TEMP: configure required upstream and downstream dependencies, drop R…

…oboStack workflows

- moveit/srdfdom#97
  extending the syntax of SRDF to specify these defaults (and exceptions)

- frankaemika/franka_ros#188
- moveit#2938
  allowing collision checking to be disabled by default for specific links

- RoboStack workflow doesn't use upstream config and thus fails

.github/workflows/ci.yaml

@@ -32,10 +32,15 @@ jobs:
       DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
       TARGET_WORKSPACE: $TARGET_REPO_PATH github:ros-planning/moveit_resources#master
-      DOWNSTREAM_WORKSPACE: .github/workflows/downstream.rosinstall
+      DOWNSTREAM_WORKSPACE: >
+        .github/workflows/downstream.rosinstall
+        github:frankaemika/franka_ros#develop -franka_msgs -franka_hw -franka_control -franka_example_controllers -franka_gazebo -franka_ros -franka_visualization
       # Pull any updates to the upstream workspace (after restoring it from cache)
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
-      AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
+      AFTER_SETUP_DOWNSTREAM_WORKSPACE: |
+        vcs pull $BASEDIR/downstream_ws/src
+        mv $BASEDIR/downstream_ws/src/franka_ros/franka_description $BASEDIR/downstream_ws/src
+        rm -rf $BASEDIR/downstream_ws/src/franka_ros
       # Clear the ccache stats before and log the stats after the build
       AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
       AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats

.github/workflows/downstream.rosinstall

@@ -13,4 +13,4 @@
 - git:
     local-name: panda_moveit_config
     uri: https://github.com/ros-planning/panda_moveit_config.git
-    version: melodic-devel
+    version: noetic-devel

.github/workflows/upstream.rosinstall

@@ -6,3 +6,7 @@
     local-name: geometric_shapes
     uri: https://github.com/ros-planning/geometric_shapes.git
     version: noetic-devel
+- git:
+    local-name: srdfdom
+    uri: https://github.com/ubi-agni/srdfdom
+    version: rework-acm-defaults