Migrate to ROS 2 Jazzy + Gazebo Harmonic with native pixi workflow

.devcontainer/devcontainer.json

@@ -6,10 +6,11 @@
     "service": "sim",
     "runServices": ["sim"],
     "workspaceFolder": "/home/trickfire/gazebo-simulations",
-    "postCreateCommand": "[ -d .venv ] || (python3 -m venv --copies .venv && . .venv/bin/activate && pip install -e .)",
-    "postStartCommand": "bash -c 'bash .devcontainer/x_server.sh &'",
+    "postCreateCommand": "[ -d .venv ] || (python3 -m venv --system-site-packages .venv && . .venv/bin/activate && pip install -e .)",
+    // "postStartCommand": "bash ./.devcontainer/x_server.sh",
     "mounts": [
-        "source=${localEnv:HOME}/.ssh,target=/home/trickfire/.ssh,type=bind,consistency=cached"
+        "source=${localEnv:HOME}/.ssh,target=/home/trickfire/.ssh,type=bind,consistency=cached",
+        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached"
     ],
     "forwardPorts": [6080, 5900],
     "customizations": {

.devcontainer/pixi.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# Gazebo plugin search path
+export GZ_SIM_SYSTEM_PLUGIN_PATH="${CONDA_PREFIX}/lib${GZ_SIM_SYSTEM_PLUGIN_PATH:+:$GZ_SIM_SYSTEM_PLUGIN_PATH}"
+
+# Switch to Cyclone DDS
+# Fast-DDS calls pthread_setaffinity_np which macOS doesn't support
+# flooding the log with 'Protocol family not supported' errors on
+# every DDS thread startup
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

.devcontainer/x_server.sh

@@ -83,14 +83,28 @@ fi
 : "${VNC_PORT:?VNC_PORT is not set}"
 : "${NOVNC_PORT:?NOVNC_PORT is not set}"
 
-# Check if DISPLAY is already in use
-if xdpyinfo -display "$DISPLAY" &>/dev/null; then
-	log "[ERROR] Display $DISPLAY is already in use!"
-	exit 1
+# Check if display is already available:
+#   - pgrep covers local Xorg/Xvfb including root-owned (reads /proc, no permission issues)
+#   - socket-without-lockfile covers forwarded displays (host X server mounted into container)
+#   - socket+lockfile with no process = stale from a previous container run, clean up
+_XDISPLAY="${DISPLAY%%.*}"
+_DISPLAY_NUM="${_XDISPLAY#:}"
+_SOCKET="/tmp/.X11-unix/X${_DISPLAY_NUM}"
+_LOCK="/tmp/.X${_DISPLAY_NUM}-lock"
+if pgrep -f "Xorg $_XDISPLAY" >/dev/null 2>&1 || pgrep -f "Xvfb $_XDISPLAY" >/dev/null 2>&1; then
+	log "[X11] X server already running on $DISPLAY, skipping startup"
+	exit 0
+elif [ -S "$_SOCKET" ] && [ ! -f "$_LOCK" ]; then
+	log "[X11] Display $DISPLAY is forwarded from host, skipping startup"
+	exit 0
+elif [ -f "$_LOCK" ]; then
+	log "[X11] Removing stale X lock file and socket from previous run"
+	rm -f "$_LOCK" "$_SOCKET"
 fi
+unset _XDISPLAY _DISPLAY_NUM _SOCKET _LOCK
 
 # Kill all child processes on exit
-trap cleanup SIGINT SIGTERM EXIT
+trap cleanup SIGINT SIGTERM
 
 # Start X server (Xorg or Xvfb determined above)
 if [ "$BACKEND" = "xvfb" ]; then
@@ -116,6 +130,6 @@ log "[noVNC] Starting browser-based desktop on port ${NOVNC_PORT}"
 start /usr/share/novnc/utils/launch.sh --vnc "localhost:${VNC_PORT}" --listen "${NOVNC_PORT}"
 log "[noVNC] Desktop available at: http://localhost:${NOVNC_PORT}/vnc.html"
 
-# Done
-log "[MAIN] All services started. Press Ctrl+C to stop"
-wait
+# Detach all background services so they survive this script exiting
+disown "${PIDS[@]}"
+log "[MAIN] All services started"

.gitignore

@@ -14,6 +14,9 @@ Icon
 
 ### Devcontainer ###
 
+### pixi ###
+.pixi/
+
 ### Python ###
 .mypy_cache
 __pycache__

.vscode/settings.json

@@ -87,8 +87,8 @@
         "docs/node_modules": true,
         "docs/dist": true,
 
-        // MacOS native build files
-        ".native/": true
+        // Pixi env
+        ".pixi/": true
     },
 
     // ================================

CONTRIBUTING.md

@@ -9,6 +9,7 @@ gazebo-simulations/
 ├── robot-sim/       # ROS 2 workspace - simulation packages
 ├── cli/             # Python CLI for building and launching simulations
 ├── docs/            # Documentation site (Astro / Starlight)
+├── pixi.toml        # Native environment definition (ROS 2 Jazzy + Gazebo Harmonic)
 ├── robots.json      # Robot configuration registry
 └── pyproject.toml   # Python tooling config
 ```
@@ -17,7 +18,7 @@ gazebo-simulations/
 
 ### `robot-sim/` - Simulation
 
-The ROS 2 workspace containing the Gazebo Fortress simulation packages. Built with `colcon` inside the Dev Container.
+The ROS 2 workspace containing the Gazebo Harmonic simulation packages. Built with `colcon` via the native pixi environment or the Dev Container.
 
 **Packages:**
 - `<robot>_bringup` - launch files
@@ -45,16 +46,17 @@ Content pages live in `docs/content/docs/` and follow the existing directory str
 Python package providing the `sim` CLI command:
 
 - `cli.py` - Main entry point and argument parsing
-- `docker.py` - `sim docker` build and launch logic
+- `native.py` - `sim native` build and launch logic (pixi environment)
+- `docker.py` - `sim docker` build and launch logic (Dev Container)
 - `create/` - `sim create` / `sim update` implementation (OnShape download, URDF processing, package scaffolding)
 - `paths.py` - Workspace path utilities
 - `output.py` - Terminal output helpers (`info`, `warn`, `die`)
 
 ## Dev setup
 
-The simulation runs inside a Docker Dev Container. Follow the [Getting Started](https://trickfirerobotics.github.io/gazebo-simulations/setup/getting-started/) guide to set up your environment before making changes to `robot-sim/`.
+The primary workflow uses pixi for a self-contained native environment. Follow the [Getting Started](https://trickfirerobotics.github.io/gazebo-simulations/setup/getting-started/) guide.
 
-For `docs/` changes, only Node.js is required, no container needed.
+For `docs/` changes, only Node.js is required.
 
 ## Formatting
 

README.md

@@ -1,12 +1,12 @@
 # Gazebo Simulations
 
-Gazebo Fortress simulations for TrickFire Robotics robot subsystems, running on ROS 2 Humble inside a Docker Dev Container.
+Gazebo Harmonic simulations for TrickFire Robotics robot subsystems, running on ROS 2 Jazzy.
 
 ## Documentation
 
 **Full documentation is at [trickfirerobotics.com/gazebo-simulations](https://trickfirerobotics.com/gazebo-simulations)**
 
-- [Getting Started](https://trickfirerobotics.com/gazebo-simulations/setup/getting-started/) - setup, Dev Container, display, first launch
+- [Getting Started](https://trickfirerobotics.com/gazebo-simulations/setup/getting-started/) - native setup, Dev Container alternative, first launch
 - [Running Simulations](https://trickfirerobotics.com/gazebo-simulations/guides/running-simulations/) - `sim` CLI usage and flags
 - [Moving Joints](https://trickfirerobotics.com/gazebo-simulations/guides/moving-joints/) - Joint GUI and `move_joints` CLI node
 - [Adding a New Robot](https://trickfirerobotics.com/gazebo-simulations/guides/adding-robots/) - OnShape to Gazebo with `sim create`

cli/cli.py

@@ -5,6 +5,7 @@
 import sys
 
 from .docker import build_and_launch
+from .native import build_and_launch_native
 from .create import create as robot_create, update as robot_update, PACKAGE_DIR, REPO_ROOT
 from .create.commands import cmd_local, cmd_raw
 from .auth import auth as cmd_auth
@@ -37,6 +38,23 @@ def main() -> None:
         help="Skip build, use existing install/",
     )
 
+    # --- native ---
+    native_parser = subparsers.add_parser(
+        "native",
+        help="Build and launch a robot simulation using the native pixi environment",
+    )
+    native_parser.add_argument("robot", help="Robot name (e.g., arm, gripper)")
+    native_parser.add_argument(
+        "--build-only",
+        action="store_true",
+        help="Build only, don't launch simulation",
+    )
+    native_parser.add_argument(
+        "--no-build",
+        action="store_true",
+        help="Skip build, use existing install/",
+    )
+
     # --- clean ---
     subparsers.add_parser(
         "clean",
@@ -117,6 +135,8 @@ def main() -> None:
     try:
         if args.command == "docker":
             build_and_launch(args.robot, build_only=args.build_only, no_build=args.no_build)
+        elif args.command == "native":
+            build_and_launch_native(args.robot, build_only=args.build_only, no_build=args.no_build)
         elif args.command == "clean":
             for name in ("build", "install", "log"):
                 path = WORKSPACE_DIR / name

cli/create/templates/bringup/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.14)
 project(__ROBOT___bringup)
 
 find_package(ament_cmake REQUIRED)

cli/create/templates/description/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.14)
 project(__ROBOT___description)
 
 find_package(ament_cmake REQUIRED)

cli/native.py

@@ -0,0 +1,47 @@
+"""Native simulation launcher for the `sim` CLI"""
+
+from __future__ import annotations
+
+import os
+
+from .docker import build_and_launch as _build_and_launch
+from .output import die
+from .paths import REPO_DIR
+
+
+def _check_pixi_env() -> None:
+    in_env = bool(os.environ.get("PIXI_PROJECT_ROOT") or os.environ.get("CONDA_PREFIX"))
+    if not in_env:
+        die(
+            "Not inside a pixi environment.\n"
+            "        Activate with: pixi shell\n"
+            "        Then re-run:   sim native <robot>"
+        )
+
+    pixi_dir = REPO_DIR / ".pixi"
+    if not pixi_dir.is_dir():
+        die(
+            f"No pixi environment at {pixi_dir}\n"
+            "        Install dependencies first: pixi install"
+        )
+
+
+def _setup_plugin_paths() -> None:
+    conda_prefix = os.environ.get("CONDA_PREFIX", "")
+    if not conda_prefix:
+        return
+    plugin_lib = f"{conda_prefix}/lib"
+    for var in ("GZ_SIM_SYSTEM_PLUGIN_PATH", "GZ_SIM_RESOURCE_PATH"):
+        existing = os.environ.get(var, "")
+        paths = [p for p in existing.split(":") if p]
+        if plugin_lib not in paths:
+            os.environ[var] = ":".join([plugin_lib] + paths)
+
+
+def build_and_launch_native(
+    robot_name: str, *, build_only: bool = False, no_build: bool = False
+) -> None:
+    """Build the workspace and launch a robot simulation using the native pixi environment."""
+    _check_pixi_env()
+    _setup_plugin_paths()
+    _build_and_launch(robot_name, build_only=build_only, no_build=no_build)

docker/Dockerfile

@@ -1,5 +1,5 @@
 # --------------------------------------------------------------------------------------------
-# Multi-stage build: Ubuntu 22.04 (Jammy) + ROS 2 Humble + Gazebo Fortress
+# Multi-stage build: Ubuntu 24.04 (Noble) + ROS 2 Jazzy + Gazebo Harmonic
 #
 # Targets:
 #   runtime   simulation environment + VNC/headless display stack  (docker-compose)
@@ -10,7 +10,7 @@
 # --------------------------------------------------------------------------------------------
 # RUNTIME
 
-FROM ros:humble-ros-base AS runtime
+FROM ros:jazzy-ros-base AS runtime
 
 ARG DEBIAN_FRONTEND=noninteractive
 ARG TZ="America/Los_Angeles"
@@ -30,7 +30,7 @@ RUN ln -snf "/usr/share/zoneinfo/${TZ}" /etc/localtime && \
     echo "${TZ}" > /etc/timezone
 
 # --------------------------------------
-# Gazebo Fortress repo
+# Gazebo Harmonic repo
 
 RUN curl https://packages.osrfoundation.org/gazebo.gpg \
     --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
@@ -43,41 +43,40 @@ RUN curl https://packages.osrfoundation.org/gazebo.gpg \
 # APT packages
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    git python3-pip python3.10-venv wget zstd \
+    git openssh-client python3-pip python3.12-venv wget zstd \
     python3-rosdep \
     python3-colcon-common-extensions \
-    ros-humble-ros-gz-sim \
-    ros-humble-ros-ign-bridge \
-    ros-humble-ros2-controllers \
+    ros-jazzy-ros-gz \
+    ros-jazzy-ros2-controllers \
     python3-tk \
     age \
     && rm -rf /var/lib/apt/lists/*
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ignition-fortress \
+    gz-harmonic \
     && rm -rf /var/lib/apt/lists/*
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
     software-properties-common \
     && add-apt-repository universe \
     && apt-get update && apt-get install -y --no-install-recommends \
-    libgz-cmake3-dev \
-    libgz-gui6 \
-    libgz-plugin2-dev \
-    libgz-common5-dev \
-    libgz-sim7-dev \
-    ros-humble-rviz2 \
-    ros-humble-xacro \
-    ros-humble-joint-state-publisher-gui \
-    ros-humble-gz-ros2-control \
+    libgz-cmake4-dev \
+    libgz-gui8 \
+    libgz-plugin3-dev \
+    libgz-common6-dev \
+    libgz-sim8-dev \
+    ros-jazzy-rviz2 \
+    ros-jazzy-xacro \
+    ros-jazzy-joint-state-publisher-gui \
+    ros-jazzy-gz-ros2-control \
     && rm -rf /var/lib/apt/lists/*
 
 # --------------------------------------
 # VNC / headless display stack
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
     xvfb novnc x11vnc websockify openbox xterm python3-xdg x11-utils \
-    mesa-utils libglx-mesa0 libgl1-mesa-glx libgl1-mesa-dri \
+    mesa-utils libglx-mesa0 libgl1-mesa-dri \
     xserver-xorg-core xserver-xorg-video-dummy \
     && rm -rf /var/lib/apt/lists/*
 
@@ -103,21 +102,20 @@ RUN printf '#include <stdlib.h>\nint drmCloseBufferHandle(int fd, unsigned int h
 # --------------------------------------
 # Python packages
 
-RUN pip3 install --upgrade pip "setuptools<66.0.0"
-
 RUN rosdep init || true
 
 # --------------------------------------
 # User
 
-RUN useradd trickfire --shell /bin/bash --create-home --no-log-init && \
+RUN userdel ubuntu 2>/dev/null || true && \
+    useradd trickfire --uid 1000 --shell /bin/bash --create-home --no-log-init && \
     usermod -aG video trickfire
 COPY docker/container.bashrc /home/trickfire/.bashrc
 RUN echo "trickfire ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/user
 
 RUN rosdep fix-permissions && \
-    chown -R trickfire:trickfire /usr/local/lib/python3.10/dist-packages && \
-    chmod -R a+rX /usr/local/lib/python3.10/dist-packages
+    chown -R trickfire:trickfire /usr/local/lib/python3.12/dist-packages && \
+    chmod -R a+rX /usr/local/lib/python3.12/dist-packages
 
 USER trickfire
 
@@ -129,7 +127,7 @@ FROM runtime AS dev
 
 USER root
 
-RUN pip3 install ruff
+RUN pip3 install ruff --break-system-packages
 
 RUN curl -sSL "https://github.com/mvdan/sh/releases/latest/download/shfmt_$(curl -sSL https://api.github.com/repos/mvdan/sh/releases/latest | grep -oP '(?<="tag_name": ")v[^"]+')_linux_amd64" \
     -o /usr/local/bin/shfmt && \

docker/container.bashrc

@@ -55,9 +55,9 @@ fi
 
 # ---------- ROS/Gazebo environment ----------
 tf_source_env() {
-	if [ -f /opt/ros/humble/setup.bash ]; then
+	if [ -f /opt/ros/jazzy/setup.bash ]; then
 		# shellcheck source=/dev/null
-		source /opt/ros/humble/setup.bash
+		source /opt/ros/jazzy/setup.bash
 	fi
 
 	if [ -n "${TF_ROBOT_WS:-}" ] && [ -f "$TF_ROBOT_WS/install/setup.bash" ]; then
@@ -113,8 +113,8 @@ alias ...='cd ../..'
 
 alias rtl='ros2 topic list'
 alias rte='ros2 topic echo'
-alias gtl='ign topic -l'
-alias gte='ign topic -e -t'
+alias gtl='gz topic -l'
+alias gte='gz topic -e -t'
 
 alias simup='sim docker'
 alias simclean='sim clean'

docker/docker-compose-dev.yml

@@ -2,3 +2,5 @@ services:
   sim:
     build:
       target: dev
+      args:
+        USER_UID: "${UID:-1000}"