS_DISTRO: foxy, ROS_REPO: main, CCOV_UPLOAD: true,
+            ROS_DISTRO: foxy, 
+            ROS_REPO: main, 
+            CCOV_UPLOAD: true,
             CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage'",
             AFTER_RUN_TARGET_TEST: './.ci.prepare_codecov',
-            ADDITIONAL_DEBS: 'curl lcov grep'
+            ADDITIONAL_DEBS: 'lcov'
+          }
+          - {
+            ROS_DISTRO: foxy, 
+            ROS_REPO: testing, 
+            CCOV_UPLOAD: false
           }
-          - {ROS_DISTRO: foxy, ROS_REPO: testing, CCOV_UPLOAD: false}
     env:
-      UPSTREAM_WORKSPACE: warehouse_ros_mongo.repos
-      CCACHE_DIR: /home/runner/.ccache
-      BASEDIR: .base
+      UPSTREAM_WORKSPACE: upstream.repos
+      AFTER_SETUP_UPSTREAM_WORKSPACE: 'vcs pull $BASEDIR/upstream_ws/src'
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: "${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}${{ matrix.CCOV_UPLOAD && '-ccov' || '' }}"
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - uses: actions/cache@v2
+      - name: cache upstream_ws
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/upstream_ws
+          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.repos') }}-${{ github.run_id }}
+          restore-keys: |
+            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.repos') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}  
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}  
           restore-keys: |
-            ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      - uses: 'ros-industrial/industrial_ci@master'
+            ccache-${{ env.CACHE_PREFIX }}
+      - name: industrial_ci
+        uses: 'ros-industrial/industrial_ci@master'
         env: ${{ matrix.env }}
-      - uses: actions/upload-artifact@v2
+      - 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
-      - uses: codecov/codecov-action@v1
+      - name: upload codecov report
+        uses: codecov/codecov-action@v1
         if: ${{ matrix.env.CCOV_UPLOAD }} 
         with:
           files: ${{ env.BASEDIR }}/coverage.info
diff --git a/README.md b/README.md
index fc25b78..9d34d3c 100644
--- a/README.md
+++ b/README.md
@@ -6,8 +6,6 @@ Code for persisting ROS message data using MongoDB.  Contains C++ and Python lib
 
 [![Format](https://github.com/ros-planning/warehouse_ros_mongo/actions/workflows/format.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/warehouse_ros_mongo/actions/workflows/format.yml?branch=ros2) [![BuildAndTest](https://github.com/ros-planning/warehouse_ros_mongo/actions/workflows/industrial_ci_action.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/warehouse_ros_mongo/actions/workflows/industrial_ci_action.yml?branch=ros2) [![codecov](https://codecov.io/gh/ros-planning/warehouse_ros_mongo/branch/ros2/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/warehouse_ros_mongo)
 
-[![Code Coverage Grid](https://codecov.io/gh/ros-planning/warehouse_ros_mongo/branch/ros2/graphs/tree.svg)](https://codecov.io/gh/ros-planning/warehouse_ros_mongo/branch/ros2/graphs/tree.svg)
-
 ## Building from source
 
 ### ROS Jade  / Kinetic
diff --git a/warehouse_ros_mongo.repos b/upstream.repos
similarity index 100%
rename from warehouse_ros_mongo.repos
rename to upstream.repos

From ed1f4f6004aeabc606f15beb141acb9377bb39e6 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Mon, 22 Mar 2021 14:46:34 -0600
Subject: [PATCH 02/10] add cache prefix

---
 .github/workflows/industrial_ci_action.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index 546e37e..30d5a47 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -28,7 +28,7 @@ jobs:
       AFTER_SETUP_UPSTREAM_WORKSPACE: 'vcs pull $BASEDIR/upstream_ws/src'
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
       BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: "${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}${{ matrix.CCOV_UPLOAD && '-ccov' || '' }}"
+      CACHE_PREFIX: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}${{ matrix.env.CCOV_UPLOAD && '-ccov' || '' }}"
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2

From b6172b85af96f6e6a3a7b982d8adc3ddc3540d36 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Tue, 23 Mar 2021 13:27:56 -0600
Subject: [PATCH 03/10] test latest changes

---
 .ci.prepare_codecov                        |  2 +
 .github/workflows/industrial_ci_action.yml | 44 +++++++++++++++-------
 2 files changed, 33 insertions(+), 13 deletions(-)

diff --git a/.ci.prepare_codecov b/.ci.prepare_codecov
index 5f9be81..9877d9c 100755
--- a/.ci.prepare_codecov
+++ b/.ci.prepare_codecov
@@ -4,6 +4,8 @@ pushd $BASEDIR
 BLUE='\033[0;34m'
 NOCOLOR='\033[0m'
 
+apt-get -qq install lcov
+
 echo -e "${BLUE}Capture coverage info${NOCOLOR}"
 lcov --capture --directory target_ws --output-file coverage.info
 
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index 30d5a47..9162a81 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -11,24 +11,25 @@ jobs:
       matrix:
         env:
           - {
-            ROS_DISTRO: foxy, 
-            ROS_REPO: main, 
-            CCOV_UPLOAD: true,
-            CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage'",
-            AFTER_RUN_TARGET_TEST: './.ci.prepare_codecov',
-            ADDITIONAL_DEBS: 'lcov'
-          }
+            IMAGE: 'foxy-ci',
+            CCOV: true,
+            AFTER_RUN_TARGET_TEST: './.ci.prepare_codecov'
+           }
           - {
-            ROS_DISTRO: foxy, 
-            ROS_REPO: testing, 
-            CCOV_UPLOAD: false
+            IMAGE: 'foxy-ci-testing',
           }
     env:
+      DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: upstream.repos
+      CCOV: ${{ matrix.env.CCOV }}
       AFTER_SETUP_UPSTREAM_WORKSPACE: 'vcs pull $BASEDIR/upstream_ws/src'
+      TARGET_CMAKE_ARGS: >
+        -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
+        ${{ matrix.env.CCOV && '-DCMAKE_CXX_FLAGS="--coverage" --no-warn-unused-cli' || '' }}
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
       BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}${{ matrix.env.CCOV_UPLOAD && '-ccov' || '' }}"
+      CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}"
+
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
@@ -39,12 +40,20 @@ jobs:
           key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.repos') }}-${{ github.run_id }}
           restore-keys: |
             upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.repos') }}
+      - name: cache target_ws
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt') }}-${{ hashFiles('**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt') }}-${{ hashFiles('**/package.xml') }}
       - name: cache ccache
         uses: pat-s/always-upload-cache@v2.1.3
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}  
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ccache-${{ env.CACHE_PREFIX }}
       - name: industrial_ci
         uses: 'ros-industrial/industrial_ci@master'
@@ -57,6 +66,15 @@ jobs:
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
       - name: upload codecov report
         uses: codecov/codecov-action@v1
-        if: ${{ matrix.env.CCOV_UPLOAD }} 
+        if: ${{ env.CCOV }}
         with:
           files: ${{ env.BASEDIR }}/coverage.info
+      - name: prepare target_ws for cache
+        if: always()
+        run: |
+          sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcov' -type f -delete
+          sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcno' -type f -delete
+          sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcda' -type f -delete
+          sudo find ${{ env.BASEDIR }}/target_ws -name '*/test_results*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws

From 598a5215f42bb90326b93880eeb2cb428a2755b1 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Tue, 23 Mar 2021 14:18:55 -0600
Subject: [PATCH 04/10] how much is deleted

---
 .github/workflows/industrial_ci_action.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index 9162a81..5032e16 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -72,6 +72,7 @@ jobs:
       - name: prepare target_ws for cache
         if: always()
         run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
           sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcov' -type f -delete
           sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcno' -type f -delete
           sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcda' -type f -delete

From ba638665c576da9fbd51f365f69523213dadba0b Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Tue, 23 Mar 2021 15:27:23 -0600
Subject: [PATCH 05/10] latest from moveit2

---
 .github/workflows/industrial_ci_action.yml | 15 +++++++--------
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index 5032e16..a7e95bc 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -30,6 +30,7 @@ jobs:
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}"
 
+    name: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && ' + ccov' || ''}}"
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
@@ -37,10 +38,11 @@ jobs:
         uses: pat-s/always-upload-cache@v2.1.3
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
-          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.repos') }}-${{ github.run_id }}
+          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}-${{ github.run_id }}
           restore-keys: |
-            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.repos') }}
+            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}
       - name: cache target_ws
+        if: ${{ ! env.CCOV }}
         uses: pat-s/always-upload-cache@v2.1.3
         with:
           path: ${{ env.BASEDIR }}/target_ws
@@ -70,12 +72,9 @@ jobs:
         with:
           files: ${{ env.BASEDIR }}/coverage.info
       - name: prepare target_ws for cache
-        if: always()
-        run: |
+        if: ${{ always() && ! env.CCOV }}
+        run:
           du -sh ${{ env.BASEDIR }}/target_ws
-          sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcov' -type f -delete
-          sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcno' -type f -delete
-          sudo find ${{ env.BASEDIR }}/target_ws -name '*.gcda' -type f -delete
-          sudo find ${{ env.BASEDIR }}/target_ws -name '*/test_results*' -delete
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
           sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
           du -sh ${{ env.BASEDIR }}/target_ws

From ef0760b096652d824e100b66c47e9b3608df9d09 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Tue, 23 Mar 2021 17:00:44 -0600
Subject: [PATCH 06/10] clang-tidy

---
 .ci.clang_tidy                             | 101 +++++++++++++++++++++
 .github/workflows/industrial_ci_action.yml |   9 +-
 2 files changed, 107 insertions(+), 3 deletions(-)
 create mode 100755 .ci.clang_tidy

diff --git a/.ci.clang_tidy b/.ci.clang_tidy
new file mode 100755
index 0000000..9f18ee6
--- /dev/null
+++ b/.ci.clang_tidy
@@ -0,0 +1,101 @@
+#!/bin/bash
+
+# usage: echo -e $(colorize RED Some ${fancy} text.)
+function colorize() {
+   local color reset
+   while true ; do
+      case "${1:-}" in
+         RED|GREEN|YELLOW|BLUE)
+            color="ANSI_$1"; eval "color=\$$color"; reset="${ANSI_RESET}" ;;
+         THIN)
+            color="${color:-}${ANSI_THIN}" ;;
+         BOLD)
+            color="${color:-}${ANSI_BOLD}"; reset="${reset:-${ANSI_THIN}}" ;;
+         *) break ;;
+      esac
+      shift
+   done
+   echo -e "${color:-}$@${reset:-}"
+}
+
+# collect files that are modified since commit
+function collect_modified_files() {
+  local -n __modified_files=$1     # -n to modify argument by reference
+  local filter=$2
+  local src_dir=${3:-$PWD}
+  local base=${4:-$GITHUB_BASE_REF}
+
+  # Find top-level git folder of src_dir
+  local strip_prefix=$(cd "$src_dir"; git rev-parse --show-toplevel)
+  # Strip git folder from src_dir to keep relative path from git root to source files as stip_prefix
+  strip_prefix="${src_dir#$strip_prefix/}"
+  while IFS='' read -r line ; do
+    # Add modified or added files to array - only using the relative path from src_dir, i.e. removing strip_prefix
+    __modified_files+=("${line#$strip_prefix/}")
+  done < <(git diff --name-only --diff-filter=MA "$base"..HEAD "$src_dir" | grep "$filter")
+}
+
+run_clang_tidy_fix() {
+  local SOURCE_PKGS COMPILED_PKGS counter pkg file src_dir
+  SOURCE_PKGS=($(colcon list $BASEDIR/target_ws/src/$TARGET_REPO_NAME --only-names 2> /dev/null))
+
+  # filter repository packages for those which have a compile_commands.json file in their build folder
+  declare -A PKGS  # associative array
+  for pkg in ${SOURCE_PKGS[@]} ; do
+    file="$BASEDIR/target_ws/build/$pkg/compile_commands.json"
+    test -r "$file" && PKGS[$pkg]=$(dirname "$file")
+  done
+
+  for pkg in ${SOURCE_PKGS[@]} ; do  # process files in topological order
+    test -z "${PKGS[$pkg]:-}" && continue  # skip pkgs without compile_commands.json
+    echo -e $(colorize GREEN "start clang.tidy: $pkg")
+
+    # Find all .cpp files in pkg's src_dir that were added or modified in this pull request
+    modified_files=()
+    if [ "${GITHUB_BASE_REF:-false}" != false ]; then
+      src_dir=$(grep "^CMAKE_HOME_DIRECTORY:INTERNAL=" "${PKGS[$pkg]}/CMakeCache.txt")
+      collect_modified_files modified_files "\.cpp$" $(realpath "${src_dir#*=}") $GITHUB_BASE_REF
+      if [ ${#modified_files[@]} -eq 0 ]; then
+        echo "No modified .cpp files"
+        continue
+      fi
+    fi
+
+    clang-tidy-10 -fix -header-filter='$BASEDIR/target_ws/src/$TARGET_REPO_NAME/.*' -p "${PKGS[$pkg]}" ${modified_files[@]:-} 2> /dev/null
+    # if there are workspace changes, print broken pkg to file descriptor 3
+    travis_have_fixes && 1>&3 echo $pkg || true  # should always succeed ;-)
+    travis_fold end clang.tidy
+  done
+}
+
+pushd $BASEDIR/target_ws/src/$TARGET_REPO_NAME
+
+sudo apt-get install -qq git clang-tidy-10 grep
+
+echo "*********** START *************"
+
+echo -e $(colorize BLUE "GITHUB_HEAD_REF = $GITHUB_HEAD_REF")
+echo -e $(colorize BLUE "GITHUB_BASE_REF = $GITHUB_BASE_REF")
+
+# Ensure the base branch ($GITHUB_BASE_REF) is available
+if [ "$(git rev-parse --abbrev-ref HEAD)" != "$GITHUB_BASE_REF" ] ; then
+    git fetch origin "$GITHUB_BASE_REF"
+    git branch -f "$GITHUB_BASE_REF" FETCH_HEAD
+fi
+
+# Run run_clang_tidy_fix() and redirect file descriptor 3 to /tmp/clang-tidy.tainted to collect tainted pkgs
+run_clang_tidy_fix 3>/tmp/clang-tidy.tainted
+result=$?
+test $result -ne 0 && exit $result
+
+# Read content of /tmp/clang-tidy.tainted into variable TAINTED_PKGS
+TAINTED_PKGS=$(< /tmp/clang-tidy.tainted)
+
+if [ -z "$TAINTED_PKGS" ] ; then
+  echo -e $(colorize GREEN "Passed clang-tidy check")
+else
+  echo -e "$(colorize RED \"clang-tidy check failed for the following packages:\")\\n$(colorize YELLOW $(colorize THIN $TAINTED_PKGS))"
+  exit 2
+fi
+
+popd
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index a7e95bc..df5fca5 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -17,6 +17,8 @@ jobs:
            }
           - {
             IMAGE: 'foxy-ci-testing',
+            EXPORT_COMPILE_COMMANDS: true,
+            AFTER_RUN_TARGET_TEST: './.ci.clang_tidy'
           }
     env:
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
@@ -24,13 +26,14 @@ jobs:
       CCOV: ${{ matrix.env.CCOV }}
       AFTER_SETUP_UPSTREAM_WORKSPACE: 'vcs pull $BASEDIR/upstream_ws/src'
       TARGET_CMAKE_ARGS: >
-        -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
+        -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'RelWithDebInfo' || 'Release'}}
         ${{ matrix.env.CCOV && '-DCMAKE_CXX_FLAGS="--coverage" --no-warn-unused-cli' || '' }}
+        ${{ matrix.env.EXPORT_COMPILE_COMMANDS && '-DCMAKE_EXPORT_COMPILE_COMMANDS=1' || '' }}
       CCACHE_DIR: "${{ github.workspace }}/.ccache"
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}"
 
-    name: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && ' + ccov' || ''}}"
+    name: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.EXPORT_COMPILE_COMMANDS && ' + clang-tidy' || '' }}"
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
@@ -73,7 +76,7 @@ jobs:
           files: ${{ env.BASEDIR }}/coverage.info
       - name: prepare target_ws for cache
         if: ${{ always() && ! env.CCOV }}
-        run:
+        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

From c48f6fc96d9d07605373707a67ef76d4c5e93132 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Tue, 23 Mar 2021 17:11:59 -0600
Subject: [PATCH 07/10] don't mix styles

---
 .github/workflows/industrial_ci_action.yml | 16 ++++++----------
 1 file changed, 6 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
index df5fca5..aeb31c8 100644
--- a/.github/workflows/industrial_ci_action.yml
+++ b/.github/workflows/industrial_ci_action.yml
@@ -10,16 +10,12 @@ jobs:
     strategy:
       matrix:
         env:
-          - {
-            IMAGE: 'foxy-ci',
-            CCOV: true,
+          - IMAGE: 'foxy-ci'
+            CCOV: true
             AFTER_RUN_TARGET_TEST: './.ci.prepare_codecov'
-           }
-          - {
-            IMAGE: 'foxy-ci-testing',
-            EXPORT_COMPILE_COMMANDS: true,
+          - IMAGE: 'foxy-ci-testing'
+            EXPORT_COMPILE_COMMANDS: true
             AFTER_RUN_TARGET_TEST: './.ci.clang_tidy'
-          }
     env:
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: upstream.repos
@@ -49,9 +45,9 @@ jobs:
         uses: pat-s/always-upload-cache@v2.1.3
         with:
           path: ${{ env.BASEDIR }}/target_ws
-          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt') }}-${{ hashFiles('**/package.xml') }}-${{ github.run_id }}
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
-            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt') }}-${{ hashFiles('**/package.xml') }}
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
         uses: pat-s/always-upload-cache@v2.1.3
         with:

From 8783a6ff4a49f6d1a0edfab38fbb1ef2af9975df Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Tue, 23 Mar 2021 17:16:19 -0600
Subject: [PATCH 08/10] try the format fails comment action

---
 .github/workflows/format.yml | 12 ++++++++++++
 src/query_results.cpp        |  2 +-
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
index fa91702..471ce71 100644
--- a/.github/workflows/format.yml
+++ b/.github/workflows/format.yml
@@ -18,3 +18,15 @@ jobs:
     - name: Install clang-format-10
       run: sudo apt-get install clang-format-10
     - uses: pre-commit/action@v2.0.0
+    - name: Comment on PR if checks fail
+      if: failure()
+      uses: actions/github-script@0.9.0
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        script: |
+          github.issues.createComment({
+            issue_number: context.issue.number,
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            body: 'The format checks failed :(, Here are instructions for running pre-commit to fix the formatting: https://github.com/ros-planning/moveit2/wiki/pre-commit.'
+          })
diff --git a/src/query_results.cpp b/src/query_results.cpp
index 880cb76..1e931b9 100644
--- a/src/query_results.cpp
+++ b/src/query_results.cpp
@@ -99,4 +99,4 @@ mongo::BSONObj MongoResultIterator::metadataRaw() const
   return next_->copy();
 }
 
-}  // namespace warehouse_ros_mongo
+}  // warehouse_ros_mongo

From cd18b8f5da67d71e651c5de63f530bcf3a14edc0 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Tue, 23 Mar 2021 17:21:03 -0600
Subject: [PATCH 09/10] try different message

---
 .github/workflows/format.yml | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
index 471ce71..0569977 100644
--- a/.github/workflows/format.yml
+++ b/.github/workflows/format.yml
@@ -20,13 +20,7 @@ jobs:
     - uses: pre-commit/action@v2.0.0
     - name: Comment on PR if checks fail
       if: failure()
-      uses: actions/github-script@0.9.0
+      uses: thollander/actions-comment-pull-request@master
       with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        script: |
-          github.issues.createComment({
-            issue_number: context.issue.number,
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            body: 'The format checks failed :(, Here are instructions for running pre-commit to fix the formatting: https://github.com/ros-planning/moveit2/wiki/pre-commit.'
-          })
+        message: 'The format checks failed :(, Here are instructions for running pre-commit to fix the formatting: https://github.com/ros-planning/moveit2/wiki/pre-commit'
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

From 7ee9447f2bdb2ed13d75e976ae9866c24b5a9dfd Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Tue, 23 Mar 2021 17:25:21 -0600
Subject: [PATCH 10/10] remove failed attempt to leave comment

---
 .github/workflows/format.yml | 6 ------
 src/query_results.cpp        | 2 +-
 2 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
index 0569977..fa91702 100644
--- a/.github/workflows/format.yml
+++ b/.github/workflows/format.yml
@@ -18,9 +18,3 @@ jobs:
     - name: Install clang-format-10
       run: sudo apt-get install clang-format-10
     - uses: pre-commit/action@v2.0.0
-    - name: Comment on PR if checks fail
-      if: failure()
-      uses: thollander/actions-comment-pull-request@master
-      with:
-        message: 'The format checks failed :(, Here are instructions for running pre-commit to fix the formatting: https://github.com/ros-planning/moveit2/wiki/pre-commit'
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/src/query_results.cpp b/src/query_results.cpp
index 1e931b9..880cb76 100644
--- a/src/query_results.cpp
+++ b/src/query_results.cpp
@@ -99,4 +99,4 @@ mongo::BSONObj MongoResultIterator::metadataRaw() const
   return next_->copy();
 }
 
-}  // warehouse_ros_mongo
+}  // namespace warehouse_ros_mongo