Improve Pixi environment reproducibility and CI verification

.github/workflows/environment.yml

@@ -0,0 +1,30 @@
+name: environment
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+  schedule:
+    # Weekly, Mondays at 06:00 UTC. Catches upstream package drift even without new commits.
+    - cron: '0 6 * * 1'
+  workflow_dispatch:
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  environment:
+    name: Pixi Environment Check
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: prefix-dev/setup-pixi@v0.9.2
+        with:
+          pixi-version: v0.63.2
+          # Install is performed explicitly in the next step.
+          run-install: false
+      - name: pixi install --locked
+        run: |
+          pixi install --locked

README.md

@@ -2,6 +2,7 @@
 
 [![build](https://github.com/intrinsic-dev/aic/actions/workflows/build.yml/badge.svg)](https://github.com/intrinsic-dev/aic/actions/workflows/build.yml)
 [![style](https://github.com/intrinsic-dev/aic/actions/workflows/style.yml/badge.svg)](https://github.com/intrinsic-dev/aic/actions/workflows/style.yml)
+[![environment](https://github.com/intrinsic-dev/aic/actions/workflows/environment.yml/badge.svg)](https://github.com/intrinsic-dev/aic/actions/workflows/environment.yml)
 
 ![](../media/aic_banner.png)
 

aic.repos

@@ -155,7 +155,8 @@ repositories:
   ros-controls/kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
-    version: 2.4.0
+    # >= 2.4.1 required for pinocchio 4.x (Frame::parent was removed in favor of parentJoint).
+    version: 2.4.2
   ros-controls/realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
@@ -164,6 +165,13 @@ repositories:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
     version: 5.11.3
+  ros-controls/ros2_control_cmake:
+    type: git
+    # Pinned to 0.3.0 which defaults to C++17. 0.4.0 defaults to C++20, which breaks
+    # hardware_interface in ros2_control < 5.14.1 (missing <charconv> include).
+    # Remove this pin once ros2_control is bumped to >= 5.14.1.
+    url: https://github.com/ros-controls/ros2_control_cmake.git
+    version: 0.3.0
   ros-controls/ros2_controllers:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git

docs/getting_started.md

@@ -122,7 +122,7 @@ git clone https://github.com/intrinsic-dev/aic
 
 # Install and build dependencies
 cd ~/ws_aic/src/aic
-pixi install
+pixi install --locked
 ```
 
 **What you should see:**
@@ -175,7 +175,7 @@ See [Scene Description](./scene_description.md) for more details about the simul
 With the simulation environment running (Step 2), run the following policy:
 ```bash
 cd ~/ws_aic/src/aic
-pixi run ros2 run aic_model aic_model --ros-args -p use_sim_time:=true -p policy:=aic_example_policies.ros.WaveArm
+pixi run --locked ros2 run aic_model aic_model --ros-args -p use_sim_time:=true -p policy:=aic_example_policies.ros.WaveArm
 ```
 
 > [!NOTE]