Do not install moveit dependencies (UniversalRobots#1671)

Since moveit_ros_visualization is currently broken upstream and we don't
know when it will be back, remove it from the test pipeline for now.
It is currently only an exec dependency for the moveit_config package.
Explicitly skipping the rosdep key should make the CI for Rolling work
again.

Author: urfeex

.github/workflows/reusable_ici.yml

@@ -34,6 +34,11 @@ on:
         default: '.ccache'
         required: false
         type: string
+      rosdep_skip_keys:
+        description: "Skip those keys when doing 'rosdep install'. space-separated list"
+        default: ''
+        required: false
+        type: string
 
 jobs:
   reusable_ici:
@@ -43,6 +48,7 @@ jobs:
       DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net'
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}
+      ROSDEP_SKIP_KEYS: ${{ inputs.rosdep_skip_keys }}
     steps:
       - name: Checkout ${{ github.ref_name }} since build is not scheduled
         if: ${{ github.event_name != 'schedule' }}

.github/workflows/rolling-binary-main.yml

@@ -18,3 +18,12 @@ jobs:
       ros_distro: rolling
       ros_repo: main
       ref_for_scheduled_build: main
+      rosdep_skip_keys: >-
+        moveit_configs_utils
+        moveit_kinematics
+        moveit_planners
+        moveit_planners_chomp
+        moveit_ros_move_group
+        moveit_ros_visualization
+        moveit_servo
+        moveit_simple_controller_manager

.github/workflows/rolling-binary-testing.yml

@@ -18,3 +18,13 @@ jobs:
       ros_distro: rolling
       ros_repo: testing
       ref_for_scheduled_build: main
+      rosdep_skip_keys: >-
+        moveit_configs_utils
+        moveit_kinematics
+        moveit_planners
+        moveit_planners_chomp
+        moveit_ros_move_group
+        moveit_ros_visualization
+        moveit_servo
+        moveit_simple_controller_manager
+        warehouse_ros_sqlite

.github/workflows/rolling-semi-binary-main.yml

@@ -19,3 +19,12 @@ jobs:
       ros_repo: main
       upstream_workspace: Universal_Robots_ROS2_Driver.rolling.repos
       ref_for_scheduled_build: main
+      rosdep_skip_keys: >-
+        moveit_configs_utils
+        moveit_kinematics
+        moveit_planners
+        moveit_planners_chomp
+        moveit_ros_move_group
+        moveit_ros_visualization
+        moveit_servo
+        moveit_simple_controller_manager

.github/workflows/rolling-semi-binary-testing.yml

@@ -19,3 +19,13 @@ jobs:
       ros_repo: testing
       upstream_workspace: Universal_Robots_ROS2_Driver.rolling.repos
       ref_for_scheduled_build: main
+      rosdep_skip_keys: >-
+        moveit_configs_utils
+        moveit_kinematics
+        moveit_planners
+        moveit_planners_chomp
+        moveit_ros_move_group
+        moveit_ros_visualization
+        moveit_servo
+        moveit_simple_controller_manager
+        warehouse_ros_sqlite

Universal_Robots_ROS2_Driver.rolling.repos

@@ -35,19 +35,19 @@ repositories:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
     version: master
-  moveit2:
-    type: git
-    url: https://github.com/moveit/moveit2.git
-    version: main
-  moveit_msgs:
-    type: git
-    url: https://github.com/moveit/moveit_msgs.git
-    version: ros2
-  srdfdom:
-    type: git
-    url: https://github.com/moveit/srdfdom.git
-    version: ros2
-  moveit_resources:
-    type: git
-    url: https://github.com/moveit/moveit_resources.git
-    version: ros2
+#  moveit2:
+#    type: git
+#    url: https://github.com/moveit/moveit2.git
+#    version: main
+#  moveit_msgs:
+#    type: git
+#    url: https://github.com/moveit/moveit_msgs.git
+#    version: ros2
+#  srdfdom:
+#    type: git
+#    url: https://github.com/moveit/srdfdom.git
+#    version: ros2
+#  moveit_resources:
+#    type: git
+#    url: https://github.com/moveit/moveit_resources.git
+#    version: ros2

ur_controllers/package.xml

@@ -47,7 +47,6 @@
 
   <test_depend>controller_manager</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
-  <test_depend>hardware_interface_testing</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>