pixi support

.github/workflows/ci.yml

@@ -6,64 +6,103 @@ on:
     branches:
       - main
       - integration
+
 jobs:
   style:
     name: Style Checks
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v7
-      - uses: actions/setup-python@v7
+      - uses: prefix-dev/setup-pixi@v0.9.6
+        with:
+          activate-environment: true
+          cache: true
+      - uses: actions/cache@v6
         with:
-          python-version: '3.x'
-      - name: Install Python style tools
-        run: pip install black==26.5.1 mypy==1.11.2
-      - name: Install clang-format
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo add-apt-repository 'deb https://apt.llvm.org/jammy/ llvm-toolchain-jammy-18 main'
-          sudo apt-get update
-          sudo apt-get install -y clang-format-18
-      - name: Install shellcheck
-        run: sudo apt-get install -y shellcheck
-      - uses: oven-sh/setup-bun@v2
-      - name: Install Frontend Dependencies
-        run: cd teleoperation/basestation_gui/frontend && bun install
-      - name: Run Style Check
+          path: ~/.bun/install/cache
+          key: bun-${{ hashFiles('teleoperation/basestation_gui/frontend/bun.lockb') }}
+          restore-keys: bun-
+      - name: Style Check
         run: ./style.sh
 
-  ci:
-    name: Build
-    runs-on: ubuntu-latest
+  build:
+    name: Build (pixi Ubuntu 26)
+    runs-on: ubuntu-26.04
     needs: style
-    container:
-      image: umrover1/ros2-ci:jammy
-      # GitHub is silly and requires us to be running as root for their checkout action
-      # Our docker container exports the user mrover, so we have to specific this explicitly
-      options: --user root
     steps:
       - uses: actions/checkout@v7
+      - name: Dawn Cache
+        uses: actions/cache@v6
         with:
-          # Re-enable when we put the simulator in the CI pipeline.
-          # lfs: "true"
-          # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
-          path: "src/mrover"
+          path: deps/dawn-prebuilt
+          key: dawn-${{ hashFiles('scripts/setup_dawn.sh') }}
+      - name: Setup Dawn
+        run: ./scripts/setup_dawn.sh
+      - name: Imgui Cache
+        uses: actions/cache@v6
+        with:
+          path: deps/imgui-src
+          key: imgui-${{ hashFiles('scripts/setup_imgui.sh') }}
+      - name: Setup Imgui
+        run: ./scripts/setup_imgui.sh
       - name: Compiler Cache
-        if: github.event.pull_request.draft == false
         uses: hendrikmuhs/ccache-action@v1.2.23
+      - uses: prefix-dev/setup-pixi@v0.9.6
+        with:
+          activate-environment: true
+          cache: true
+      - name: Build
+        run: ./build.sh
+
+  build-native:
+    name: Build (native Ubuntu 24)
+    runs-on: ubuntu-24.04
+    container:
+      image: kevinjin0420/mrover-ci:latest
+      # by pass github's dubious ownership check
+      options: --user root
+    needs: style
+    env:
+      # directory owned by mrover so CI can write to it and use caching
+      # this is new for ubuntu 24
+      HOME: /home/mrover
+    steps:
+      - uses: actions/checkout@v7
+        # Re-enable lfs: "true" when we put the simulator in the CI pipeline.
+      - name: Trust checkout directory
+        # bypass GitHub's dubious ownership check when running as root in the container
+        run: git config --global --add safe.directory "${GITHUB_WORKSPACE}"
       - name: Dawn Cache
         if: github.event.pull_request.draft == false
         uses: actions/cache@v6
         with:
-          path: src/mrover/deps/dawn-prebuilt
-          key: dawn-${{ hashFiles('src/mrover/scripts/setup_dawn.sh') }}
+          path: deps/dawn-prebuilt
+          key: dawn-${{ hashFiles('scripts/setup_dawn.sh') }}
       - name: Setup Dawn
-        if: github.event.pull_request.draft == false
         run: ./scripts/setup_dawn.sh
-        working-directory: "${{ github.workspace }}/src/mrover"
+      - name: Manif Cache
+        uses: actions/cache@v6
+        with:
+          path: deps/manif-src
+          key: manif-${{ hashFiles('scripts/setup_manif.sh') }}
+      - name: Setup Manif
+        run: ./scripts/setup_manif.sh
+      - name: Imgui Cache
+        uses: actions/cache@v6
+        with:
+          path: deps/imgui-src
+          key: imgui-${{ hashFiles('scripts/setup_imgui.sh') }}
+      - name: Setup Imgui
+        run: ./scripts/setup_imgui.sh
+      - name: Pip Cache
+        uses: actions/cache@v6
+        with:
+          path: /home/mrover/.cache/pip
+          key: pip-${{ hashFiles('pyproject.toml') }}
+          restore-keys: |
+            pip-
+      - name: Compiler Cache
+        uses: hendrikmuhs/ccache-action@v1.2.23
       - name: Build
-        if: github.event.pull_request.draft == false
         shell: bash
-        run: . /opt/ros/humble/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./build.sh
-      # - name: Test
-      #   if: github.event.pull_request.draft == false
-      #   run: . /opt/ros/noetic/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test && rostest mrover integration.test --text
+        run: source /opt/ros/jazzy/setup.bash && source /home/mrover/mrover-ros2/venv/bin/activate && ./build.sh Release

.github/workflows/docker-publish.yml

@@ -13,28 +13,22 @@ jobs:
     name: Build and Push CI Image
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v7
+      - uses: actions/checkout@v6
 
-      - name: Read Ubuntu codename from Dockerfile
-        id: base_os
-        run: |
-          from_line=$(head -1 Dockerfile)
-          echo "codename=${from_line#FROM ubuntu:}" >> "$GITHUB_OUTPUT"
-
-      - uses: docker/login-action@v4
+      - uses: docker/login-action@v3
         with:
-          username: umrover1
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
           password: ${{ secrets.DOCKERHUB_TOKEN }}
 
-      - uses: docker/metadata-action@v6
+      - uses: docker/metadata-action@v5
         id: meta
         with:
-          images: umrover1/ros2-ci
+          images: ${{ secrets.DOCKERHUB_USERNAME }}/mrover-ci
           tags: |
-            type=raw,value=${{ steps.base_os.outputs.codename }}
-            type=sha,prefix=${{ steps.base_os.outputs.codename }}-sha-
+            type=raw,value=latest
+            type=sha,prefix=sha-
 
-      - uses: docker/build-push-action@v7
+      - uses: docker/build-push-action@v6
         with:
           context: .
           push: true

.github/workflows/publish-bootstrap.yml

@@ -1,11 +1,12 @@
-name: Publish Bootstrap Script
+name: Publish Bootstrap Scripts
 
 on:
   push:
     branches:
       - main
     paths:
       - bootstrap.sh
+      - bootstrap-portable.sh
   workflow_dispatch:
 
 permissions:
@@ -27,7 +28,7 @@ jobs:
     steps:
       - uses: actions/checkout@v7
       - name: Assemble site
-        run: mkdir -p site && cp bootstrap.sh site/bootstrap.sh
+        run: mkdir -p site && cp bootstrap.sh bootstrap-portable.sh site/
       - uses: actions/upload-pages-artifact@v5
         with:
           path: site

.gitignore

@@ -3,9 +3,14 @@
 /install/
 /log/
 
-# Downloaded prebuilt dependencies
+# pixi environment
+/.pixi/*
+!/.pixi/config.toml
+
+# Prebuild deps
 /deps/dawn-prebuilt/
-/deps/.fetchcontent/
+/deps/manif-src/
+/deps/imgui-src/
 
 # Common IDE's, ideally this should be in global gitignore per user
 .vscode/
@@ -28,7 +33,7 @@ __pycache__/
 *.egg-info/
 venv/
 
-#Teleop Ignores
+# Teleop Ignores
 *.sqlite3
 *.db
 bun.lock
@@ -41,6 +46,7 @@ bun.lockb
 
 # macOS
 .DS_Store
+
 # nav state log
 state_machine/state_log.txt
 
@@ -54,5 +60,5 @@ data/raw-pano-images
 .catkin_tools/
 .dynamixel_sdk/
 
-# Persistent esw mrover_can FetchContent cache (survives a clean build, not tracked)
-/.cache/esw/
+# FetchContent cache (esw mrover_can, and CMake's own FetchContent staging dirs)
+/deps/.fetchcontent/

.pixi/config.toml

@@ -0,0 +1 @@
+detached-environments = true

.vscode/launch.json

@@ -8,14 +8,14 @@
             "name": "(gdb) Launch",
             "type": "cppdbg",
             "request": "launch",
-            "program": "${workspaceFolder}/../../install/Debug/mrover/lib/mrover/${input:myStringInput}",
+            "program": "${workspaceFolder}/install/Debug/mrover/lib/mrover/${input:myStringInput}",
             "args": [],
             "stopAtEntry": false,
             "cwd": "${fileDirname}",
             "environment": [
                 {
                     "name": "LD_LIBRARY_PATH",
-                    "value": "${workspaceFolder}/../../install/Debug/mrover/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/aarch64-linux-gnu:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib"
+                    "value": "${workspaceFolder}/install/Debug/mrover/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/lib"
                 },
                 {
                     "name": "ROS_DOMAIN_ID",
@@ -44,7 +44,7 @@
             "program": "${file}",
             "console": "integratedTerminal",
             "env": {
-                "LD_LIBRARY_PATH": "${workspaceFolder}/../../install/Debug/mrover/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/aarch64-linux-gnu:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib",
+                "LD_LIBRARY_PATH": "${workspaceFolder}/install/Debug/mrover/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/lib",
                 "ROS_DOMAIN_ID": "5"
             }
         }
@@ -56,7 +56,7 @@
             "type": "command",
             "command": "file-selector.fileSelect",
             // exclude the absolute prefix path here
-            "args": "../../install/Debug/mrover/lib/mrover"
+            "args": "install/Debug/mrover/lib/mrover"
         }
     ]
 }

.vscode/settings.json

@@ -6,17 +6,17 @@
     "python.analysis.inlayHints.variableTypes": true,
     "python.analysis.inlayHints.callArgumentNames": "all",
     "python.analysis.inlayHints.functionReturnTypes": true,
-    // ~/ros2_ws/install/{profile}/mrover/lib/python3.10/site-packages is already in PYTHONPATH,
+    // ~/mrover-ros2/install/{profile}/mrover/lib/python3.12/site-packages is already in PYTHONPATH,
     // but Pylance currently has a bug where it cannot handle the symlinks in it.
     // Below we are just putting directly where those symlinks go for all build profiles
     "python.analysis.extraPaths": [
-        "/opt/ros/humble/lib/python3/dist-packages",
-        "../../install/Debug/mrover/lib/python3.10/site-packages",
-        "../../install/Release/mrover/lib/python3.10/site-packages",
-        "../../install/RelWithDebInfo/mrover/lib/python3.10/site-packages",
-        "../../build/Debug/mrover/rosidl_generator_py",
-        "../../build/Release/mrover/rosidl_generator_py",
-        "../../build/RelWithDebInfo/mrover/rosidl_generator_py",
+        "/opt/ros/jazzy/lib/python3/dist-packages",
+        "install/Debug/mrover/lib/python3.12/site-packages",
+        "install/Release/mrover/lib/python3.12/site-packages",
+        "install/RelWithDebInfo/mrover/lib/python3.12/site-packages",
+        "build/Debug/mrover/rosidl_generator_py",
+        "build/Release/mrover/rosidl_generator_py",
+        "build/RelWithDebInfo/mrover/rosidl_generator_py",
     ],
     "[python]": {
         "editor.defaultFormatter": "ms-python.black-formatter",