pixi support

[kevinjin0420]

Summary

Multi-distro and mac support though pixi venv

• pixi.toml/pixi.lock: portable env (osx-arm64, linux-64) resolved from robostack-jazzy/conda-forge, replaces apt-installed ROS/toolchain/Qt/OpenCV/etc. for this path
• New entry scripts: bootstrap-portable.sh/setup-portable.sh (mirrors bootstrap.sh/setup.sh, installs Homebrew on macOS, dispatches to apt/dnf/pacman/brew for git/ansible)
• New ansible/dev-portable.yml/build-portable.yml playbooks and build-portable role
  • role installs pixi itself (Linux only, macOS gets it via Homebrew), runs pixi install, then the same Dawn/manif/imgui download scripts as the native build role, plus bun install for the frontend
  • shared dev role gains a mrover_portable var (ansible/roles/dev/defaults/main.yml) that switches which zshenv gets sourced (scripts/mrover.zshenv vs new scripts/mrover-portable.zshenv)
  • scripts/mrover-portable.zshenv defines a mrover shell function that runs pixi shell-hook, fixes up TERM/HOST/DYLD_LIBRARY_PATH quirks from conda's compiler activation, then sources install/setup.zsh
• CMakeLists.txt
  • new MROVER_PORTABLE option gates out ZED/CUDA, CAN, and ESW hardware bridges, so a laptop without rover hardware can still build everything else
  • simulator now also builds on macOS arm64 (Dawn is prebuilt for it too), not just Linux x86_64
  • Qt6 lookup switched to find_package(... QUIET); camera_client is skipped with a warning instead of failing configure when Qt6 isn't present
  • link against MANIF::manif instead of the old FetchContent-only target, now that pixi provides it
• build.sh branches on $PIXI_PROJECT_ROOT: portable path skips the hardcoded clang/CUDA env vars and passes -DMROVER_PORTABLE=ON -DCMAKE_PREFIX_PATH=$CONDA_PREFIX (plus -DCMAKE_OSX_SYSROOT on macOS) instead of colcon's per-profile build/install dirs
• style.sh drops hardcoded tool version pins (clang-format-18, black==26.5.1, etc.) in favor of whatever pixi/PATH provides, replaces glob-based file lists with find loops that tolerate missing directories, and runs bun install before the frontend type-check
• pyproject.toml loosens pinned deps to ranges, moves moteus into a new rover extra (not needed for a portable dev-only checkout), bumps target Python 3.10 -> 3.12
• .github/workflows/ci.yml adds a pixi-based "Build (pixi Ubuntu 26)" job alongside the existing native Ubuntu 24 job; the style job now sets up pixi instead of manually installing pinned black/mypy/clang-format/shellcheck versions
• .github/workflows/publish-bootstrap.yml also publishes bootstrap-portable.sh
• bootstrap.sh/setup.sh cleanup: clone check now tests for .git (re-clones into a stale/incomplete dir instead of silently skipping) instead of just dir existence, dropped the redundant --recurse-submodules since the dev role already runs git submodule update --init --recursive
• New scripts/fix_sudo_rs.sh: Ubuntu 26 defaults to sudo-rs, which Ansible's become can't use yet. Both setup scripts run it before Ansible now — it flips sudo back to the classic binary via update-alternatives, but only if sudo-rs is actually detected

Did you add documentation to the wiki?

not done, will need proper documentation overhaul

Verfied Systems

• Ubuntu 26
• Fedora 44
• Archlinux
• M1 Mac
• M2 Mac
• M3 Mac
• M4 Mac
• M5 Mac

Tested System Combinations

• Fedora 44 KDE Plasma
• CachyOS KDE Plasma
• CachyOS Hyprland
• Kubuntu 26 KDE Plasma
• MacOS 26 on:
  • M1 Macbook Air
  • M3 Macbook Pro
  • M5 Macbook Pro

Known Issues

• On M1 macs, uname -m could return x86_64 incorrectly because of a rosetta quirk
  • current workaround is to set $ARCH manually
  • needs a bit more thinking
• The install manifpy step could fail on first try due to unset serialization protocol
  • current workaround is to retry playbook