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fix: stop the workspace template from enabling coverage builds - #64
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The shipped colcon-defaults.yaml turned on coverage-gcc and coverage-pytest for every build. coverage-pytest sets AMENT_CMAKE_PYTEST_WITH_COVERAGE, and the MoveIt Pro runtime image does not include pytest-cov, so every ament_add_pytest_test call warned at configure time. coverage-gcc instrumented every library and Behavior plugin, which slows builds and can slow multithreaded code at runtime. Drop both mixins to match the defaults MoveIt Pro itself installs for the runtime user, document how to opt back in, and add a pre-commit hook that rejects coverage mixins in the template. Also COPY the defaults file with --chown so it belongs to the workspace user regardless of the host checkout's mode, including runs that skip the entrypoint's home directory chown. Same change as PickNikRobotics/moveit_pro_example_ws for v10.2. Refs PickNikRobotics/moveit_pro#23957
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No actionable comments were generated in the recent review.
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| Layer / File(s) | Summary |
|---|---|
Defaults and opt-in enforcement colcon-defaults.yaml, Dockerfile, .pre-commit-config.yaml |
The defaults file removes coverage mixins and documents how to opt in through COLCON_DEFAULTS_FILE. Docker copies the file with configured user ownership. A pre-commit hook flags coverage entries in the defaults file. |
Suggested reviewers: mikewrock
Merge Risk: 
80289
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The reviewed changes have no identified merge-blocking issue. Merge after the normal checks.
Pre-merge checks: 
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Check name Status Explanation Description check The description is specific and related to the changeset. It explains why coverage mixins are removed from colcon-defaults.yaml (the image lacks pytest-cov and gcov slows builds), lists the changes (m… Linked Issues check Check skipped because no linked issues were found for this pull request. Out of Scope Changes check Check skipped because no linked issues were found for this pull request. Human Review Check The PR is low risk under this check. It changes only .pre-commit-config.yaml,Dockerfile, andcolcon-defaults.yaml. The changes add a narrow validation hook, remove default coverage mixins, and …Full details: Description check
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Explanation
The description is specific and related to the changeset. It explains why coverage mixins are removed from colcon-defaults.yaml (the image lacks pytest-cov and gcov slows builds), lists the changes (mixin removal, no-coverage-mixins pre-commit hook, COPY --chown), gives rebuild guidance for existing build directories, and reports validation results. The check passes.
Full details: Human Review Check
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Explanation
The PR is low risk under this check. It changes only
.pre-commit-config.yaml,Dockerfile, andcolcon-defaults.yaml. The changes add a narrow validation hook, remove default coverage mixins, and set ownership on one copied defaults file. The Dockerfile change does not add deployment behavior or increase hosting or runner costs; disabling coverage reduces build work. The PR changes no auth, permissions, secrets, public API, launch scripts, tutorials, or MoveIt Pro behavior packages.
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Refs PickNikRobotics/moveit_pro#23957
Motivation
Same fix as PickNikRobotics#1141. The template
colcon-defaults.yamlenablescoverage-gccandcoverage-pytest. The MoveIt Pro image has no pytest-cov, so everyament_add_pytest_testwarns'pytest-cov' was not found, and every library is built with gcov instrumentation. MoveIt Pro's own user defaults and the 10.2.0 release notes already have coverage off by default.Summary
COLCON_DEFAULTS_FILE.no-coverage-mixinspre-commit hook.COPY --chownthe defaults file to the workspace user.Existing build directories keep the cached coverage flags. Rebuild once with
--cmake-clean-cache, or deletebuild/,install/andlog/.Validation
10.2.0-rc5runtime image, using this repo's old and new defaults on an example_ws package: pytest-cov warnings went from 4 to 0, andcolcon testpassed 16/16 both times.pre-commit run -aandhadolintpass. The new hook rejects the original file.git diff --check origin/main...HEAD