From a7a15979908262e4c0df04522cbbe1d9a53807b7 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 13 Oct 2024 16:59:49 +0200
Subject: [PATCH 1/2] CI: Build against latest srdfdom

---
 moveit2.repos | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/moveit2.repos b/moveit2.repos
index aec6f2851e..6ce029c513 100644
--- a/moveit2.repos
+++ b/moveit2.repos
@@ -12,3 +12,7 @@ repositories:
     type: git
     url: /~https://github.com/moveit/moveit_resources.git
     version: ros2
+  srdfdom:
+    type: git
+    url: /~https://github.com/moveit/srdfdom.git
+    version: ros2

From 53385cd8b649a7331e223cde87e27ab859311c0c Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 13 Oct 2024 17:32:32 +0200
Subject: [PATCH 2/2] CI: Revert to custom cache action

save-always: true was never working
---
 .github/workflows/ci.yaml     | 12 ++++++------
 .github/workflows/format.yaml |  2 +-
 .github/workflows/sonar.yaml  |  9 +++++----
 3 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 23d837195c..7bed61c64d 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -105,36 +105,36 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
-          save-always: true
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: Cache target workspace
         if: "!matrix.env.CCOV"
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
-          save-always: true
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ${{ env.CACHE_PREFIX }}
-          save-always: true
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
       - name: Configure ccache
         run: |
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index b55c526b64..1bcc4779c8 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -19,7 +19,7 @@ jobs:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
-        python-version: '3.10'
+        python-version: 3.x
     - name: Install clang-format-14
       run: sudo apt-get install clang-format-14
     - uses: pre-commit/action@v3.0.1
diff --git a/.github/workflows/sonar.yaml b/.github/workflows/sonar.yaml
index 8febc84e0c..513ba386cf 100644
--- a/.github/workflows/sonar.yaml
+++ b/.github/workflows/sonar.yaml
@@ -72,23 +72,24 @@ jobs:
         with:
           file: moveit2.repos
       - name: Cache upstream workspace
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.BASEDIR }}/upstream_ws
           key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: ${{ env.CACHE_PREFIX }}
-          save-always: true
         env:
+          GHA_CACHE_SAVE: always
           CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-rolling-ci-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }}
       - name: Cache ccache
-        uses: actions/cache@v4
+        uses: rhaschke/cache@main
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-rolling-ci-ccov-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ccache-rolling-ci-ccov-${{ github.sha }}
             ccache-rolling-ci-ccov
-          save-always: true
+        env:
+          GHA_CACHE_SAVE: always
       - name: Configure ccache
         run: |
           mkdir -p ${{ env.CCACHE_DIR }}