Update moveit_task_constructor branch back to humble #430

	name: Docker build
	on:
	workflow_dispatch:
	push:
	branches: ['main']
	pull_request:
	branches: ['main']
	schedule:
	- cron: '0 2 * * *'
	jobs:
	build_moveit2:
	runs-on: ubuntu-20.04
	steps:
	- name: "Free up disk space"
	run: \|
	sudo apt-get -qq purge "ghc*"
	sudo apt-get clean
	# cleanup docker images not used by us
	docker system prune -af
	# free up a lot of stuff from /usr/local
	sudo rm -rf /usr/local
	df -h
	- name: Checkout
	uses: actions/checkout@v2
	- name: Set up buildx
	uses: docker/setup-buildx-action@v1
	- name: Build moveit2 image
	uses: docker/build-push-action@v2
	with:
	context: moveit2
	push: false
	tags: openrobotics/moveit2:latest
	cache-from: type=gha
	cache-to: type=gha,mode=max
	no-cache: false
	outputs: type=docker,dest=/tmp/moveit2.tar
	- name: Upload artifact
	uses: actions/upload-artifact@v3
	with:
	name: moveit2
	path: /tmp/moveit2.tar

	build_space_ros:
	runs-on: ubuntu-20.04
	steps:
	- name: Set up Docker Buildx
	uses: docker/setup-buildx-action@v2
	- name: Download artifact
	uses: actions/download-artifact@v3
	with:
	name: moveit2
	path: /tmp/moveit2.tar
	- name: Load image
	run: \|
	docker load --input /tmp/moveit2.tar
	docker image ls -a
	- name: Build space robots demo image
	uses: docker/build-push-action@v2
	with:
	context: space_robots
	push: false
	tags: space_robots
	cache-from: type=gha
	cache-to: type=gha,mode=max
	no-cache: false

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