Update pixi.toml with gz-sim9 and new ROS Humble packages on February 2025

.github/workflows/pixi-ci.yml

@@ -23,27 +23,13 @@ jobs:
       matrix:
         build_type: [Release]
         os: [ubuntu-22.04, ubuntu-24.04-arm, macos-13, macos-14, windows-2019]
-        pixi_task: [build-all, build-ros2, build-ros2moveit]
+        pixi_task: [build-all, build-ros2]
         exclude:
-          # ros is not supported on osx-arm64 (incompatibility with gz-sim8)
-          - os: macos-14
-            pixi_task: build-ros2
-          # We already test linux-64 and ros2 in build-all-ros2moveit
-          - os: ubuntu-22.04
-            pixi_task: build-ros2
-          # Windows build fail due to length of build folder
+          # Windows build fail due to length of build folder and other CI-specific issues, skip for now
           # See https://github.com/robotology/robotology-superbuild/pull/1746#issuecomment-2514352629
           - os: windows-2019
             pixi_task: build-ros2
-          # moveit is only supported on Linux for now (missing required package in robostack)
-          - os: ubuntu-24.04-arm
-            pixi_task: build-ros2moveit
-          - os: macos-13
-            pixi_task: build-ros2moveit
-          - os: macos-14
-            pixi_task: build-ros2moveit
-          - os: windows-2019
-            pixi_task: build-ros2moveit
+
     steps:
     - uses: actions/checkout@v4
 

README.md

@@ -143,7 +143,7 @@ If you are on Ubuntu 24.04, please use conda if you want to install Gazebo Class
 
 #### `ROBOTOLOGY_USES_GZ`
 
-To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and Noble (24.04) and other supported Debian/Ubuntu systems, follow the instructions available at https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu . Furthermore, you also need to install the `cli11` dependency with:
+To install Modern Gazebo (gz-sim) on Ubuntu Jammy (22.04) and Noble (24.04) and other supported Debian/Ubuntu systems, follow the instructions available at https://gazebosim.org/docs/ionic/install_ubuntu#binary-installation-on-ubuntu or  https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu . Furthermore, you also need to install the `cli11` dependency with:
 ~~~
 sudo apt-get install libcli11-dev
 ~~~

cmake/Buildxcub-moveit2.cmake

@@ -7,13 +7,22 @@ include(FindOrBuildPackage)
 find_or_build_package(YARP QUIET)
 find_or_build_package(yarp-devices-ros2 QUIET)
 
+# Workaround for ROS 2 Humble Python find cmake logic on Windows,
+# drop when we do not support ROS 2 Humble anymore
+# See https://github.com/robotology/robotology-superbuild/pull/1800#issuecomment-2677023043
+set(LOCAL_CMAKE_ARGS "")
+if(MSVC AND NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
+  find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+  set(LOCAL_CMAKE_ARGS "-DPYTHON_EXECUTABLE=${Python3_EXECUTABLE} -DPython_EXECUTABLE=${Python3_EXECUTABLE} -DPython3_EXECUTABLE=${Python3_EXECUTABLE}")
+endif()
 
 ycm_ep_helper(xcub-moveit2 TYPE GIT
                                 STYLE GITHUB
                                 REPOSITORY icub-tech-iit/xcub-moveit2.git
                                 TAG master
                                 COMPONENT core
                                 FOLDER src
+                                CMAKE_ARGS ${LOCAL_CMAKE_ARGS}
                                 DEPENDS YARP yarp-devices-ros2
                                 # This is because xcub-moveit2 is a ros-style repository
                                 # composed by multiple CMake projects, for compatibility with CMake

cmake/Buildyarp-devices-ros2.cmake

@@ -7,10 +7,20 @@ include(FindOrBuildPackage)
 find_or_build_package(YCM QUIET)
 find_or_build_package(YARP QUIET)
 
+# Workaround for ROS 2 Humble Python find cmake logic on Windows,
+# drop when we do not support ROS 2 Humble anymore
+# See https://github.com/robotology/robotology-superbuild/pull/1800#issuecomment-2677023043
+set(LOCAL_CMAKE_ARGS "")
+if(MSVC AND NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
+  find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+  set(LOCAL_CMAKE_ARGS "-DPYTHON_EXECUTABLE=${Python3_EXECUTABLE} -DPython_EXECUTABLE=${Python3_EXECUTABLE} -DPython3_EXECUTABLE=${Python3_EXECUTABLE}")
+endif()
+
 ycm_ep_helper(yarp-devices-ros2 TYPE GIT
                                      STYLE GITHUB
                                      REPOSITORY robotology/yarp-devices-ros2.git
                                      TAG master
                                      COMPONENT core
                                      FOLDER src
+                                     CMAKE_ARGS ${CMAKE_ARGS}
                                      DEPENDS YCM YARP)

doc/conda-forge.md

@@ -191,10 +191,10 @@ conda install -c conda-forge gazebo
 
 #### `ROBOTOLOGY_USES_GZ`
 
-If you install your dependencies with `conda`, just make sure to install the `gz-sim8` package:
+If you install your dependencies with `conda`, just make sure to install the `gz-sim9` (Gazebo Ionic) or `gz-sim8` (Gazebo Harmonic) package:
 
 ~~~
-conda install -c conda-forge gz-sim8
+conda install -c conda-forge gz-sim9
 ~~~
 
 #### `ROBOTOLOGY_USES_ROS2`