bar_buildfarm

Conda buildfarm for the BAR low-level control stack. Builds every bar_ros2 package (and its non-RoboStack source deps) into ros-jazzy-* conda packages and publishes them to a prefix.dev channel, so end users install prebuilt binaries instead of running colcon build.

Backend: pixi-build-ros → rattler-build → .conda. This is the conda-world translation of the qiayuanl/{unitree,legged}_buildfarm apt/.deb pattern — same orchestration (thin repo, nightly cron, arch matrix, tag-driven release), conda backend. Full design: ../BUILDFARM_PLAN.md.

How it works

1. bar.repos lists the sources (first-party bar_ros2 + the 4 deps missing from RoboStack: ethercat_driver_ros2, mujoco_ament, mujoco_sim_ros2, mujoco_ros2_control).
2. pixi run import clones them into src/ (gitignored).
3. pixi run overlay drops a conda build manifest into each third-party tree (overlays/ mirrors src/). First-party bar_ros2 packages already carry their own pixi.toml.
4. pixi run build-all [platform] builds every path in packages.txt into output/*.conda via pixi build --path.
5. pixi run publish uploads output/ to the prefix.dev channel.

packages.txt is the buildable set; packages-blocked.txt is the not-yet set (see Long poles).

Local build (no account needed)

pixi run import
pixi run overlay
pixi run build-all          # → output/*.conda  (linux-64)

End-to-end demo via a local file:// channel

Prove the full producer→consumer flow with no prefix.dev account:

# build into a channel layout, then index it
mkdir -p local-channel/linux-64 && cp output/*.conda local-channel/linux-64/
pixi exec --spec conda-index -- python -m conda_index local-channel

# consume it from a throwaway workspace
pixi init /tmp/consume -c "file://$PWD/local-channel" \
                       -c https://prefix.dev/robostack-jazzy \
                       -c https://prefix.dev/conda-forge
cd /tmp/consume && pixi add ros-jazzy-bar-controllers   # pulls bar_msgs, bar_common, onnxruntime…

CI / publishing

.github/workflows/build_jazzy.yml: nightly cron (skips if RoboStack-jazzy is unchanged), workflow_dispatch, and push on tags v* / build-input changes. Matrix builds linux-64 (ubuntu-24.04) + linux-aarch64 (ubuntu-24.04-arm, native — conda cross-compile is avoided). On a version tag it publishes to the channel; nightlies build + upload artifacts for verification.

⚠️ Manual setup (needs your credentials)

1. prefix.dev channel — create the bar-robotics channel at prefix.dev and configure trusted publishing (OIDC): org Berkeley-Humanoids, repo bar_buildfarm, workflow filename build_jazzy.yml. (The workflow already requests id-token: write; rattler-build >=0.31.1 uses the OIDC token, no API key. Alternatively add a PREFIX_API_KEY secret.)
2. GH_PAT secret (required — bar_ros2 is private). The buildfarm (Berkeley-Humanoids) clones the private T-K-233/bar_ros2 cross-account, so GITHUB_TOKEN can't read it. Create a fine-grained PAT scoped to T-K-233/bar_ros2 with Contents: Read-only, and add it as the repo secret GH_PAT in Berkeley-Humanoids/bar_buildfarm (Settings → Secrets and variables → Actions). The Configure git auth step injects it for the clone.
3. Commit the manifests in bar_ros2 — the 12 per-package pixi.toml files live under bar_ros2/; CI clones bar_ros2 fresh, so they must be on the remote bar.repos points to (T-K-233/bar_ros2 @ main).

Long poles (tracked in packages-blocked.txt)

• ethercat_driver_ros2 → IgH EtherLab libethercat. No conda-forge package exists. Build a conda package for the EtherLab userspace lib (or vendor a prebuilt) first; then move the ethercat_* paths from packages-blocked.txt into packages.txt. Also unblocks bar_bringup_prime.
• mujoco_ament network build. FetchContents the MuJoCo tarball at configure time → needs network during build (rattler-build allows it; non-hermetic). If flaky, repackage the MuJoCo binary as its own conda dep.

Status

• ✅ Verified locally: bar_msgs, bar_common, bar_controllers (with ONNX) build to .conda and install as binaries from a file:// channel.
• ⏳ mujoco_* overlays present; not yet build-verified (network build).
• ⛔ ethercat_* + bar_bringup_prime blocked on libethercat.