Containerize pixi in CI (#99)

* Containerize pixi ci

* Remove sourcing from test steps

* Remove the test pixi fix

* Minor tweak to docs

Author: eholum-nasa

.github/workflows/ci.yaml

@@ -74,24 +74,40 @@ jobs:
     steps:
       - name: Check out repository
         uses: actions/checkout@v6
-      - name: Cache build directories and sccache
-        uses: actions/cache@v5
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      - name: Build Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/Dockerfile.pixi
+          push: false
+          load: true
+          tags: mujoco_ros2_control_pixi:ci
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+      - name: Cache sccache
+        uses: actions/cache@v4
         with:
           path: |
             ${{ env.SCCACHE_DIR }}
           key: ${{ runner.os }}-sccache-${{ github.head_ref || github.ref_name }}
           restore-keys: |
             ${{ runner.os }}-sccache-main
             ${{ runner.os }}-sccache-
-      - uses: prefix-dev/[email protected]
-        with:
-          cache: true
-          cache-write: ${{ github.event_name == 'push' && github.ref_name == 'main' }}
-          frozen: true
-          manifest-path: pixi.toml
-      - name: Build and test
+      # Run pixi jobs, and ensure the cache is world readable.
+      - name: Build and test in container
         run: |
-          pixi run setup-colcon
-          pixi run build
-          pixi run test
-          pixi run test-result
+          docker run --rm \
+            -v ${{ github.workspace }}:/workspace \
+            -v ${{ github.workspace }}/.sccache:/workspace/.sccache \
+            -w /workspace \
+            -e SCCACHE_DIR=/workspace/.sccache \
+            mujoco_ros2_control_pixi:ci \
+            bash -c "
+              pixi run setup-colcon && \
+              pixi run build && \
+              pixi run test && \
+              pixi run test-result && \
+              chmod -R a+rwX /workspace/.sccache
+            "

docker/Dockerfile.pixi

@@ -0,0 +1,18 @@
+# Provides a raw 24.04 image in which to test the pixi install.
+FROM ubuntu:24.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y \
+    curl \
+    git \
+    build-essential \
+    ca-certificates \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN curl -fsSL https://pixi.sh/install.sh | bash
+ENV PATH="/root/.pixi/bin:${PATH}"
+
+WORKDIR /workspace
+
+CMD ["/bin/bash"]

mujoco_ros2_control/docs/DEVELOPMENT.md

@@ -13,6 +13,9 @@ To run ensure pixi is installed.
 Then,
 
 ```bash
+# Install the environment
+pixi install --frozen
+
 # Setup the build environment
 pixi run setup-colcon
 

mujoco_ros2_control_tests/CMakeLists.txt

@@ -17,40 +17,28 @@ if(BUILD_TESTING)
 
   find_package(launch_testing_ament_cmake REQUIRED)
 
-  # It is unclear why, but ctest in github action runners doesn't seem to correctly inherit
-  # the PYTHONPATH from `install/setup.bash`. So we provide the exact path to ensure these are
-  # locatable in CI.
-  set(test_pythonpath "$ENV{PYTHONPATH}")
-  file(TO_CMAKE_PATH "${test_pythonpath}" test_pythonpath)
-
   add_launch_test(test/robot_launch_test.py
     TIMEOUT 50
-    APPEND_ENV "PYTHONPATH=${test_pythonpath}"
   )
 
   add_launch_test(test/robot_launch_pid_test.py
     TIMEOUT 50
-    APPEND_ENV "PYTHONPATH=${test_pythonpath}"
   )
 
   add_launch_test(test/robot_launch_mjcf_generation_test.py
     TIMEOUT 50
-    APPEND_ENV "PYTHONPATH=${test_pythonpath}"
   )
 
   add_launch_test(test/robot_launch_mjcf_generation_from_robot_description_test.py
     TIMEOUT 50
-    APPEND_ENV "PYTHONPATH=${test_pythonpath}"
   )
 
   add_launch_test(test/robot_launch_transmission_test.py
     TIMEOUT 50
-    APPEND_ENV "PYTHONPATH=${test_pythonpath}"
   )
 
   add_launch_test(test/robot_launch_transmission_pid_test.py
     TIMEOUT 50
-    APPEND_ENV "PYTHONPATH=${test_pythonpath}"
   )
 endif()
 

pixi.toml

@@ -30,8 +30,8 @@ build = "colcon build"
 clean = "rm -rf build install log"
 
 # Test tasks
-test = { cmd = "bash -c 'source install/setup.bash && colcon test'" }
-test-result = { cmd = "bash -c 'source install/setup.bash && colcon test-result --verbose'" }
+test = "colcon test"
+test-result = "colcon test-result --verbose"
 
 [dependencies]
 python = ">=3.11,<3.13"