Install ros2 on Ubuntu with pixi

source/Installation.rst

@@ -49,6 +49,7 @@ Building from source
 We support building ROS 2 from source on the following platforms:
 
 * :doc:`Ubuntu Linux 24.04 <Installation/Alternatives/Ubuntu-Development-Setup>`
+* :doc:`Ubuntu Linux 24.04 (Pixi) <Installation/Alternatives/Ubuntu-Development-Setup-Pixi>`
 * :doc:`Windows 10 <Installation/Alternatives/Windows-Development-Setup>`
 * :doc:`RHEL-9/Fedora <Installation/Alternatives/RHEL-Development-Setup>`
 * :doc:`macOS <Installation/Alternatives/macOS-Development-Setup>`

source/Installation/Alternatives.rst

@@ -7,6 +7,7 @@ A list of alternative ways to install ROS 2 – whether it's by building from s
    :maxdepth: 1
 
    Alternatives/Ubuntu-Development-Setup
+   Alternatives/Ubuntu-Development-Setup-Pixi
    Alternatives/Ubuntu-Install-Binary
    Alternatives/Windows-Development-Setup
    Alternatives/RHEL-Development-Setup

source/Installation/Alternatives/Latest-Development-Setup.rst

@@ -20,6 +20,7 @@ Build from source
 Follow the links below for the latest setup instructions for your platform:
 
 * :doc:`Ubuntu Linux <Ubuntu-Development-Setup>`
+* :doc:`Ubuntu Linux (Pixi) <Ubuntu-Development-Setup-Pixi>`
 * :doc:`Windows <Windows-Development-Setup>`
 * :doc:`RHEL <RHEL-Development-Setup>`
 * :doc:`macOS <macOS-Development-Setup>`

source/Installation/Alternatives/Ubuntu-Development-Setup-Pixi.rst

@@ -0,0 +1,194 @@
+Ubuntu (source Pixi)
+====================
+
+.. contents:: Table of Contents
+   :depth: 2
+   :local:
+
+
+System requirements
+-------------------
+The current Debian-based target platforms for {DISTRO_TITLE_FULL} are:
+
+- Tier 1: Ubuntu Linux - Noble (24.04) 64-bit
+- Tier 3: Debian Linux - Bookworm (12) 64-bit
+
+As defined in `REP 2000 <https://www.ros.org/reps/rep-2000.html>`_.
+
+System setup
+------------
+
+Set locale
+^^^^^^^^^^
+
+.. include:: ../_Ubuntu-Set-Locale.rst
+
+Create a location for the ROS 2 installation
+--------------------------------------------
+
+This location will contain both the installed binary packages, plus the ROS 2 installation itself.
+
+Start a terminal, then create a directory to store the installation.
+
+.. code-block:: console
+
+   $ mkdir ~/ros_ws_pixi
+
+Install prerequisites
+---------------------
+
+Install pixi
+^^^^^^^^^^^^
+
+ROS 2 uses `conda-forge <https://conda-forge.org/>`__ as a backend for packages, with `pixi <https://pixi.sh/latest/>`__ as the frontend.
+
+Continue using the previous terminal session, and use the instructions from https://pixi.sh/latest/ to install ``pixi``.
+Once ``pixi`` has been installed, close the terminal session and start it again, which will ensure ``pixi`` is on the PATH.
+
+Install dependencies
+^^^^^^^^^^^^^^^^^^^^
+
+Download the pixi configuration file in the existing terminal session:
+
+.. code-block:: console
+
+   $ cd ~/ros_ws_pixi
+   $ wget https://raw.githubusercontent.com/ros2/ros2/refs/heads/ahcorde/rolling/pixi_linux/pixi_linux.toml -O pixi.toml
+
+Install dependencies:
+
+.. code-block:: console
+
+   $ pixi install
+
+Build ROS 2
+-----------
+
+Source the pixi environment
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This is required in every command prompt you open to set up paths to the dependencies:
+
+.. code-block:: console
+
+   $ cd ~/ros_ws_pixi
+   $ pixi shell
+
+Get ROS 2 code
+^^^^^^^^^^^^^^
+
+Now that we have the development tools we can get the ROS 2 source code.
+
+Setup a development folder, for example ``~/ros_ws_pixi/src``:
+
+
+.. code-block:: console
+
+   $ mkdir ~/ros_ws_pixi/src
+   $ cd ~/ros_ws_pixi
+
+Get the ``ros2.repos`` file which defines the repositories to clone from:
+
+.. code-block:: console
+
+   $ vcs import --input https://raw.githubusercontent.com/ros2/ros2/{REPOS_FILE_BRANCH}/ros2.repos src
+
+Build the code in the workspace
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+To build the workspace folder tree:
+
+.. code-block:: console
+
+   $ colcon build --merge-install --event-handlers console_direct+ --cmake-args -D LTTNGPY_DISABLED=1 --packages-skip qt_gui_cpp --packages-skip-by-dep qt_gui_cpp --packages-skip-build-finished
+
+.. note::
+
+   Source installation can take a long time given the large number of packages being pulled into the workspace.
+
+Setup environment
+-----------------
+
+Start a new terminal, which will be used in the examples.
+
+Source the pixi environment
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This is required in every command prompt you open to set up paths to the dependencies:
+
+.. code-block:: console
+
+   $ cd ~/ros_ws_pixi
+   $ pixi shell
+
+Source the ROS 2 environment
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This is required in every command prompt you open to setup the ROS 2 workspace:
+
+.. code-block:: console
+
+   $ source ~/ros_ws_pixi/install/local_setup.bash
+
+This will automatically set up the environment for any DDS vendors that support was built for.
+
+Try some examples
+-----------------
+
+You can run the tests using this command:
+
+.. code-block:: console
+
+   $ colcon test --merge-install
+
+.. note::
+
+   ``--merge-install`` should only be used if it was also used in the build step.
+
+Afterwards you can get a summary of the tests using this command:
+
+.. code-block:: console
+
+   $ colcon test-result
+
+To run the examples, set up the workspace by sourcing the ``local_setup.bash`` file.
+Then, run a C++ ``talker``\ :
+
+.. code-block:: console
+
+   $ source install/local_setup.bash
+   $ ros2 run demo_nodes_cpp talker
+
+In a separate command prompt you can do the same, but instead run a Python ``listener``\ :
+
+.. code-block:: console
+
+   $ source install/local_setup.bash
+   $ ros2 run demo_nodes_py listener
+
+You should see the ``talker`` saying that it's ``Publishing`` messages and the ``listener`` saying ``I heard`` those messages.
+This verifies both the C++ and Python APIs are working properly.
+Hooray!
+
+.. note::
+
+   It is not recommended to build in the same cmd prompt that you've sourced the ``local_setup.bash``.
+
+Next steps
+----------
+
+Continue with the :doc:`tutorials and demos <../../Tutorials>` to configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.
+
+Stay up to date
+---------------
+
+See :doc:`../Maintaining-a-Source-Checkout` to periodically refresh your source installation.
+
+1. If you installed your workspace with colcon as instructed above, "uninstalling" could be just a matter of opening a new terminal and not sourcing the workspace's ``setup`` file.
+   This way, your environment will behave as though there is no {DISTRO_TITLE} install on your system.
+
+2. If you're also trying to free up space, you can delete the entire workspace directory with:
+
+   .. code-block:: console
+
+      $ rm -rf ~/ros_ws_pixi