ci: remove nlohmann_json workaround now that unh_marine_autonomy#228 landed (#76)#79
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June 27, 2026 10:43
Drop nlohmann_json workaround (Option B: keep marine_nav pruning as intentional scope)
unh_marine_autonomy#228 (merged jazzy 2026-06-27) fixed the nlohmann_json rosdep key (-> nlohmann-json-dev) and added a root dependencies.repos. cube clones unh_marine_autonomy@jazzy, so the bad key is gone: - ci.yml: drop nlohmann_json from ROSDEP_SKIP_KEYS (the CI-time rosdep resolve no longer hits it). - Dockerfile: drop the explicit nlohmann-json3-dev install — the dynamic rosdep-check auto-skip now resolves nlohmann-json-dev on its own, so the dep installs via the normal rosdep path. Option B (per #76): KEEP the marine_nav_* skip-keys + COLCON_IGNORE as intentional pruning of mission_manager*/integration-tests/backscatter, which are outside cube's build graph. Comments reframed from '#228-pending workaround' to 'intentional scoping'. Option A (clone unh_marine_navigation + full-monorepo build) was rejected: no benefit to cube correctness.
Address two review suggestions on the ci.yml prune comment: - Separate marine_mbes_backscatter_store (no marine_nav dep — COLCON_IGNORE'd purely for scope) from mission_manager*/integration-tests (which declare marine_nav_* and thus need the skip-key). - Stop implying marine_nav was an upstream bug fixed by #228; only the invalid nlohmann_json rosdep key was — marine_nav skipping is cube's deliberate pruning choice, not a resolved gap.
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Closes #76.
What
Removes the
nlohmann_jsonCI workaround now thatrolker/unh_marine_autonomy#228
(merged jazzy 2026-06-27) fixed the invalid rosdep key. cube clones
unh_marine_autonomy@jazzy, so the bad key is gone..github/workflows/ci.yml— dropnlohmann_jsonfromROSDEP_SKIP_KEYS(the CI-time rosdep resolve no longer hits it).
.github/ci/Dockerfile— drop the explicitnlohmann-json3-devinstall;the dynamic
rosdep checkauto-skip now resolvesnlohmann-json-devon itsown, so the dep installs via the normal rosdep path. The Dockerfile change
triggers an
ci-image.ymlimage rebuild on merge.Option B (per #76 plan-review checkpoint)
Kept
marine_nav_interfaces/marine_nav_tasksinROSDEP_SKIP_KEYSandthe
COLCON_IGNOREhook as intentional pruning ofmission_manager*/integration-tests / backscatter — packages outside cube's build graph. Building
them in cube CI has no benefit to cube correctness and wastes time. Comments
reframed from "#228-pending workaround" to intentional scoping. Option A
(clone
unh_marine_navigation+ full-monorepo build) was considered andrejected.
Verification
--no-cacheimage build against the fixedunh_marine_autonomy@jazzy:baked skip set is now
marine_nav_interfaces marine_nav_tasksonly(
nlohmann_jsongone — resolves naturally),nlohmann-json3-devinstalled viathe resolved key, build green.
review-code: approved, 0 must-fix (2 comment-accuracy suggestionsapplied).
CI-only change; no code, behavior, or test changes.
Authored-By:
Claude Code AgentModel:
Claude Opus 4.8