pixi.toml

[project]
name = "rerun_cpp_example_ros"
authors = ["rerun.io <opensource@rerun.io>"]
channels = ["robostack-staging", "conda-forge"]
description = "Use the Rerun C++ SDK together with ROS"
homepage = "https://rerun.io"
license = "Apache-2.0"
platforms = ["linux-64", "osx-arm64"]
repository = "https://github.com/rerun-io/cpp-example-ros"
version = "0.1.0"

[tasks.ws]
cmd = "mkdir -p noetic_ws/src && ln -sfn $(pwd)/rerun_bridge noetic_ws/src/rerun_bridge"
cwd = "."

[tasks.build]
cmd = "ls && catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON"
depends_on = ["ws"]
cwd = "noetic_ws"

# Download the drone example rosbag.
#
# To avoid the slow download / unreliable server we only download if the file doesn't already exist.
[tasks.drone_example_data]
cmd = "ls indoor_forward_3_snapdragon_with_gt.bag || curl -L -C - -O http://rpg.ifi.uzh.ch/datasets/uzh-fpv-newer-versions/v3/indoor_forward_3_snapdragon_with_gt.bag"
depends_on = ["ws"]
cwd = "noetic_ws/src/rerun_bridge"

[tasks.drone_example]
cmd = "bash -c 'source ./devel/setup.bash && roslaunch rerun_bridge drone_example.launch'"
depends_on = ["build", "drone_example_data", "ws", "rerun_viewer"]
cwd = "noetic_ws"

# Get the spot_description package from the heuristicus/spot_ros repository.
#
# To avoid the slow git clone, we check if the directory already exists.
# To avoid extra dependencies we only use the spot_description package not the whole metapackage.
[tasks.spot_description]
cmd = """
cd spot_description
|| (git clone https://github.com/heuristicus/spot_ros.git
    && mv spot_ros/spot_description .
    && rm -rf spot_ros)
"""
cwd = "noetic_ws/src"
depends_on = ["ws"]

# Download the Spot example rosbag.
[tasks.spot_example_data]
cmd = """
ls spot_ros1/spot_ros1.bag
|| (curl -L -C - -O https://storage.googleapis.com/rerun-example-datasets/spot_ros1.zip
    && unzip spot_ros1.zip -d spot_ros1)
"""
depends_on = ["ws"]
cwd = "noetic_ws/src/rerun_bridge"

[tasks.spot_example]
cmd = "bash -c 'source ./devel/setup.bash && roslaunch rerun_bridge spot_example.launch'"
depends_on = [
    "build",
    "spot_example_data",
    "ws",
    "rerun_viewer",
    "spot_description",
    "rerun_urdf_loader",
]
cwd = "noetic_ws"

# Install Rerun and URDF loader manually via pip3, this should be replaced with direct pypi dependencies in the future.
# Wait for direct branch and find-links support in pixi. Otherwise updating to a prerelease becomes a hassle.
# See:
#  https://pixi.sh/latest/reference/configuration/#pypi-dependencies-beta-feature
#  https://github.com/prefix-dev/pixi/issues/1163

[tasks.rerun_viewer]
cmd = "pip install rerun-sdk==0.16"

[tasks.rerun_urdf_loader]
cmd = "pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git"

[dependencies]
pip = ">=24.0,<25"                   # To install rerun-sdk and rerun-loader-python-example-urdf
compilers = ">=1.7.0,<1.8"
opencv = ">=4.9.0,<4.10"
ros-noetic-catkin = ">=0.8.10,<0.9"
ros-noetic-desktop = ">=1.5.0,<1.6"
ros-noetic-rosbag = ">=1.16.0,<1.17"
yaml-cpp = ">=0.8.0,<0.9"
unzip = ">=6.0,<7"

[target.linux-64.dependencies]
sysroot_linux-64 = ">=2.17,<3" # rustc 1.64+ requires glibc 2.17+, see https://blog.rust-lang.org/2022/08/01/Increasing-glibc-kernel-requirements.html