Use Pixi

.devcontainer/Dockerfile

@@ -1,4 +1,4 @@
-FROM ros:jazzy
+FROM ubuntu:24.04
 
 ARG user=bitbots
 ARG uid=1000
@@ -50,25 +50,10 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
-# Setup and prioritize packages.bit-bots.de repository
+# Update and upgrade all packages
 RUN apt update -y \
   && apt upgrade -y --allow-downgrades
 
-# Additional robotics related packages
-RUN apt-get install -y \
-  python3-rosdep \
-  python3-vcstool \
-  python3-virtualenv \
-  ros-jazzy-camera-calibration \
-  ros-jazzy-desktop \
-  ros-jazzy-joint-state-publisher-gui \
-  ros-jazzy-plotjuggler \
-  ros-jazzy-plotjuggler-msgs \
-  ros-jazzy-plotjuggler-ros \
-  ros-jazzy-rmw-cyclonedds-cpp \
-  ros-jazzy-rqt-robot-monitor \
-  ros-jazzy-soccer-vision-3d-rviz-markers
-
 # Set zsh as default shell
 SHELL ["/bin/zsh", "-c"]
 
@@ -84,16 +69,6 @@ RUN groupdel users \
 
 USER $user
 
-# Install pip colcon extensions / patches as user
-RUN python3 -m pip install --user --break-system-packages \
-    git+https://github.com/ruffsl/colcon-clean \
-    git+https://github.com/timonegk/colcon-core.git@colors \
-    git+https://github.com/timonegk/colcon-notification.git@colors \
-    git+https://github.com/timonegk/colcon-output.git@colors
-
-# Create colcon workspace
-RUN mkdir -p /home/$user/colcon_ws/src
-
 # Install oh-my-zsh for pretty terminal
 RUN sh -c "$(wget -O- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \
   git clone https://github.com/zsh-users/zsh-autosuggestions "${ZSH_CUSTOM:-$HOME/.oh-my-zsh/custom}/plugins/zsh-autosuggestions"
@@ -104,5 +79,8 @@ COPY --chown=$user:$user zshrc /home/$user/.zshrc
 # This is required for sharing Xauthority
 ENV QT_X11_NO_MITSHM=1
 
+# Install pixi
+RUN curl -fsSL https://pixi.sh/install.sh | sh
+
 # Switch to the workspace directory
-WORKDIR /home/$user/colcon_ws
+WORKDIR /home/$user/bitbots_main

.devcontainer/devcontainer.json

@@ -18,12 +18,30 @@
         "dev.containers.copyGitConfig": false,
         "dev.containers.gitCredentialHelperConfigLocation": "none"
       },
-      "extensions": ["ms-iot.vscode-ros"]
+      "extensions": [
+        "charliermarsh.ruff", // Ruff linting and formatting support
+        "DavidAnson.vscode-markdownlint", // Lints markdown files
+        "DotJoshJohnson.xml", // XML support
+        "lextudio.restructuredtext", // Rendering rst files in preview
+        "Mastermori.dsd", // DSD support
+        "mohsen1.prettify-json", // JSON formatting
+        "MS-CEINTL.vscode-language-pack-de", // German language pack
+        "Ranch-Hand-Robotics.rde-pack", // ROS2 development environment
+        "ms-python.python", // Python support
+        "ms-python.vscode-pylance", // Python support
+        "ms-vscode.cpptools-extension-pack", // C++ support
+        "ms-vscode.cpptools-themes", // C++ support
+        "ms-vscode.cpptools", // C++ support
+        "streetsidesoftware.code-spell-checker-german", // Spell checker
+        "streetsidesoftware.code-spell-checker", // Spell checker
+        "tamasfe.even-better-toml", // TOML support
+        "trond-snekvik.simple-rst" // Syntax highlighting for rst files
+      ]
     }
   },
 
-  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/colcon_ws/src/bitbots_main",
-  "workspaceFolder": "/home/bitbots/colcon_ws/src/bitbots_main",
+  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/bitbots_main",
+  "workspaceFolder": "/home/bitbots/bitbots_main",
 
   "mounts": [
     "type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached"
@@ -41,5 +59,5 @@
     "seccomp=unconfined"
   ],
 
-  "postCreateCommand": "git config --global --add safe.directory '*'"
+  "postCreateCommand": "git config --global --add safe.directory '*' && $HOME/.pixi/bin/pixi install"
 }

.devcontainer/zshrc

@@ -1,5 +1,5 @@
 # If you come from bash you might have to change your $PATH.
-export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$PATH
+export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$HOME/.pixi/bin:$PATH
 
 # Set the default shell to zsh when running zsh
 export SHELL="$(which zsh)"
@@ -48,48 +48,12 @@ bindkey "^H" backward-kill-word
 bindkey "^[[1;5C" forward-word
 bindkey "^[[1;5D" backward-word
 
-
 # Settings for the prompt to show that we are in a docker container
 export PROMPT="%K{black} 🐋 %K{blue}%F{black} %~ %f%k%F{blue}%f "  # Prefix the prompt with DOCKER
 
-# >>> bit-bots initialize >>>
-
-# Ignore some deprecation warnings
-export PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-
-# Limit ROS 2 communication to localhost (can be overridden when needed)
-export ROS_DOMAIN_ID=24
-export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
-
-# Set the default colcon workspace
-export COLCON_WS="$HOME/colcon_ws"
-
-# Set the default log level for colcon
-export COLCON_LOG_LEVEL=30
-
-# Define a log layout
-export RCUTILS_COLORIZED_OUTPUT=1
-export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
-
-# Set the default Middleware
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-# Load our ros plugin script containing useful functions and aliases for ROS 2 development
-if [[ -f $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
-  source $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
-fi
-
-# <<< bit-bots initialize <<<
-
-# Set default editor
-export VISUAL="vim"
-
 # Some user instructions
 echo "Hello there! Welcome to the Bit-Bots ROS 2 development environment!"
 echo "If you just (re)build this container a few manual steps are nessessary:"
 echo "Create a ssh key with 'ssh-keygen -q -f $HOME/.ssh/id_rsa -N \"\" &&  cat $HOME/.ssh/id_rsa.pub'."
 echo "Copy the commands output and add it to your GitHub account ('https://github.com/settings/keys') (ctrl+click to open in browser)."
-echo "Now you can install the rest of the workspace and compile everything with 'make install && cba'."
-echo "To update an existing workspace you can use 'make update && cba'."
-echo "To compile all packages in the workspace use 'cba'. If you want to compile only a specific package use 'cbs <package_name>'."
-echo "Run 'xhost local:root' in a terminal on the host machine to enable GUI applications (e.g. rviz2) in the container. This needs to be done after every restart of the host machine."
+echo "Now you can install the rest of the workspace and compile everything with 'pixi run build'."

.git-blame-ignore-revs

@@ -12,3 +12,4 @@ f29fb619aef9f416cbbdc74ec77c23423dcefe07
 ae9fbef74c50ba1e462d1b76da16779c76aa0d5b
 476e75e3f3d17c35ac89b17f513d93078687d613
 cd3280273363807e1b5df2ade0138d48178cb06b
+5c6c1edc69b5d4e26bb7bdc3fef3399e2a61567b

.gitattributes

@@ -1 +1,3 @@
 .vscode/settings.json filter=removeFullHomePath
+# SCM syntax highlighting & preventing 3-way merges
+pixi.lock merge=binary linguist-language=YAML linguist-generated=true

.github/pull_request_template.md

@@ -11,7 +11,7 @@
 
 ## Checklist
 
-- [ ] Run `colcon build`
+- [ ] Run `just build`
 - [ ] Write documentation
 - [ ] Test on your machine
 - [ ] Test on the robot

.github/workflows/ci.yml

@@ -4,62 +4,39 @@ on:
     - cron: '0 0 * * *'
   push:
 
-env:
-  PYTHONWARNINGS: "ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-
 jobs:
   build:
     runs-on: ubuntu-latest
-    container:
-      image: ubuntu:noble
 
     steps:
       - name: Cancel outdated jobs
         uses: fkirc/skip-duplicate-actions@v5
         with:
           cancel_others: 'true'
-     
-     # Remove comments to spawn an interactive debigging ssh shell in the ci 
+
+     # Remove comments to spawn an interactive debugging ssh shell in the ci
      #- name: Setup tmate session
      #   uses: mxschmitt/action-tmate@v3
-     #   with:   
+     #   with:
      #     detached: true
-
-      - name: Set up ROS ecosystem
-        uses: ros-tooling/setup-ros@v0.7
 
       - name: Check out repository
         uses: actions/checkout@v4
 
       - name: Configure git to trust repository
         run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main
 
-      - name: Add '$HOME/.local/bin' to PATH
-        run: |
-          mkdir -p $HOME/.local/bin
-          echo "PATH=$PATH:/github/home/.local/bin" >> "$GITHUB_ENV"
+      - name: Install host dependencies
+        run: scripts/make_basler.sh --ci
 
-      - name: Pull source code for libraries and install dependencies
-        run: |
-          sudo apt-get remove -y python3-pytest-repeat  #TODO remove once the upstream apt package reports the correct version on the newest pip version
-          make install HTTPS=true ARGS="--ci"
-
-      - name: Set up colcon workspace
-        run: |
-          mkdir -p /colcon_ws/src
-          ln -s $(realpath .) /colcon_ws/src/bitbots_main
+      - name: Set up workspace
+        uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: v0.59.0
+          cache: false  # Disable caching to avoid issues with large pytorch packages
 
-      - name: Build packages
-        run: |
-          . /opt/ros/jazzy/setup.sh
-          colcon build --symlink-install
-        working-directory: /colcon_ws
+      - name: Build
+        run: pixi run build
 
-      - name: Test packages
-        run: |
-          # Source workspace
-          . /opt/ros/jazzy/setup.sh
-          . install/setup.sh
-          # Run tests for all packages
-          colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1
-        working-directory: /colcon_ws
+      - name: Test
+        run: pixi run test --parallel-workers 1

.github/workflows/pre-commit.yml

@@ -1,16 +1,21 @@
 name: Code style checks
 
 on:
-  pull_request:
   push:
-    branches: [main]
 
 jobs:
   pre-commit:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v4
-      - name: Install cppcheck
-        run: sudo apt install cppcheck -y
-      - uses: pre-commit/action@v3.0.1
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up workspace
+        uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: v0.59.0
+          cache: true
+          environments: format
+
+      - name: Run pre-commit
+        run: pixi run -e format format

.gitignore

@@ -203,11 +203,10 @@ bitbots_docs_internal
 
 # VS Code ROS extension
 .vscode/browse.vc.*
-log/
 
 # Neural Network Model Path
-/bitbots_vision/models/
-/bitbots_motion/bitbots_rl_motion/rl_walk_models/
+/src/bitbots_vision/models/
+/src/bitbots_motion/bitbots_rl_motion/rl_walk_models/
 
 **/.*.
 .idea/*
@@ -219,16 +218,27 @@ ansible_robots/*
 doc_internal/*
 doku/*
 
-# library subdirectories
-/lib/
-
-# Path to the protocol buffer definitions, which are a different repository and managed by vcstool
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
 # Protobuf generated file
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
 
 # Workspace git status file from the deploy tool
 **/workspace_status.json
 
+# Do not include colcon build files
+/install/
+/build/
+/log/
+
+# Ignore mypy cache
+.mypy_cache/
+
+# Pytest cache
 .pytest_cache/
+
+# pixi environments
+.pixi/
+!.pixi/config.toml
+
+CMakeFiles/
+CMakeCache.txt

.pre-commit-config.yaml

@@ -14,23 +14,27 @@ repos:
         args:
           - "-i"
       - id: cppcheck
+        exclude: &exclude_robocup_protocol ^src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/
         args:
           - "--inline-suppr"
           - "--suppress=missingIncludeSystem"
           - "--suppress=unmatchedSuppression"
           - "--suppress=unusedFunction"
           - "--suppress=unusedStructMember"
           - "--suppress=useStlAlgorithm"
+          - "--check-level=exhaustive"
   - repo: https://github.com/cheshirekow/cmake-format-precommit
     rev: v0.6.13
     hooks:
       - id: cmake-format
       - id: cmake-lint
+        exclude: *exclude_robocup_protocol
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
     hooks:
       - id: check-merge-conflict
       - id: check-toml
       - id: check-xml
       - id: check-yaml
+        exclude: *exclude_robocup_protocol
       - id: detect-private-key

.vscode/c_cpp_properties.json

@@ -14,6 +14,9 @@
                 "/root/colcon_ws/install/*/include/**",
                 "/root/colcon_ws/build/**/include/**",
                 "/root/colcon_ws/build/**/rosidl_generator_cpp/**",
+                "${workspaceFolder}/install/*/include/**",
+                "${workspaceFolder}/build/**/include/**",
+                "${workspaceFolder}/build/**/rosidl_generator_cpp/**",
                 "${workspaceFolder}/**/include/**",
                 "/opt/ros/${env:ROS_DISTRO}/include/**",
                 "/usr/include/**",

.vscode/settings.json

@@ -241,4 +241,10 @@
     "[jsonc]": {
         "editor.defaultFormatter": "vscode.json-language-features"
     },
+    "search.exclude": {
+        "build": true,
+        "install": true,
+        "log": true,
+        ".pixi": true,
+    },
 }