Update windows setup ROS

README.md

@@ -68,7 +68,7 @@ It also performs the following actions:
 - On macOS:
   - Installing ROS and ROS 2 system dependencies using [Homebrew] and [pip]
 - On Microsoft Windows:
-  - Installing ROS and ROS 2 system dependencies using [Chocolatey]
+  - Installing ROS 2 binaries and their dependencies using [pixi]
 
 The dependencies installed by this package include ROS 2 DDS vendor packages, such as Eclipse Cyclone DDS, eProsima Fast DDS, and RTI Connext DDS.
 See [`src/package_manager/*.ts`](./src/package_manager/) for the complete list.
@@ -294,7 +294,7 @@ The scripts and documentation in this project are released under the [Apache 2](
 [ros2_latest_development_setup]: https://docs.ros.org/en/rolling/Installation/Alternatives/Latest-Development-Setup.html
 [rep-2000]: https://www.ros.org/reps/rep-2000.html
 [rep-3]: https://www.ros.org/reps/rep-0003.html
-[chocolatey]: https://chocolatey.org/
+[pixi]: https://pixi.sh/
 [homebrew]: https://brew.sh/
 [pip]: https://pip.pypa.io/en/stable/
 [dockerhub_osrf]: https://hub.docker.com/r/osrf/ros/

src/setup-ros-windows.ts

@@ -1,92 +1,156 @@
 import * as core from "@actions/core";
 import * as tc from "@actions/tool-cache";
+import * as fs from "fs";
+import * as os from "os";
 import * as path from "path";
 
-import * as chocolatey from "./package_manager/chocolatey";
-import * as pip from "./package_manager/pip";
 import * as utils from "./utils";
 
+// Pixi-based binary releases; humble and iron are not supported.
 const binaryReleases: { [index: string]: string } = {
-	humble:
-		"https://github.com/ros2/ros2/releases/download/humble-20250331/ros2-humble-20250331-windows-release-amd64.zip",
-	iron: "https://github.com/ros2/ros2/releases/download/release-iron-20241204/ros2-iron-20241204-windows-release-amd64.zip",
 	jazzy:
 		"https://github.com/ros2/ros2/releases/download/release-jazzy-20250430/ros2-jazzy-20250407-windows-release-amd64.zip",
 	kilted:
 		"https://github.com/ros2/ros2/releases/download/release-kilted-20250523/ros2-kilted-20250523-windows-release-amd64.zip",
 	lyrical:
 		"https://github.com/ros2/ros2/releases/download/release-lyrical-beta-20260430/ros2-lyrical-2026-04-30-windows-AMD64.zip",
+	rolling:
+		"https://github.com/ros2/ros2/releases/download/release-rolling-nightlies/ros2-rolling-nightly-windows-amd64.zip",
 };
 
-const pip3Packages: string[] = ["lxml", "netifaces"];
+const pixiWorkspace = "C:\\pixi_ws";
 
-/**
- * Install ROS 2 build tools.
- */
-async function prepareRos2BuildEnvironment() {
-	// Currently targeted Python version for Windows according to REP 2000
-	const python_dir = tc.find("Python", "3.8");
+// Windows 11 starts at build 22000; GitHub-hosted runners are Windows Server and will warn.
+function checkWindows11() {
+	const build = Number(os.release().split(".")[2]);
+	if (!(build >= 22000)) {
+		core.warning(`ROS 2 binaries only support Windows 11 (found ${os.release()})`);
+	}
+}
+
+async function findVs2022(): Promise<string> {
+	const vswhere = path.join(
+		process.env["ProgramFiles(x86)"] || "C:\\Program Files (x86)",
+		"Microsoft Visual Studio",
+		"Installer",
+		"vswhere.exe",
+	);
+	if (!fs.existsSync(vswhere)) {
+		return "";
+	}
 
+	let installPath = "";
 	await utils.exec(
-		path.join(python_dir, "python"),
+		vswhere,
 		[
-			"-c",
-			"import sysconfig; print(sysconfig.get_config_var('BINDIR')); print(sysconfig.get_path('scripts'))",
+			"-latest",
+			"-products",
+			"*",
+			"-version",
+			"[17.0,18.0)",
+			"-requires",
+			"Microsoft.VisualStudio.Component.VC.Tools.x86.x64",
+			"-property",
+			"installationPath",
 		],
-		{
-			listeners: {
-				stdline: (data: string) => {
-					const p = data.trim();
-					if (p) {
-						core.info("Prepending to path: " + JSON.stringify(p));
-						core.addPath(p);
-					}
-				},
-			},
-		},
+		{ listeners: { stdout: (d: Buffer) => (installPath += d.toString()) } },
 	);
+	return installPath.trim();
+}
 
-	core.addPath("c:\\program files\\cppcheck");
-	await chocolatey.installChocoDependencies();
-	await chocolatey.downloadAndInstallRos2NugetPackages();
+/**
+ * Activate the Visual Studio 2022 (MSVC v143) toolchain, installing the Build Tools if missing.
+ * VS 18+ is not supported by ROS 2 yet.
+ */
+async function selectMsvc2022() {
+	let installPath = await findVs2022();
+	if (!installPath) {
+		const bootstrapper = await tc.downloadTool(
+			"https://aka.ms/vs/17/release/vs_BuildTools.exe",
+			path.join(process.env["RUNNER_TEMP"] || os.tmpdir(), "vs_BuildTools.exe"),
+		);
+		// 3010 means success, reboot pending.
+		const code = await utils.exec(
+			bootstrapper,
+			[
+				"--quiet",
+				"--wait",
+				"--norestart",
+				"--nocache",
+				"--add",
+				"Microsoft.VisualStudio.Workload.VCTools",
+				"--includeRecommended",
+			],
+			{ ignoreReturnCode: true },
+		);
+		if (code && code !== 3010) {
+			throw new Error(`VS 2022 Build Tools installation failed with exit code ${code}`);
+		}
+		installPath = await findVs2022();
+	}
+	if (!installPath) {
+		core.warning("Visual Studio 2022 C++ tools not found, skipping MSVC selection");
+		return;
+	}
 
-	// Avoid version of pip that breaks Windows GitHub actions. See:
-	// * https://github.com/ros-tooling/action-ros-ci/pull/719#issuecomment-1030318146
-	// * https://github.com/actions/virtual-environments/issues/5027#issuecomment-1031113617
-	await utils.exec("python", ["-m", "pip", "install", "-U", "pip!=22.0.*"], {
-		cwd: path.sep,
+	const vcvars = path.join(installPath, "VC", "Auxiliary", "Build", "vcvars64.bat");
+	let envDump = "";
+	await utils.exec("cmd", ["/d", "/s", "/c", `""${vcvars}" >nul && set"`], {
+		windowsVerbatimArguments: true,
+		listeners: { stdout: (d: Buffer) => (envDump += d.toString()) },
 	});
+	for (const line of envDump.split(/\r?\n/)) {
+		const i = line.indexOf("=");
+		if (i > 0 && process.env[line.slice(0, i)] !== line.slice(i + 1)) {
+			core.exportVariable(line.slice(0, i), line.slice(i + 1));
+		}
+	}
+}
 
-	await pip.installPython3Dependencies(false);
-	await pip.runPython3PipInstall(pip3Packages, false);
-	await pip.runPython3PipInstall(["vcstool"], false);
-	// install "rosdistro" from master to include distutils fix:
-	// https://github.com/ros-infrastructure/rosdistro/pull/194
-	await pip.runPython3PipInstall(
-		["git+https://github.com/ros-infrastructure/rosdistro.git"],
-		false,
-	);
-	await pip.runPython3PipInstall(["rosdep"], false);
-	return utils.exec(`rosdep`, ["init"]);
+async function installPixi() {
+	await utils.exec("powershell", [
+		"-ExecutionPolicy",
+		"ByPass",
+		"-Command",
+		"irm -useb https://pixi.sh/install.ps1 | iex",
+	]);
+	core.addPath(path.join(os.homedir(), ".pixi", "bin"));
 }
 
 /**
- * Install ROS 2 binary releases.
+ * Install ROS 2 binary releases and their pixi environments.
  */
 async function prepareRos2BinaryReleases() {
 	for (const rosDistro of utils.getRequiredRosDistributions()) {
-		if (rosDistro in binaryReleases) {
-			await utils.exec("wget", [
-				"--quiet",
-				binaryReleases[rosDistro],
-				"-O",
-				`${rosDistro}.zip`,
-			]);
-			await utils.exec("7z", [
-				"x",
-				`${rosDistro}.zip`,
-				"-y",
-				`-oC:\\dev\\${rosDistro}`,
+		if (!(rosDistro in binaryReleases)) {
+			core.warning(`No Windows binary release available for ${rosDistro}`);
+			continue;
+		}
+		const installDir = path.join(pixiWorkspace, rosDistro);
+		const manifestPath = path.join(installDir, "pixi.toml");
+		fs.mkdirSync(installDir, { recursive: true });
+
+		await tc.downloadTool(
+			`https://raw.githubusercontent.com/ros2/ros2/refs/heads/${rosDistro}/pixi.toml`,
+			manifestPath,
+		);
+		const zipPath = await tc.downloadTool(binaryReleases[rosDistro]);
+		await tc.extractZip(zipPath, installDir);
+
+		await utils.exec("pixi", ["install", "--manifest-path", manifestPath]);
+
+		const preinstallScript = path.join(
+			installDir,
+			"ros2-windows",
+			"preinstall_setup_windows.py",
+		);
+		if (fs.existsSync(preinstallScript)) {
+			await utils.exec("pixi", [
+				"run",
+				"--manifest-path",
+				manifestPath,
+				"python",
+				preinstallScript,
 			]);
 		}
 	}
@@ -96,6 +160,8 @@
  * Install build environment on a Windows worker.
  */
 export async function runWindows() {
-	await prepareRos2BuildEnvironment();
+	checkWindows11();
+	await selectMsvc2022();
+	await installPixi();
 	return await prepareRos2BinaryReleases();
 }