Correct and improve pixi documentation #90

tony-p · 2025-06-09T20:55:36Z

Updates based on post merge review comments in #73

Resolve #67

… of pixi features in pixi.toml example

docs/GettingStarted.md

ruben-arts · 2025-06-26T11:46:58Z

Wait, this can be done easier, let me test some commands.

ruben-arts · 2025-06-26T11:57:08Z

I'm planning to simplify it to something like this:

[project]
name = "robostack"
version = "0.1.0"
description = "Development environment for RoboStack ROS packages"
authors = ["Your Name <your.email@example.com>"]
channels = ["https://prefix.dev/conda-forge"]
platforms = ["linux-64", "win-64", "osx-64", "osx-arm64", "linux-aarch64"]

# This will automatically activate the ros workspace on activation
[target.win-64.activation]
scripts = ["install/setup.bat"]

[target.unix.activation]
# For activation scripts, we use bash for Unix-like systems
scripts = ["install/setup.bash"] 

[target.win-64.dependencies]
# vs2022_win-64 = "*"  # Uncomment if using Visual Studio 2022

[dependencies]
python = "*"
compilers = "*"
cmake = "*"
pkg-config = "*"
make = "*"
ninja = "*"

rosdep = "*"
colcon-common-extensions = "*"


[target.linux.dependencies]
libgl-devel = "*"

# Define all the different ROS environments
# Each environment corresponds to a different ROS distribution
# and can be activated using the `pixi run/shell -e <environment>` command.
[environments]
noetic = { features = ["noetic"] }
humble = { features = ["humble"] }
jazzy = { features = ["jazzy"] }
kilted = { features = ["kilted"] }

### ROS Noetic ####  
[feature.noetic]
channels = ["https://prefix.dev/robostack-noetic"]

[feature.noetic.dependencies]
ros-noetic-desktop = "*"
catkin_tools = "*"

# To build you can use - pixi run -e noetic build <Any other temporary args>
[feature.noetic.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.noetic.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"


### ROS Humble ####
[feature.humble]
channels = ["https://prefix.dev/robostack-humble"]

[feature.humble.dependencies]
ros-humble-desktop = "*"

# To build you can use - pixi run -e humble build <Any other temporary args>
[feature.humble.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.humble.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"


### ROS Jazzy ####
[feature.jazzy]
channels = ["https://prefix.dev/robostack-jazzy"]

[feature.jazzy.dependencies]
ros-jazzy-desktop = "*"

# To build you can use - pixi run -e jazzy build <Any other temporary args>
[feature.jazzy.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.jazzy.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"


### ROS Kilted ####
[feature.kilted]
channels = ["https://prefix.dev/robostack-kilted"]

[feature.kilted.dependencies]
ros-kilted-desktop = "*"

# To build you can use - pixi run -e kilted build <Any other temporary args>
[feature.kilted.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.kilted.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

I can further simplify it by resuing the tasks, also do you want to use colcon or catkin for noetic?

ps. even better IMO would be to make it tabbed per distro what do you think about that?

tony-p · 2025-06-26T12:04:19Z

I'm planning to simplify it to something like this:

[project]
name = "robostack"
version = "0.1.0"
description = "Development environment for RoboStack ROS packages"
authors = ["Your Name <your.email@example.com>"]
channels = ["https://prefix.dev/conda-forge"]
platforms = ["linux-64", "win-64", "osx-64", "osx-arm64", "linux-aarch64"]

# This will automatically activate the ros workspace on activation
[target.win-64.activation]
scripts = ["install/setup.bat"]

[target.unix.activation]
# For activation scripts, we use bash for Unix-like systems
scripts = ["install/setup.bash"] 

[target.win-64.dependencies]
# vs2022_win-64 = "*"  # Uncomment if using Visual Studio 2022

[dependencies]
python = "*"
compilers = "*"
cmake = "*"
pkg-config = "*"
make = "*"
ninja = "*"

rosdep = "*"
colcon-common-extensions = "*"


[target.linux.dependencies]
libgl-devel = "*"

# Define all the different ROS environments
# Each environment corresponds to a different ROS distribution
# and can be activated using the `pixi run/shell -e <environment>` command.
[environments]
noetic = { features = ["noetic"] }
humble = { features = ["humble"] }
jazzy = { features = ["jazzy"] }
kilted = { features = ["kilted"] }

### ROS Noetic ####  
[feature.noetic]
channels = ["https://prefix.dev/robostack-noetic"]

[feature.noetic.dependencies]
ros-noetic-desktop = "*"
catkin_tools = "*"

# To build you can use - pixi run -e noetic build <Any other temporary args>
[feature.noetic.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.noetic.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"


### ROS Humble ####
[feature.humble]
channels = ["https://prefix.dev/robostack-humble"]

[feature.humble.dependencies]
ros-humble-desktop = "*"

# To build you can use - pixi run -e humble build <Any other temporary args>
[feature.humble.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.humble.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"


### ROS Jazzy ####
[feature.jazzy]
channels = ["https://prefix.dev/robostack-jazzy"]

[feature.jazzy.dependencies]
ros-jazzy-desktop = "*"

# To build you can use - pixi run -e jazzy build <Any other temporary args>
[feature.jazzy.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.jazzy.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"


### ROS Kilted ####
[feature.kilted]
channels = ["https://prefix.dev/robostack-kilted"]

[feature.kilted.dependencies]
ros-kilted-desktop = "*"

# To build you can use - pixi run -e kilted build <Any other temporary args>
[feature.kilted.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.kilted.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

I can further simplify it by resuing the tasks, also do you want to use colcon or catkin for noetic?

ps. even better IMO would be to make it tabbed per distro what do you think about that?

I was wondering if there was a way to do it more per OS (hadn't really looked into it though) so looks good to me.

With regards to making it tabbed, up to @traversaro and @Tobias-Fischer

ruben-arts · 2025-06-26T12:09:46Z

[project]
name = "robostack"
description = "Development environment for RoboStack ROS packages"
channels = ["https://prefix.dev/conda-forge"]
platforms = ["linux-64", "win-64", "osx-64", "osx-arm64", "linux-aarch64"]

# This will automatically activate the ros workspace on activation
[target.win.activation]
scripts = ["install/setup.bat"]

[target.unix.activation]
# For activation scripts, we use bash for Unix-like systems
scripts = ["install/setup.bash"] 

[target.win-64.dependencies]
# vs2022_win-64 = "*"  # Uncomment if using Visual Studio 2022

# To build you can use - `pixi run -e <ros distro> build <Any other temporary args>`
[feature.build.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.build.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

# Dependencies used by all environments
[dependencies]
python = "*"
# Build tools
compilers = "*"
cmake = "*"
pkg-config = "*"
make = "*"
ninja = "*"
# ROS specific tools
rosdep = "*"
colcon-common-extensions = "*"

[target.linux.dependencies]
libgl-devel = "*"

# Define all the different ROS environments
# Each environment corresponds to a different ROS distribution
# and can be activated using the `pixi run/shell -e <environment>` command.
[environments]
noetic = { features = ["noetic", "build"] }
humble = { features = ["humble", "build"] }
jazzy = { features = ["jazzy", "build"] }
kilted = { features = ["kilted", "build"] }

### ROS Noetic ####  
[feature.noetic]
channels = ["https://prefix.dev/robostack-noetic"]

[feature.noetic.dependencies]
ros-noetic-desktop = "*"
catkin_tools = "*"

### ROS Humble ####
[feature.humble]
channels = ["https://prefix.dev/robostack-humble"]

[feature.humble.dependencies]
ros-humble-desktop = "*"

### ROS Jazzy ####
[feature.jazzy]
channels = ["https://prefix.dev/robostack-jazzy"]

[feature.jazzy.dependencies]
ros-jazzy-desktop = "*"

### ROS Kilted ####
[feature.kilted]
channels = ["https://prefix.dev/robostack-kilted"]

[feature.kilted.dependencies]
ros-kilted-desktop = "*"

Shrinked it down some more, for this example it didn't seem to matter that we use the same cmake flags for all distro's

edit: added the build feature for the tasks, so the default env will not be used.

ruben-arts · 2025-06-26T12:15:16Z

Tabbed can always be done later!

tony-p · 2025-06-26T12:34:49Z

[project]
name = "robostack"
description = "Development environment for RoboStack ROS packages"
channels = ["https://prefix.dev/conda-forge"]
platforms = ["linux-64", "win-64", "osx-64", "osx-arm64", "linux-aarch64"]

# This will automatically activate the ros workspace on activation
[target.win.activation]
scripts = ["install/setup.bat"]

[target.unix.activation]
# For activation scripts, we use bash for Unix-like systems
scripts = ["install/setup.bash"] 

[target.win-64.dependencies]
# vs2022_win-64 = "*"  # Uncomment if using Visual Studio 2022

# To build you can use - `pixi run -e <ros distro> build <Any other temporary args>`
[feature.build.target.win-64.tasks]
build = "colcon build --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

[feature.build.target.unix.tasks]
build = "colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPython_FIND_VIRTUALENV=ONLY -DPython3_FIND_VIRTUALENV=ONLY"

# Dependencies used by all environments
[dependencies]
python = "*"
# Build tools
compilers = "*"
cmake = "*"
pkg-config = "*"
make = "*"
ninja = "*"
# ROS specific tools
rosdep = "*"
colcon-common-extensions = "*"

[target.linux.dependencies]
libgl-devel = "*"

# Define all the different ROS environments
# Each environment corresponds to a different ROS distribution
# and can be activated using the `pixi run/shell -e <environment>` command.
[environments]
noetic = { features = ["noetic", "build"] }
humble = { features = ["humble", "build"] }
jazzy = { features = ["jazzy", "build"] }
kilted = { features = ["kilted", "build"] }

### ROS Noetic ####  
[feature.noetic]
channels = ["https://prefix.dev/robostack-noetic"]

[feature.noetic.dependencies]
ros-noetic-desktop = "*"
catkin_tools = "*"

### ROS Humble ####
[feature.humble]
channels = ["https://prefix.dev/robostack-humble"]

[feature.humble.dependencies]
ros-humble-desktop = "*"

### ROS Jazzy ####
[feature.jazzy]
channels = ["https://prefix.dev/robostack-jazzy"]

[feature.jazzy.dependencies]
ros-jazzy-desktop = "*"

### ROS Kilted ####
[feature.kilted]
channels = ["https://prefix.dev/robostack-kilted"]

[feature.kilted.dependencies]
ros-kilted-desktop = "*"

Shrinked it down some more, for this example it didn't seem to matter that we use the same cmake flags for all distro's

edit: added the build feature for the tasks, so the default env will not be used.

Updated the PR with this suggestion

traversaro · 2025-06-26T12:45:21Z

Go for me, @Tobias-Fischer if you want to have a check and then feel free to merge, thanks @tony-p and @ruben-arts !

Tobias-Fischer · 2025-06-26T19:59:23Z

Nice work thank you very much :)

docs: Correct some documentation around pixi, and take more advantage…

fbd3d08

… of pixi features in pixi.toml example

tony-p commented Jun 9, 2025

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docs/GettingStarted.md Outdated Show resolved Hide resolved

traversaro approved these changes Jun 19, 2025

View reviewed changes

traversaro and others added 2 commits June 26, 2025 10:33

Merge branch 'master' into docs/improve-pixi-docs

7e46e9f

docs: update pixi osx examples

889d1e5

docs: update with suggested pixi.toml from Ruben

1e8211c

traversaro approved these changes Jun 26, 2025

View reviewed changes

Tobias-Fischer merged commit e6f14ae into RoboStack:master Jun 26, 2025

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