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RoboStack + Pixi (Jazzy and Kilted)

This guide explains how to use RoboStack and Pixi to build and run this repository in a colcon workspace with ROS 2 Jazzy or Kilted.

These steps assume a colcon workspace with src/ and this repo cloned into src/book_ros2/. The build/, install/, and log/ folders will be created automatically after the first build.

This repository includes a Pixi file at src/book_ros2/pixi.toml so you can create a reproducible environment.

1) Install Pixi

Follow the official guide: https://pixi.sh/latest/#installation

Linux example:

curl -fsSL https://pixi.sh/install.sh | bash

Restart your terminal (or reload your shell) so pixi is available in your PATH.

2) Copy pixi.toml to the workspace root

Pixi expects pixi.toml at the workspace root directory (the parent directory of src/).

From the workspace root:

cp src/book_ros2/pixi.toml ./pixi.toml

3) Install dependencies (choose Jazzy or Kilted)

# ROS 2 Jazzy
pixi install -e jazzy

# ROS 2 Kilted
pixi install -e kilted

4) Build the workspace with Pixi

In pixi.toml there is a build task that builds with colcon and disables tests to avoid failures due to system dependencies.

# Build with Jazzy
pixi run -e jazzy build

# Build with Kilted
pixi run -e kilted build

5) Open an environment shell (and use ROS 2)

You can open an interactive shell inside the environment. In this project, activation is configured to run source install/setup.bash automatically.

pixi shell -e jazzy
# or
pixi shell -e kilted

Inside that shell you should be able to run commands like ros2 pkg list or launch nodes from the workspace.

If you prefer to run a command without opening an interactive shell:

pixi run -e jazzy ros2 run <package> <executable>
pixi run -e jazzy ros2 launch <package> <launch.py>

6) Run rmw_zenohd

The environment sets RMW_IMPLEMENTATION=rmw_zenoh_cpp automatically. It is recommended to start the rmw_zenohd daemon in a separate terminal.

Option A (recommended): inside pixi shell -e <distro>

rmw_zenohd

Option B (without opening an interactive shell):

pixi run -e jazzy rmw_zenohd
# or
pixi run -e kilted rmw_zenohd

To stop it: Ctrl+C.