Native Setup

The native workflow installs ROS 2 Jazzy and Gazebo Harmonic into a self-contained environment inside the repository using pixi. No Docker required. Deleting the repo also deletes the environment — your system stays clean.

Supported platforms: Linux (x86-64, ARM64), macOS (Intel and Apple Silicon), WSL2.

1. Install pixi

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

Restart your shell after installation (source ~/.bashrc or source ~/.zshrc).

2. Install dependencies

From the repo root, install ROS 2 Jazzy + Gazebo Harmonic into .pixi/:

pixi install

This downloads ~3–5 GB on first run. Subsequent runs are instant.

3. Launch a simulation

pixi run sim native arm

This builds the ROS 2 workspace and launches Gazebo, RViz, and the Joint GUI.

See Running Simulations for full CLI options and flags.