CI: Fix + Update actions

.github/workflows/ci.yaml

@@ -33,7 +33,7 @@ jobs:
     name: ${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       # 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
@@ -63,7 +63,7 @@ jobs:
         env: ${{ matrix.env }}
 
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results-${{ matrix.env.IMAGE }}

.github/workflows/deploy.yaml

@@ -19,20 +19,20 @@ jobs:
     runs-on: ubuntu-latest
     container: ros:noetic-ros-base
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Setup Pages
-      uses: actions/configure-pages@v2
+      uses: actions/configure-pages@v4
       if: github.repository_owner == 'ros-planning'
-    - name: "Install ruby"
-      run: |
-        apt-get update -q
-        apt-get install -q -y ruby-dev libffi-dev build-essential git
-
+    - uses: ruby/setup-ruby@v1
+      with:
+        ruby-version: '3'
     - name: "Run htmlproofer.sh"
-      run: ./htmlproofer.sh
+      run: |
+        sudo apt-get update -q
+        ./htmlproofer.sh
 
     - name: Upload pages artifact
-      uses: actions/upload-pages-artifact@v1
+      uses: actions/upload-pages-artifact@v3
       if: github.repository_owner == 'ros-planning'
       with:
         path: build/html
@@ -47,4 +47,4 @@ jobs:
     steps:
       - name: Deploy to GitHub Pages
         id: deployment
-        uses: actions/deploy-pages@v1
+        uses: actions/deploy-pages@v4

.github/workflows/format.yaml

@@ -16,10 +16,10 @@ jobs:
     name: pre-commit
     runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Install clang-format-10
         run: sudo apt-get install clang-format-10
       - uses: rhaschke/install-catkin_lint-action@v1.0
         with:
           distro: noetic
-      - uses: pre-commit/action@v3.0.0
+      - uses: pre-commit/action@v3.0.1

doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst

@@ -120,7 +120,7 @@ Such a constraint is compactly defined like this::
 Running the database generator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Assuming MoveIt itself is already launched (via eg. ``roslaunch X_moveit_config demo.launch``), you can use a launch file similar to `generate_state_database.launch <https://github.com/ros-planning/moveit/blob/master/moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch>`_
+Assuming MoveIt itself is already launched (via eg. ``roslaunch X_moveit_config demo.launch``), you can use a launch file similar to `generate_state_database.launch <https://github.com/ros-planning/moveit/blob/master/moveit_planners/ompl/launch/generate_state_database.launch>`_
 
 The file with the constraint definitions can be passed to the launch file::
 

htmlproofer.sh

@@ -7,9 +7,10 @@ export REPOSITORY_NAME=${PWD##*/}
 echo "Testing branch ${GITHUB_BASE_REF:-$GITHUB_HEAD_REF} of $REPOSITORY_NAME"
 
 # Install htmlpoofer
-sudo gem update --system --no-document
-gem --version
-sudo gem install html-proofer -v 3.19.4 # newer 4.x requires different cmdline options
+echo "gem $(gem --version)"
+gem install --user-install html-proofer -v 3.19.4 # newer 4.x requires different cmdline options
+PATH="$(ruby -r rubygems -e 'puts Gem.user_dir')/bin:$PATH"
+
 # Install ROS's version of sphinx
 sudo apt-get -qq install "ros-$ROS_DISTRO-rosdoc-lite"
 source "/opt/ros/$ROS_DISTRO/setup.bash"