botasys_ft_sensor_ros2/pixi.toml at master · utiasDSL/botasys_ft_sensor_ros2 · GitHub

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[workspace]
authors = ["Linus-Schwarz <ge38vod@mytum.de>"]
channels = [
    "https://fast.prefix.dev/conda-forge",
    "https://conda.anaconda.org/pytorch",
    "https://conda.anaconda.org/nvidia",
]
name = "bota"
platforms = ["linux-64"]
version = "0.1.0"

[activation]
scripts = ["set_ros_env.sh", "ros2_ws/install/setup.bash"]

[tasks]

[environments]
jazzy = { features = ["jazzy"] }

[dependencies]
python = "*"
compilers = "*"
cmake = "*"
pkg-config = "*"
make = "*"
ninja = "*"

[feature.jazzy]
channels = ["https://prefix.dev/robostack-jazzy"]

[feature.jazzy.dependencies]
colcon-common-extensions = "*"
ros-jazzy-ament-clang-format = ">=0.17.2,<0.18"
ros-jazzy-desktop = "*"
ros-jazzy-joint-state-publisher = ">=2.4.0,<3"
ros-jazzy-moveit-core = ">=2.12.3,<3"
ros-jazzy-moveit-kinematics = ">=2.12.3,<3"
ros-jazzy-moveit-planners-ompl = ">=2.12.3,<3"
ros-jazzy-moveit-ros-move-group = ">=2.12.3,<3"
ros-jazzy-rmw-cyclonedds-cpp = "*"
ros-jazzy-rmw-zenoh-cpp = "*"
ros-jazzy-ros2-control = "*"
ros-jazzy-ros2-control-cmake = ">=0.2.1,<0.3"
ros-jazzy-ros2-controllers = "*"
ros-jazzy-xacro = ">=2.0.13,<3"
rosdep = "*"

[feature.jazzy.tasks]
bota-clone = "mkdir -p ros2_ws/src && cd ros2_ws/src && git clone https://gitlab.com/botasys/drivers/bota_driver_ros2.git && git clone https://gitlab.com/botasys/drivers/bota_driver_ros2_example.git"
bota-build = "cd ros2_ws && colcon build"

setup = { depends-on = ["bota-clone", "bota-build"] }
bota-run = 'ros2 run bota_driver bota_driver_node --ros-args -p node_name:=bota_ft_sensor -p config_file:="ros2_ws/src/bota_driver_ros2_example/bota_config/bota_binary.json" -p output_rate:=100.0'