Pixi Native
Run the simulation natively using pixi.
The native workflow installs ROS 2 Jazzy and Gazebo Harmonic into a self-contained environment inside the repository using pixi, not requiring Docker and using your system directly without another layer, producing better performance.
Limitation
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This way of running the project does not support the Chrono sim, only Gazebo. See Docker.
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Only the following platforms are supported:
- Linux (x86_64, ARM64)
- MacOS (Intel, Silicon)
- WSL2
1. Install pixi
$ curl -fsSL https://pixi.sh/install.sh | bashRestart your shell after installation!
2. Install dependencies
From the repo root, install all project dependencies using the following command:
$ pixi installThis downloads ~3-5 GB on first run, and takes a while. Subsequent runs are instant as everything is already downloaded. All of the pixi environment data is located in the .pixi folder in the project root.
3. Launch a simulation
You can now launch the sim. It is the same as you would normally would but all the commands are always prefixed by pixi run to use the pixi environment like so:
$ pixi run sim gazebo <robot_name>Note
Do not use pixi shell as your regular working shell. It modifies library paths in a way that can break system tools like git. Use pixi run <command> instead. For example: pixi run sim gazebo native arm.