deprecation of Foxy in the docs and tests. Test by pixi. Trying win64

2lian · 2lian · commit 99d632e0ab49 · 2025-11-24T13:12:37.000+09:00
diff --git a/.github/workflows/doit_install.yaml b/.github/workflows/doit_install.yaml
diff --git a/.github/workflows/pixi_tests.yaml b/.github/workflows/pixi_tests.yaml
@@ -0,0 +1,31 @@
+name: Tests
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+  workflow_dispatch:
+
+jobs:
+  test:
+
+    strategy:
+      fail-fast: false
+      matrix:
+        ros-version: ["humble", "jazzy", "kilted"]
+        os: [ubuntu-latest]
+
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 2
+    steps:
+    - uses: actions/checkout@v4
+    - uses: prefix-dev/setup-pixi@v0.9.2
+      with:
+        cache: true
+        environments: ${{ matrix.ros-version }}
+    - name: Pixi Colcon build
+      run: |
+        pixi run -e ${{ matrix.ros-version }} build
+    - name: Pixi Pytest
+      run: |
+        pixi run -e ${{ matrix.ros-version }} pytest ./tests -s
diff --git a/.github/workflows/pixi_tests_win.yaml b/.github/workflows/pixi_tests_win.yaml
@@ -0,0 +1,32 @@
+name: Tests Windows
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+  workflow_dispatch:
+
+jobs:
+  test:
+
+    strategy:
+      fail-fast: false
+      matrix:
+        ros-version: ["humble", "jazzy", "kilted"]
+        os: [win-latest]
+
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 2
+    steps:
+    - uses: actions/checkout@v4
+    - uses: prefix-dev/setup-pixi@v0.9.2
+      with:
+        cache: true
+        environments: ${{ matrix.ros-version }}
+    - name: Pixi Colcon build
+      run: |
+        pixi run -e ${{ matrix.ros-version }} build
+    - name: Pixi Pytest
+      run: |
+        pixi run -e ${{ matrix.ros-version }} pytest ./tests -s
+
diff --git a/README.md b/README.md
@@ -3,13 +3,13 @@
 
 ![Synchronization of 6 robots](media/landing.gif)
 
-[![ubuntu](https://img.shields.io/badge/Ubuntu-%2020.04%20%7C%2022.04%20%7C%2024.04-%20blue)](https://ubuntu.com/)
-[![ros](https://img.shields.io/badge/Ros2-Foxy%20%7C%20Humble%20%7C%20Jazzy-%20blue)](https://github.com/ros2)
-[![python](https://img.shields.io/badge/Python-3.8_|_3.10_|_3.12-%20blue)](https://www.python.org/)
+[![ubuntu](https://img.shields.io/badge/OS-Linux_amd64%20%7C%20Linux_aarch64-%20blue)](https://ubuntu.com/)
+[![ros](https://img.shields.io/badge/Ros2-Humble%20%7C%20Jazzy%20%7C%20Kilted-%20blue)](https://github.com/ros2)
+[![python](https://img.shields.io/badge/Python-3.10_|_3.12-%20blue)](https://www.python.org/)
 [![mit](https://img.shields.io/badge/License-MIT-gold)](https://opensource.org/license/mit)
 
+[![pixi](https://img.shields.io/endpoint?url=https%3A%2F%2Fraw.githubusercontent.com%2Fprefix-dev%2Fpixi%2Fmain%2Fassets%2Fbadge%2Fv0.json&color=006400)](https://pixi.sh)
 [![rtb](https://img.shields.io/badge/Powered_by-Robotics_toolbox-006400)](https://github.com/petercorke/robotics-toolbox-python)
-[![pixi](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/prefix-dev/pixi/main/assets/badge/v0.json)](https://pixi.sh)
 [![test](https://github.com/2lian/Motion-Stack/actions/workflows/doit_install.yaml/badge.svg)](https://github.com/2lian/Motion-Stack/actions/workflows/doit_install.yaml)
 
 From modular robots with distributed computation, to a simple robotic arm, the motion stack provides control for (multi-)limbed systems. The goal of the project is maximum flexibility reflecting the flexibility of modular robotics, while abstracting away the complexity of such systems.
diff --git a/docs/build/md/markdown/index.md b/docs/build/md/markdown/index.md
@@ -2,13 +2,13 @@
 
 ![Synchronization of 6 robots](media/landing.gif)
 
-[![ubuntu](https://img.shields.io/badge/Ubuntu-%2020.04%20%7C%2022.04%20%7C%2024.04-%20blue)](https://ubuntu.com/)
-[![ros](https://img.shields.io/badge/Ros2-Foxy%20%7C%20Humble%20%7C%20Jazzy-%20blue)](https://github.com/ros2)
-[![python](https://img.shields.io/badge/Python-3.8_|_3.10_|_3.12-%20blue)](https://www.python.org/)
+[![ubuntu](https://img.shields.io/badge/OS-Linux_amd64%20%7C%20Linux_aarch64-%20blue)](https://ubuntu.com/)
+[![ros](https://img.shields.io/badge/Ros2-Humble%20%7C%20Jazzy%20%7C%20Kilted-%20blue)](https://github.com/ros2)
+[![python](https://img.shields.io/badge/Python-3.10_|_3.12-%20blue)](https://www.python.org/)
 [![mit](https://img.shields.io/badge/License-MIT-gold)](https://opensource.org/license/mit)
 
+[![pixi](https://img.shields.io/endpoint?url=https%3A%2F%2Fraw.githubusercontent.com%2Fprefix-dev%2Fpixi%2Fmain%2Fassets%2Fbadge%2Fv0.json&color=006400)](https://pixi.sh)
 [![rtb](https://img.shields.io/badge/Powered_by-Robotics_toolbox-006400)](https://github.com/petercorke/robotics-toolbox-python)
-[![pixi](https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/prefix-dev/pixi/main/assets/badge/v0.json)](https://pixi.sh)
 [![test](https://github.com/2lian/Motion-Stack/actions/workflows/doit_install.yaml/badge.svg)](https://github.com/2lian/Motion-Stack/actions/workflows/doit_install.yaml)
 
 From modular robots with distributed computation, to a simple robotic arm, the motion stack provides control for (multi-)limbed systems. The goal of the project is maximum flexibility reflecting the flexibility of modular robotics, while abstracting away the complexity of such systems.
diff --git a/docs/build/md/markdown/manual/install.md b/docs/build/md/markdown/manual/install.md
@@ -68,9 +68,10 @@ pixi add ros-jazzy-motion-stack ros-jazzy-ms-operator ros-jazzy-motion-stack-tut
 
 Install ROS2:
 
+- [Kilted (Ubuntu 24.04) installation guide.](https://docs.ros.org/en/kilted/Installation.html)
 - [Jazzy (Ubuntu 24.04) installation guide.](https://docs.ros.org/en/jazzy/Installation.html)
 - [Humble (Ubuntu 22.04) installation guide.](https://docs.ros.org/en/humble/Installation.html)
-- [Foxy (Ubuntu 20.04) installation guide.](https://docs.ros.org/en/foxy/Installation.html)
+- [Foxy (Ubuntu 20.04)](https://docs.ros.org/en/foxy/Installation.html) : DEPRECATED [after this commit](https://github.com/2lian/Motion-Stack/commit/42516a5ea84041a191c9e25279a1f5a7e7e91580) in favor of Pixi and RoboStack.
 
 #### NOTE
 The core of the Motion-Stack is pure python, ROS2 is the (only) communication interface (for now).
diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -5,24 +5,24 @@ Motion Stack
 
    <br />
 
-.. |ubuntu| image:: https://img.shields.io/badge/Ubuntu-%2020.04%20%7C%2022.04%20%7C%2024.04-%20blue
+.. |ubuntu| image:: https://img.shields.io/badge/OS-Linux_amd64%20%7C%20Linux_aarch64-%20blue
            :target: https://ubuntu.com/
 
-.. |ros| image:: https://img.shields.io/badge/Ros2-Foxy%20%7C%20Humble%20%7C%20Jazzy-%20blue
+.. |ros| image:: https://img.shields.io/badge/Ros2-Humble%20%7C%20Jazzy%20%7C%20Kilted-%20blue
            :target: https://github.com/ros2
 
-.. |python| image:: https://img.shields.io/badge/Python-3.8_|_3.10_|_3.12-%20blue
+.. |python| image:: https://img.shields.io/badge/Python-3.10_|_3.12-%20blue
            :target: https://www.python.org/
 
 .. |mit| image:: https://img.shields.io/badge/License-MIT-gold
            :target: https://opensource.org/license/mit
 
+.. |pixi| image:: https://img.shields.io/endpoint?url=https%3A%2F%2Fraw.githubusercontent.com%2Fprefix-dev%2Fpixi%2Fmain%2Fassets%2Fbadge%2Fv0.json&color=006400
+           :target: https://pixi.sh
+
 .. |rtb| image:: https://img.shields.io/badge/Powered_by-Robotics_toolbox-006400
            :target: https://github.com/petercorke/robotics-toolbox-python
 
-.. |pixi| image:: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/prefix-dev/pixi/main/assets/badge/v0.json
-           :target: https://pixi.sh
-
 .. |test| image:: https://github.com/2lian/Motion-Stack/actions/workflows/doit_install.yaml/badge.svg
            :target: https://github.com/2lian/Motion-Stack/actions/workflows/doit_install.yaml
 
@@ -46,8 +46,8 @@ Motion Stack
        |python|
        |mit|
 
-       |rtb|
        |pixi|
+       |rtb|
        |test|
 
 From modular robots with distributed computation, to a simple robotic arm, the motion stack provides control for (multi-)limbed systems. The goal of the project is maximum flexibility reflecting the flexibility of modular robotics, while abstracting away the complexity of such systems.
diff --git a/docs/source/manual/install.rst b/docs/source/manual/install.rst
@@ -87,9 +87,10 @@ Installation from source
 
 Install ROS2:
 
+- \ `Kilted (Ubuntu 24.04) installation guide. <https://docs.ros.org/en/kilted/Installation.html>`_
 - \ `Jazzy (Ubuntu 24.04) installation guide. <https://docs.ros.org/en/jazzy/Installation.html>`_
 - \ `Humble (Ubuntu 22.04) installation guide. <https://docs.ros.org/en/humble/Installation.html>`_
-- \ `Foxy (Ubuntu 20.04) installation guide. <https://docs.ros.org/en/foxy/Installation.html>`_
+- `Foxy (Ubuntu 20.04) <https://docs.ros.org/en/foxy/Installation.html>`_ : DEPRECATED `after this commit <https://github.com/2lian/Motion-Stack/commit/42516a5ea84041a191c9e25279a1f5a7e7e91580>`_ in favor of Pixi and RoboStack.
 
 .. Note::
 
diff --git a/pixi.lock b/pixi.lock
diff --git a/pixi.toml b/pixi.toml
