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EasyNav (Jazzy) — local buildfarm + user workspace

This page explains:

  • How to build EasyNav packages for ROS 2 jazzy using this repo (Pixi + Vinca + rattler-build).
  • How to consume the resulting packages in a separate colcon workspace (Pixi template).

What it is

  • Producers (package creators): build .conda artifacts into a local file-channel at ros-jazzy/output/.
  • Consumers (users): create a normal ROS 2 workspace and install dependencies from that local channel.

For package creators (buildfarm)

From the ros-jazzy/ folder:

  1. Install the build environment:
  • pixi install
  1. Build the EasyNav subset (generate recipes → build → index):
  • pixi run easynav-all

Artifacts should land under:

  • ros-jazzy/output/linux-64/

Index files should exist under:

  • ros-jazzy/output/linux-64/repodata.json

Troubleshooting

  • If a downstream Pixi solve says “No candidates found…”, clear repodata cache:
    • pixi clean cache --repodata -y
  • The channel root is .../ros-jazzy/output (not .../output/linux-64).

For users (consumer workspace)

A ready-to-edit Pixi template is in:

  • ros-jazzy/irl-docs/easynav/pixi.toml
  • ros-jazzy/irl-docs/easynav/activate.sh

Quick start

  1. Create a workspace and copy the template files:
  • mkdir -p ~/ws/easynav_ws && cd ~/ws/easynav_ws
  • Copy pixi.toml and activate.sh from ros-jazzy/irl-docs/easynav/
  1. Enter the environment:
  • pixi shell
  1. Clone sources (example; adjust to your needs):
  • mkdir -p src && cd src
  • vcs import < easynav.repos
  1. Build:
  • pixi run build

Runtime notes

  • This template defaults to Zenoh:
    • export RMW_IMPLEMENTATION=rmw_zenoh_cpp
  • Run the Zenoh daemon in a separate terminal:
    • ros2 run rmw_zenoh_cpp rmw_zenohd

Eigen / PCL note

  • The consumer env pins eigen < 5 to reduce the chance of CMake falling back to system Eigen (/usr/include/eigen3) when building PCL-dependent packages.