Unify pixi environments and sync testpr job with humble one (#537)

* Cleanup pixi.toml

* Update vinca

* Align testpr with humble

Author: traversaro

.github/workflows/testpr.yml

@@ -1,7 +1,6 @@
 on:
   pull_request:
-    paths:
-      - '*.yaml'
+  workflow_dispatch:
 
 env:
   ROS_VERSION: 1
@@ -20,9 +19,10 @@ jobs:
             platform: osx-64
           - os: macos-14
             platform: osx-arm64
-          - os: windows-2019
+          - os: windows-2022
             platform: win-64
 
+
     runs-on: ${{ matrix.os }}
 
     steps:
@@ -31,9 +31,8 @@ jobs:
         persist-credentials: false # otherwise, the token used is the GITHUB_TOKEN, instead of your personal token
         fetch-depth: 0 # otherwise, you will failed to push refs to dest repo
 
-    - uses: prefix-dev/setup-pixi@v0.8.1
+    - uses: prefix-dev/setup-pixi@v0.8.10
       with:
-        environments: beta
         frozen: true
 
     # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816
@@ -45,22 +44,6 @@ jobs:
         # git in C:\Program Files\Git\bin is used by pip install git+
         dirs: 'C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\mingw64\bin'
 
-    # - shell: bash -l {0}
-    #   if: matrix.platform == 'linux-aarch64'
-    #   run: |
-    #     echo "::group::Configure binfmt_misc"
-    #     docker run --rm --privileged multiarch/qemu-user-static:register --reset --credential yes
-    #     export FEEDSTOCK_NAME="$(basename $GITHUB_REPOSITORY)"
-    #     export GIT_BRANCH="$(basename $GITHUB_REF)"
-    #     echo "::endgroup::"
-
-    - name: Install libgl1-mesa-dev (only for linux-aarch64)
-      if: matrix.platform == 'linux-aarch64'
-      shell: bash -l {0}
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y libgl1-mesa-dev libglu1-mesa-dev libx11-dev libxi-dev libxmu-dev
-
     # For some reason, the Strawberry perl's pkg-config is found
     # instead of the conda's one, so let's delete the /c/Strawberry directory
     # Furthermore, we also need to remove an older SDK that is used and can result in compilation problems
@@ -71,121 +54,86 @@ jobs:
         rm -rf /c/Strawberry
         rm -rf "/c/Program Files (x86)/Windows Kits/10/Include/10.0.17763.0/"
 
-    - name: Check what files have changed
-      id: filecheck
-      shell: bash -l {0}
-      run: |
-        git fetch origin main
-        # continue on error
-        set +e
-        git diff --exit-code --name-only origin/main -- vinca_linux_64.yaml > /dev/null
-        echo "::set-output name=LINUX_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/main -- vinca_linux_aarch64.yaml > /dev/null
-        echo "::set-output name=LINUX_AARCH_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/main -- vinca_osx.yaml > /dev/null
-        echo "::set-output name=OSX_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/main -- vinca_osx_arm64.yaml > /dev/null
-        echo "::set-output name=OSX_ARM_YAML_CHANGED::${?}"
-        git diff --exit-code --name-only origin/main -- vinca_win.yaml > /dev/null
-        echo "::set-output name=WIN_YAML_CHANGED::${?}"
     - name: Generate recipes for linux-64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.platform == 'linux-64'
+      if: matrix.platform == 'linux-64'
       run: |
         cp vinca_linux_64.yaml vinca.yaml
         mkdir -p recipes
-        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-64 -m -n
+        $HOME/.pixi/bin/pixi run -v vinca --platform linux-64 -m
         ls -la recipes
     - name: Generate recipes for linux-aarch64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.platform == 'linux-aarch64'
+      if: matrix.platform == 'linux-aarch64'
       run: |
         cp vinca_linux_aarch64.yaml vinca.yaml
         mkdir -p recipes
-        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-aarch64 -m -n
+        $HOME/.pixi/bin/pixi run -v vinca --platform linux-aarch64 -m
         ls -la recipes
     - name: Generate recipes for osx-64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.OSX_YAML_CHANGED == 1 && matrix.platform == 'osx-64'
+      if: matrix.platform == 'osx-64'
       run: |
         cp vinca_osx.yaml vinca.yaml
         mkdir -p recipes
-        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-64 -m -n
+        $HOME/.pixi/bin/pixi run -v vinca --platform osx-64 -m
         ls -la recipes
     - name: Generate recipes for osx-arm64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.OSX_ARM_YAML_CHANGED == 1 && matrix.platform == 'osx-arm64'
+      if: matrix.platform == 'osx-arm64'
       run: |
         cp vinca_osx_arm64.yaml vinca.yaml
         mkdir -p recipes
-        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-arm64 -m -n
+        $HOME/.pixi/bin/pixi run -v vinca --platform osx-arm64 -m
         ls -la recipes
     - name: Generate recipes for win-64
       shell: bash -l {0}
-      if: steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.platform == 'win-64'
+      if: matrix.platform == 'win-64'
       run: |
         # Workaround for problem related to long paths
         echo "CONDA_BLD_PATH=C:\\bld\\" >> $GITHUB_ENV
         mkdir /c/bld
         cp vinca_win.yaml vinca.yaml
         mkdir -p recipes
-        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform win-64 -m -n
+        $HOME/.pixi/bin/pixi run -v vinca --platform win-64 -m
         ls -la recipes
     - name: Check if there are packages to be built
       id: newrecipecheck
       shell: bash -l {0}
       run: |
-        # continue on error
         set +e
-        test ! -d recipes
-        echo "::set-output name=RECIPE_CREATED::${?}"
+        if [ ! -d recipes ] || [ -z "$(ls -A recipes)" ]; then
+          echo "RECIPE_CREATED=0" >> $GITHUB_OUTPUT
+        else
+          echo "RECIPE_CREATED=1" >> $GITHUB_OUTPUT
+        fi
     - name: Build recipes for linux-64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.platform == 'linux-64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'linux-64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-eigenpy/ --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-gtsam/ --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-hpp-fcl/ --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-pinocchio/ --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir additional_recipes --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir recipes --target-platform linux-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
     - name: Build recipes for linux-aarch64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.platform == 'linux-aarch64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'linux-aarch64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-eigenpy/ --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-gtsam/ --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-hpp-fcl/ --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-pinocchio/ --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir additional_recipes --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir recipes --target-platform linux-aarch64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
     - name: Build recipes for osx-64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.OSX_YAML_CHANGED == 1 && matrix.platform == 'osx-64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'osx-64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-eigenpy/ --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-gtsam/ --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-hpp-fcl/ --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-pinocchio/ --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir additional_recipes --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir recipes --target-platform osx-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
     - name: Build recipes for osx-arm64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.OSX_ARM_YAML_CHANGED == 1 && matrix.platform == 'osx-arm64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'osx-arm64'
       run: |
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-eigenpy/ --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-gtsam/ --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-hpp-fcl/ --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-pinocchio/ --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir additional_recipes --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir recipes --target-platform osx-arm64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
     - name: Build recipes for win-64
       shell: bash -l {0}
-      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.platform == 'win-64'
+      if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && matrix.platform == 'win-64'
       run: |
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ --target-platform win-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-eigenpy/ --target-platform win-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-gtsam/ --target-platform win-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-hpp-fcl/ --target-platform win-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-noetic-pinocchio/ --target-platform win-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
-        $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir additional_recipes --target-platform win-64 -m ./conda_build_config.yaml -c robostack-staging -c conda-forge --skip-existing
+        $HOME/.pixi/bin/pixi run rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml --target-platform win-64 -c robostack-staging -c conda-forge --skip-existing