refactor: removed pixi

.devcontainer/Dockerfile

@@ -1,5 +1,5 @@
 # syntax=docker/dockerfile:1
-FROM ubuntu:24.04 AS prod
+FROM ros:jazzy-ros-base AS prod
 ARG DEBIAN_FRONTEND=noninteractive
 ARG L4T_RELEASE=r39.2
 ARG CUDA_TOOLKIT_PKG=cuda-toolkit-13-2
@@ -11,28 +11,15 @@ ARG L4T_MINOR=2
 
 ENV LANG=en_US.UTF-8 \
     TZ=UTC \
-    PIXI_HOME=/opt/pixi \
-    PATH=/opt/pixi/bin:/usr/local/cuda/bin:${PATH} \
+    PATH=/usr/local/cuda/bin:${PATH} \
     LD_LIBRARY_PATH=/usr/local/cuda/lib64 \
     NVIDIA_VISIBLE_DEVICES=all \
     NVIDIA_DRIVER_CAPABILITIES=compute,video,utility
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    build-essential \
-    ca-certificates \
-    cmake \
-    curl \
-    git \
-    gnupg2 \
-    less \
     locales \
-    lsb-release \
     openssh-client \
-    sudo \
-    tzdata \
-    udev \
     wget \
-    zstd \
     && locale-gen en_US.UTF-8 \
     && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
     && ln -snf /usr/share/zoneinfo/${TZ} /etc/localtime \
@@ -64,8 +51,15 @@ RUN wget -q --no-check-certificate -O /tmp/ZED_SDK_Linux.run \
     && rm -rf /tmp/ZED_SDK_Linux.run /usr/local/zed/resources/* \
     && ln -sf /usr/lib/aarch64-linux-gnu/tegra/libv4l2.so.0 /usr/lib/aarch64-linux-gnu/libv4l2.so
 
-RUN curl -fsSL https://pixi.sh/install.sh | \
-    env PIXI_HOME=/opt/pixi PIXI_NO_PATH_UPDATE=1 bash
+# ------------------------------------
+# ROS packages used at runtime
+# ------------------------------------
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-jazzy-rosbridge-server \
+    ros-jazzy-cv-bridge \
+    ros-jazzy-vision-opencv \
+    && rm -rf /var/lib/apt/lists/*
 
 RUN useradd trickfire \
     --shell /bin/bash \
@@ -86,19 +80,26 @@ WORKDIR /home/trickfire/trickfire-urc
 # Dev setup
 # ------------------------------------
 
-FROM ubuntu:24.04 AS dev
+FROM ros:jazzy-ros-base AS dev
 
 ENV LANG=en_US.UTF-8 \
-    TZ=UTC \
-    PIXI_HOME=/opt/pixi \
-    PATH=/opt/pixi/bin:${PATH}
+    TZ=UTC
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
+    build-essential \
     ca-certificates \
-    curl \
+    clang-format \
+    clang-tidy \
+    clang-tools \
+    clangd \
+    cmake \
+    gdb \
     git \
     locales \
     openssh-client \
+    pipx \
+    python3-pip \
+    shfmt \
     sudo \
     tzdata \
     && locale-gen en_US.UTF-8 \
@@ -107,8 +108,21 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     && echo "${TZ}" > /etc/timezone \
     && rm -rf /var/lib/apt/lists/*
 
-RUN curl -fsSL https://pixi.sh/install.sh | \
-    env PIXI_HOME=/opt/pixi PIXI_NO_PATH_UPDATE=1 bash
+# ------------------------------------
+# ROS packages used for development
+# ------------------------------------
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-jazzy-desktop \
+    ros-jazzy-rosbridge-server \
+    ros-jazzy-cv-bridge \
+    ros-jazzy-vision-opencv \
+    ros-jazzy-pinocchio \
+    ros-jazzy-coal \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN PIPX_HOME=/opt/pipx PIPX_BIN_DIR=/usr/local/bin pipx install ruff==0.15.14 \
+    && chmod -R a+rX /opt/pipx
 
 RUN useradd trickfire \
     --shell /bin/bash \

.devcontainer/devcontainer.json

@@ -5,7 +5,6 @@
     "remoteUser": "trickfire",
     "workspaceFolder": "/home/trickfire/trickfire-urc",
     "shutdownAction": "stopCompose",
-    "postCreateCommand": "pixi install",
     "customizations": {
         "vscode": {
             "extensions": [

.devcontainer/trickfire.bashrc

@@ -21,23 +21,10 @@ fi
 # ---------- lesspipe ----------
 [ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"
 
-# ---------- pixi environment ----------
-# Activates the workspace's pixi env (which provides ROS Jazzy via RoboStack
-# plus the clang/ruff tooling). Run `pixi install` once after a fresh clone.
-_tf_pixi_activate() {
-    local manifest="/home/trickfire/trickfire-urc/pixi.toml"
-    if [ -n "${PIXI_ENV_ACTIVATED:-}" ]; then
-        return 0
-    fi
-    if ! command -v pixi >/dev/null 2>&1 || [ ! -f "$manifest" ]; then
-        return 0
-    fi
-    local hook
-    hook="$(pixi shell-hook --manifest-path "$manifest" 2>/dev/null)" || return 0
-    eval "$hook"
-    export PIXI_ENV_ACTIVATED=1
-}
-_tf_pixi_activate
+# ---------- ROS environment ----------
+if [ -f /opt/ros/jazzy/setup.bash ]; then
+    source /opt/ros/jazzy/setup.bash
+fi
 
 # ---------- ROS workspace overlay ----------
 _ros_source_env() {

.github/workflows/cpp-format.yml

@@ -11,8 +11,6 @@ on:
       - "**/*.hpp"
       - "**/*.hxx"
       - ".clang-format"
-      - "pixi.toml"
-      - "pixi.lock"
   pull_request:
     paths:
       - "**/*.cpp"
@@ -23,25 +21,21 @@ on:
       - "**/*.hpp"
       - "**/*.hxx"
       - ".clang-format"
-      - "pixi.toml"
-      - "pixi.lock"
 
 jobs:
   clang-format:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
 
-      - uses: prefix-dev/setup-pixi@v0.8.1
-        with:
-          environments: lint
-          cache: true
+      - name: Install clang-format
+        run: sudo apt-get update && sudo apt-get install -y --no-install-recommends clang-format
 
       - name: Check formatting
         run: |
           find . -type f \( \
             -name "*.cpp" -o -name "*.cc" -o -name "*.cxx" -o \
             -name "*.c"   -o -name "*.h"  -o -name "*.hpp" -o \
             -name "*.hxx" \
-          \) -not -path "./.git/*" -not -path "*/build/*" -not -path "*/install/*" -not -path "*/.pixi/*" -print0 \
-            | xargs -0 --no-run-if-empty pixi run -e lint clang-format --dry-run --Werror
+          \) -not -path "./.git/*" -not -path "*/build/*" -not -path "*/install/*" -print0 \
+            | xargs -0 --no-run-if-empty clang-format --dry-run --Werror

.github/workflows/python-format.yml

@@ -5,28 +5,22 @@ on:
     paths:
       - "**/*.py"
       - "pyproject.toml"
-      - "pixi.toml"
-      - "pixi.lock"
   pull_request:
     paths:
       - "**/*.py"
       - "pyproject.toml"
-      - "pixi.toml"
-      - "pixi.lock"
 
 jobs:
   lint:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
 
-      - uses: prefix-dev/setup-pixi@v0.8.1
-        with:
-          environments: lint
-          cache: true
+      - name: Install ruff
+        run: pipx install ruff==0.15.14
 
       - name: Ruff lint
-        run: pixi run -e lint ruff-check
+        run: ruff check .
 
       - name: Ruff format check
-        run: pixi run -e lint ruff-format-check
+        run: ruff format --check .

.gitignore

@@ -1,13 +1,19 @@
-# Basic
-.DS_Store
-
-# pixi
-.pixi/
-
-# trickfire-docs
-dist/
-
-# ZED SDK installers (large binaries; the prod Dockerfile stage downloads
-# these itself, matched to the target L4T/CUDA version)
-*.run
-*.zstd.run
+.DS_Store
+
+# trickfire-docs
+dist/
+
+# python
+__pycache__/
+
+# zed
+*.run
+*.zstd.run
+
+# colcon
+install/
+log/
+build/
+
+# test generated files
+src-autonomy/ar_tag_detection/test/output_images/

.vscode/settings.json

@@ -62,9 +62,6 @@
 
     "editor.rulers": [100],
     "files.exclude": {
-        // Pixi
-        "**/.pixi": true,
-
         // General
         "**/.git": true,
         "**/.DS_Store": true,