From 267a03c81cec81df574f564b69f11ae46af3cefe Mon Sep 17 00:00:00 2001
From: Tobias Fischer <info@tobiasfischer.info>
Date: Tue, 31 Dec 2024 21:17:14 +1000
Subject: [PATCH] Initial commit to move to rattler

---
 .gitattributes                                |    2 +
 .github/workflows/main.yml                    |    7 +-
 .github/workflows/testpr.yml                  |   98 +-
 .gitignore                                    |    4 +
 .scripts/build_linux.sh                       |   72 +-
 .scripts/build_osx.sh                         |   38 +-
 .scripts/build_osx_arm64.sh                   |   34 +-
 .scripts/build_win.bat                        |   22 +-
 .../ros-distro-mutex/recipe.yaml              |   26 +-
 conda_build_config.yaml                       |   56 +-
 env/robostackenv.yaml                         |    7 +-
 patch/dependencies.yaml                       |   10 +-
 patch/ros-noetic-class-loader.patch           |   11 +-
 patch/ros-noetic-cv-bridge.patch              |   86 +-
 patch/ros-noetic-librealsense2.patch          |   21 +-
 patch/ros-noetic-rosbag-storage.patch         |   13 +
 pixi.lock                                     | 3035 +++++++++++++++++
 pixi.toml                                     |   58 +
 robostack.yaml                                |   72 +-
 vinca_linux_64.yaml                           |    4 +-
 vinca_linux_aarch64.yaml                      |    4 +-
 vinca_osx.yaml                                |    4 +-
 vinca_osx_arm64.yaml                          |    4 +-
 vinca_win.yaml                                |    4 +-
 24 files changed, 3420 insertions(+), 272 deletions(-)
 create mode 100644 .gitattributes
 create mode 100644 patch/ros-noetic-rosbag-storage.patch
 create mode 100644 pixi.lock
 create mode 100644 pixi.toml

diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 000000000..07fe41c52
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,2 @@
+# GitHub syntax highlighting
+pixi.lock linguist-language=YAML linguist-generated=true
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index cbe2a5507..e4c3c0f76 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -1,7 +1,12 @@
+name: Generate CI pipelines for ROS packages
+
 permissions:
   actions: write
   contents: write
 
+env:
+  ROS_VERSION: 1
+
 jobs:
   build:
     runs-on: ubuntu-latest
@@ -15,7 +20,7 @@ jobs:
         python-version: '3.11' # Version range or exact version of a Python version to use, using SemVer's version range syntax
     - name: Install vinca
       run: |
-        pip install git+https://github.com/RoboStack/vinca.git
+        pip install git+https://github.com/RoboStack/vinca.git@rattler-build-humble
 
     - name: Generate recipes for linux-64
       run: |
diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index e80018f8c..fe76f8a19 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -14,6 +14,7 @@ jobs:
       matrix:
         os: [ubuntu-latest, macos-latest, macos-14, windows-2019]
         platform: [linux-64, linux-aarch64, osx-64, win-64, osx-arm64]
+        environment: [beta]
         exclude:
           - os: ubuntu-latest
             platform: win-64
@@ -46,25 +47,25 @@ jobs:
           - os: windows-2019
             platform: osx-arm64
     steps:
+    - uses: actions/checkout@v4
+      with:
+        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
+      with:
+        environments: ${{ matrix.environment }}
+        frozen: true
+
     # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816
     - name: Clean up PATH
       if: contains(matrix.os, 'windows')
       uses: egor-tensin/cleanup-path@v4
       with:
         # cygpath in C:\Program Files\Git\usr\bin is used by install micromamba
-        # git in C:\Program Files\Git\bin is used by pip install git+ 
+        # 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'
 
-    - uses: actions/checkout@master
-    - name: install micromamba
-      uses: mamba-org/setup-micromamba@main
-      with:
-        environment-file: .github/testpr_environment.yml
-        condarc: |
-          channels:
-            - robostack-staging
-            - conda-forge
-
     - shell: bash -l {0}
       if: matrix.platform == 'linux-aarch64'
       run: |
@@ -81,24 +82,15 @@ jobs:
         sudo apt-get update
         sudo apt-get install -y libgl1-mesa-dev libglu1-mesa-dev libx11-dev libxi-dev libxmu-dev
 
-    - shell: bash -l {0}
-      run: |
-        conda config --show channels | grep defaults && conda config --remove channels defaults
-        conda info
-        conda config --show
-        micromamba install -y pip rospkg networkx "catkin_pkg>=0.4.16" "ruamel.yaml>=0.16.6" "rosdistro>=0.8.0" "empy>=3.3.4" boa
-    - name: install vinca
-      shell: bash -l {0}
-      run: |
-        # use no-deps for now, otherwise problems with ruamel.
-        pip install git+https://github.com/RoboStack/vinca.git --no-deps
     # 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
     - name: Debug pkg-config problem
       if: contains(matrix.os, 'windows')
       shell: bash -l {0}
       run: |
         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
@@ -121,82 +113,80 @@ jobs:
       shell: bash -l {0}
       if: steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64'
       run: |
-        git clean -fdx
         cp vinca_linux_64.yaml vinca.yaml
-        vinca --platform linux-64
-        ls
-        cat recipe.yaml
+        mkdir -p recipes
+        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-64 -m -n
+        ls -la recipes
     - name: Generate recipes for linux-aarch64
       shell: bash -l {0}
       if: steps.filecheck.outputs.LINUX_AARCH_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-aarch64'
       run: |
-        git clean -fdx
         cp vinca_linux_aarch64.yaml vinca.yaml
-        vinca --platform linux-aarch64
-        ls
-        cat recipe.yaml
+        mkdir -p recipes
+        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform linux-aarch64 -m -n
+        ls -la recipes
     - name: Generate recipes for osx-64
       shell: bash -l {0}
       if: steps.filecheck.outputs.OSX_YAML_CHANGED == 1 && matrix.os == 'macos-latest' && matrix.platform == 'osx-64'
       run: |
-        git clean -fdx
         cp vinca_osx.yaml vinca.yaml
-        vinca --platform osx-64
-        ls
-        cat recipe.yaml
+        mkdir -p recipes
+        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-64 -m -n
+        ls -la recipes
     - name: Generate recipes for osx-arm64
       shell: bash -l {0}
       if: steps.filecheck.outputs.OSX_ARM_YAML_CHANGED == 1 && matrix.os == 'macos-14' && matrix.platform == 'osx-arm64'
       run: |
-        git clean -fdx
         cp vinca_osx_arm64.yaml vinca.yaml
-        vinca --platform osx-arm64
-        ls
-        cat recipe.yaml
+        mkdir -p recipes
+        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform osx-arm64 -m -n
+        ls -la recipes
     - name: Generate recipes for win-64
       shell: bash -l {0}
       if: steps.filecheck.outputs.WIN_YAML_CHANGED == 1 && matrix.os == 'windows-2019' && matrix.platform == 'win-64'
       run: |
-        git clean -fdx
+        # Workaround for problem related to long paths
+        echo "CONDA_BLD_PATH=C:\\bld\\" >> $GITHUB_ENV
+        mkdir /c/bld
         cp vinca_win.yaml vinca.yaml
-        vinca --platform win-64
-        ls
-        cat recipe.yaml
+        mkdir -p recipes
+        $HOME/.pixi/bin/pixi run -e beta -v vinca --platform win-64 -m -n
+        ls -la recipes
     - name: Check if there are packages to be built
       id: newrecipecheck
       shell: bash -l {0}
       run: |
         # continue on error
         set +e
-        grep -q "outputs: \[\]" recipe.yaml > /dev/null
+        test ! -d recipes
         echo "::set-output name=RECIPE_CREATED::${?}"
     - name: Build recipes for linux-64
       shell: bash -l {0}
-      run: |
-        boa build additional_recipes/ros-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
-        boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
       if: steps.newrecipecheck.outputs.RECIPE_CREATED == 1 && steps.filecheck.outputs.LINUX_YAML_CHANGED == 1 && matrix.os == 'ubuntu-latest' && matrix.platform == 'linux-64'
+      run: |
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -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.os == 'ubuntu-latest' && matrix.platform == 'linux-aarch64'
       run: |
-        boa build additional_recipes/ros-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml --target-platform=linux-aarch64
-        boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml --target-platform=linux-aarch64
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -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.os == 'macos-latest' && matrix.platform == 'osx-64'
       run: |
-        boa build additional_recipes/ros-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
-        boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -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.os == 'macos-14' && matrix.platform == 'osx-arm64'
       run: |
-        boa build additional_recipes/ros-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml --target-platform=osx-arm64
-        boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -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.os == 'windows-2019' && matrix.platform == 'win-64'
       run: |
-        boa build additional_recipes/ros-distro-mutex/ -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
-        boa build . -m ./.ci_support/conda_forge_pinnings.yaml -m ./conda_build_config.yaml
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe additional_recipes/ros-distro-mutex/ -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
+        env -i $HOME/.pixi/bin/pixi run -e beta rattler-build build --recipe-dir recipes -m ./conda_build_config.yaml -c robostack-jazzy -c conda-forge --skip-existing
diff --git a/.gitignore b/.gitignore
index 74fe3e5b7..dc169f00c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,3 +5,7 @@ recipes/
 *.ps1
 *.json
 .DS_Store
+# pixi environments
+.pixi
+*.egg-info
+output/
diff --git a/.scripts/build_linux.sh b/.scripts/build_linux.sh
index 5dcf394c0..2d8ef6e73 100755
--- a/.scripts/build_linux.sh
+++ b/.scripts/build_linux.sh
@@ -9,71 +9,25 @@ set -xeuo pipefail
 export PYTHONUNBUFFERED=1
 export FEEDSTOCK_ROOT="${FEEDSTOCK_ROOT:-/home/conda/feedstock_root}"
 export RECIPE_ROOT="${RECIPE_ROOT:-/home/conda/recipe_root}"
-# export CI_SUPPORT="${FEEDSTOCK_ROOT}/.ci_support"
-# export CONFIG_FILE="${CI_SUPPORT}/${CONFIG}.yaml"
 
-cat >~/.condarc <<CONDARC
-conda-build:
-    root-dir: /opt/conda/build_artifacts
-CONDARC
+curl -fsSL https://pixi.sh/install.sh | bash
+export PATH="$HOME/.pixi/bin:$PATH"
 
-# This doesn't work, see e.g. https://dev.azure.com/robostack/ros_pipelines/_build/results?buildId=188&view=logs&j=4e20d398-0572-5e54-89c7-6bdb9c00a59a&t=f5885ff8-badf-54b3-1543-35164851bdf3
-# if grep -q libgl "recipes/${CURRENT_BUILD_PKG_NAME}.yaml"; then
-# 	sudo yum install -y install mesa-libGL-devel
-# fi
-
-export "CONDA_BLD_PATH=/opt/conda/build_artifacts"
-
-mkdir -p $CONDA_BLD_PATH
-conda index $CONDA_BLD_PATH
-
-conda config --set remote_max_retries 5
-conda config --add channels conda-forge
-conda config --add channels robostack-staging
-conda config --add channels $CONDA_BLD_PATH
-conda config --remove channels defaults
-# conda config --set channel_priority strict
-
-mamba update conda --yes --quiet -c conda-forge
-mamba install --yes --quiet pip conda-build anaconda-client mamba boa
-
-# setup_conda_rc "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}"
-# export PATH="$HOME/miniconda/bin:$PATH"
-conda config --set anaconda_upload yes
-conda config --set show_channel_urls true
-conda config --set auto_update_conda false
-conda config --set add_pip_as_python_dependency false
-
-conda info
-conda config --show-sources
-conda list --show-channel-urls
+export CONDA_BLD_PATH="/opt/conda/build_artifacts"
 
 pwd
 
-for recipe in ${CURRENT_RECIPES[@]}; do
-	cd ${FEEDSTOCK_ROOT}/recipes/${recipe}
-	if [[ ${recipe} == *"gazebo-ros" || ${recipe} == *"gazebo-ros-control" ]]; then
-		boa build . -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml -m ${FEEDSTOCK_ROOT}/conda_build_config_old_linux_compiler.yaml
-	else
-		boa build . -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml
-	fi
-done
-
-anaconda -t ${ANACONDA_API_TOKEN} upload /opt/conda/build_artifacts/linux-*/*.tar.bz2 --force
-# quetz-client "${QUETZ_URL}" /opt/conda/build_artifacts --force
-
-# set up the condarc
+cd ${FEEDSTOCK_ROOT}
 
-# source run_conda_forge_build_setup
-
-# # make the build number clobber
-# make_build_number "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}"
+for recipe in ${CURRENT_RECIPES[@]}; do
+	pixi run -v rattler-build build \
+		--recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \
+		-m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \
+		-c robostack-jazzy -c conda-forge \
+		--output-dir $CONDA_BLD_PATH
 
-# conda build "${RECIPE_ROOT}" -m "${CI_SUPPORT}/${CONFIG}.yaml" \
-#     --clobber-file "${CI_SUPPORT}/clobber_${CONFIG}.yaml"
+		# -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml \
 
-# if [[ "${UPLOAD_PACKAGES}" != "False" ]]; then
-#     upload_package  "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}"
-# fi
+done
 
-# touch "${FEEDSTOCK_ROOT}/build_artifacts/conda-forge-build-done-${CONFIG}"
+pixi run upload ${CONDA_BLD_PATH}/linux-*/*.conda --force
diff --git a/.scripts/build_osx.sh b/.scripts/build_osx.sh
index 76b6606c6..b852d9e28 100755
--- a/.scripts/build_osx.sh
+++ b/.scripts/build_osx.sh
@@ -1,35 +1,25 @@
 #!/bin/bash
 
 set -x
+set -e
 
 export FEEDSTOCK_ROOT=`pwd`
+export "CONDA_BLD_PATH=$HOME/conda-bld/"
 
-"${SHELL}" <(curl -L micro.mamba.pm/install.sh)
-source ~/.bash_profile
-
-micromamba config set remote_max_retries 5
+curl -fsSL https://pixi.sh/install.sh | bash
+export PATH="$HOME/.pixi/bin:$PATH"
 
-echo -e "\n\nInstalling conda-forge-ci-setup=3 and conda-build."
-micromamba create -n devenv --quiet --yes conda-forge-ci-setup=3 conda-build pip boa quetz-client -c conda-forge
-micromamba activate devenv
-
-set -e
-
-export "CONDA_BLD_PATH=$CONDA_PREFIX/conda-bld/"
-
-mkdir -p $CONDA_BLD_PATH
-# micromamba index $CONDA_BLD_PATH
-micromamba config append channels conda-forge --env
-micromamba config append channels robostack-staging --env
-micromamba config append channels $CONDA_BLD_PATH --env
+# Remove homebrew from $PATH
+export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':')
 
 for recipe in ${CURRENT_RECIPES[@]}; do
-	cd ${FEEDSTOCK_ROOT}/recipes/${recipe}
-	if [[ ${recipe} == *"rviz" || ${recipe} == *"moveit-setup-assistant" || ${recipe} == *"turtlesim" ]]; then
-		boa build . -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml -m ${FEEDSTOCK_ROOT}/conda_build_config_old_osx.yaml
-	else
-		boa build . -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml
-	fi
+	pixi run -v rattler-build build \
+		--recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \
+		-m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \
+		-c robostack-jazzy -c conda-forge \
+		--output-dir $CONDA_BLD_PATH
+
+	# -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml \
 done
 
-anaconda -t ${ANACONDA_API_TOKEN} upload ${CONDA_BLD_PATH}/osx-64/*.tar.bz2 --force
+pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force
diff --git a/.scripts/build_osx_arm64.sh b/.scripts/build_osx_arm64.sh
index 275210e3f..b852d9e28 100755
--- a/.scripts/build_osx_arm64.sh
+++ b/.scripts/build_osx_arm64.sh
@@ -1,31 +1,25 @@
 #!/bin/bash
 
 set -x
-
-export FEEDSTOCK_ROOT=`pwd`
-
-"${SHELL}" <(curl -L micro.mamba.pm/install.sh)
-source ~/.bash_profile
-
-micromamba config set remote_max_retries 5
-
-echo -e "\n\nInstalling conda-forge-ci-setup=3 and conda-build."
-micromamba create -n devenv --quiet --yes conda-forge-ci-setup=3 conda-build pip boa quetz-client -c conda-forge
-micromamba activate devenv
-
 set -e
 
-export "CONDA_BLD_PATH=$CONDA_PREFIX/conda-bld/"
+export FEEDSTOCK_ROOT=`pwd`
+export "CONDA_BLD_PATH=$HOME/conda-bld/"
 
-mkdir -p $CONDA_BLD_PATH
+curl -fsSL https://pixi.sh/install.sh | bash
+export PATH="$HOME/.pixi/bin:$PATH"
 
-micromamba config append channels conda-forge --env
-micromamba config append channels robostack-staging --env
-micromamba config append channels $CONDA_BLD_PATH --env
+# Remove homebrew from $PATH
+export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':')
 
 for recipe in ${CURRENT_RECIPES[@]}; do
-	cd ${FEEDSTOCK_ROOT}/recipes/${recipe}
-	boa build . -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml -m ${FEEDSTOCK_ROOT}/conda_build_config.yaml
+	pixi run -v rattler-build build \
+		--recipe ${FEEDSTOCK_ROOT}/recipes/${recipe} \
+		-m ${FEEDSTOCK_ROOT}/conda_build_config.yaml \
+		-c robostack-jazzy -c conda-forge \
+		--output-dir $CONDA_BLD_PATH
+
+	# -m ${FEEDSTOCK_ROOT}/.ci_support/conda_forge_pinnings.yaml \
 done
 
-anaconda -t ${ANACONDA_API_TOKEN} upload ${CONDA_BLD_PATH}/osx-arm64/*.tar.bz2 --force
+pixi run upload ${CONDA_BLD_PATH}/osx-*/*.conda --force
diff --git a/.scripts/build_win.bat b/.scripts/build_win.bat
index a0c28bd8f..29b00af5f 100644
--- a/.scripts/build_win.bat
+++ b/.scripts/build_win.bat
@@ -1,9 +1,7 @@
 setlocal EnableExtensions EnableDelayedExpansion
-call %CONDA%\condabin\conda_hook.bat
-call %CONDA%\condabin\conda.bat activate base
 
+set CONDA_BLD_PATH=C:\bld
 echo "PATH is %PATH%"
-echo "CONDA_BLD_PATH is %CONDA_BLD_PATH%"
 
 rmdir /Q/S C:\Strawberry\
 rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\"
@@ -11,25 +9,21 @@ rmdir /Q/S "C:\Program Files (x86)\Windows Kits\10\Include\10.0.17763.0\"
 set "FEEDSTOCK_ROOT=%cd%"
 
 mkdir %CONDA_BLD_PATH%
-call conda index %CONDA_BLD_PATH%
-
-rem call conda config --remove channels defaults
-call conda config --add channels conda-forge
-call conda config --add channels robostack-staging
-call conda config --add channels %CONDA_BLD_PATH%
-:: call conda config --set channel_priority strict
 
 :: Enable long path names on Windows
 reg add HKLM\SYSTEM\CurrentControlSet\Control\FileSystem /v LongPathsEnabled /t REG_DWORD /d 1 /f
 
-:: conda remove --force m2-git
-
 for %%X in (%CURRENT_RECIPES%) do (
     echo "BUILDING RECIPE %%X"
     cd %FEEDSTOCK_ROOT%\recipes\%%X\
-    boa build . -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml -m %FEEDSTOCK_ROOT%\conda_build_config.yaml
+    pixi run -v rattler-build build --recipe %FEEDSTOCK_ROOT%\recipes\%%X\ ^
+        -m %FEEDSTOCK_ROOT%\conda_build_config.yaml ^
+        -c robostack-jazzy -c conda-forge ^
+        --output-dir %CONDA_BLD_PATH%
+
     if errorlevel 1 exit 1
+    rem -m %FEEDSTOCK_ROOT%\.ci_support\conda_forge_pinnings.yaml
 )
 
-anaconda -t %ANACONDA_API_TOKEN% upload "C:\bld\win-64\*.tar.bz2" --force
+pixi run upload "%CONDA_BLD_PATH%\win-64\*.conda" --force
 if errorlevel 1 exit 1
diff --git a/additional_recipes/ros-distro-mutex/recipe.yaml b/additional_recipes/ros-distro-mutex/recipe.yaml
index c724f05a4..1e7cd6ade 100644
--- a/additional_recipes/ros-distro-mutex/recipe.yaml
+++ b/additional_recipes/ros-distro-mutex/recipe.yaml
@@ -1,12 +1,12 @@
 package:
   name: ros-distro-mutex
-  version: 0.5.0
+  version: 0.6.0
 
 build:
-  number: 7
-  string: noetic
-  run_exports:
-    - "{{ pin_subpackage('ros-distro-mutex', max_pin='x.x') }}"
+  number: 0
+  # Note: keep in sync with build number
+  # Cannot be done automatically, see https://github.com/mamba-org/boa/issues/278
+  string: noetic_0
 
 requirements:
   # NOTE:
@@ -29,17 +29,21 @@ requirements:
   # please change it in the conda_build_config.yaml!
   # libabseil and libprotobuf added here as a workaround for
   # https://github.com/RoboStack/ros-noetic/issues/459
-  run_constrained:
-    - libboost-devel 1.82.*
+  run_constraints:
+    - libboost 1.86.*
+    - libboost-devel 1.86.*
+    - pcl 1.14.1.*
     - gazebo 11.*
+    - libprotobuf 5.28.2.*
     - ogre 1.10.12.*
     - libpqxx 7.8.*
-    # Add those for next rebuild, needed for Gazebo
-    # - libabseil 20230802.*
-    # - libprotobuf 4.24.3.*
+
+  run_exports:
+    weak:
+      - ${{ pin_subpackage('ros-distro-mutex', upper_bound='x.x') }}
 
 about:
-  home: https://github.com/robostack/ros-noetic
+  homepage: https://github.com/robostack/ros-noetic
   license: BSD-3-Clause
   summary: |
     The ROS distro mutex. To switch between ROS versions, you need to change the mutex.
diff --git a/conda_build_config.yaml b/conda_build_config.yaml
index 0e7f9d690..86e8d8a40 100644
--- a/conda_build_config.yaml
+++ b/conda_build_config.yaml
@@ -2,50 +2,32 @@ gazebo:
   - '11'
 libpqxx:
   - 6
-numpy:
-  - 1.23
 ogre:
   - 1.10.12
 setuptools:
   - 69
-  
-cdt_name:  # [linux]
-  - cos7   # [linux]
+numpy:
+  - 1.26
+libprotobuf:
+  - 5.28.2
+protobuf:
+  - 5.28.2
+spdlog:
+  - 1.14
+
+cdt_name:
+  - ${{ "cos7" if linux }}
 
 python:
   - 3.11.* *_cpython
 python_impl:
   - cpython
 
-# Project overrides
-macos_min_version:             # [osx and x86_64]
-  - 10.14                      # [osx and x86_64]
-macos_machine:                 # [osx]
-  - x86_64-apple-darwin13.4.0  # [osx and x86_64]
-  - arm64-apple-darwin20.0.0   # [osx and arm64]
-MACOSX_DEPLOYMENT_TARGET:      # [osx]
-  - 11.0                       # [osx and arm64]
-  - 10.14                      # [osx and x86_64]
-CONDA_BUILD_SYSROOT:
-  - /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk  # [osx and arm64]
-
-
-# fix build metadata, needed for mapviz and moveit-core
-replacements:
-  all_replacements:
-    - tag: 'pkg-config build metadata'
-      glob_patterns:
-        - '*.pc'
-      regex_re: '(?:-L|-I)?\"?([^;\s]+\/sysroot\/)'
-      replacement_re: '$(CONDA_BUILD_SYSROOT_S)'
-      regex_rg: '([^;\s"]+/sysroot/)'
-    - tag: 'CMake build metadata'
-      glob_patterns:
-        - '*.cmake'
-      regex_re: '([^;\s"]+/sysroot)'
-      replacement_re: '$ENV{CONDA_BUILD_SYSROOT}'
-    - tag: 'CMake build metadata OSX'
-      glob_patterns:
-        - '*.cmake'
-      regex_re: '([^;\s"]+/MacOSX\d*\.?\d*\.sdk)'
-      replacement_re: '$ENV{CONDA_BUILD_SYSROOT}'
+c_stdlib:
+  - ${{ "sysroot" if linux }}
+  - ${{ "macosx_deployment_target" if osx }}
+  - ${{ "vs" if win }}
+c_stdlib_version:
+  - ${{ "2.17" if linux }}
+  - ${{ "10.14" if osx and x86_64 }}
+  - ${{ "11.0" if osx and arm64 }}
diff --git a/env/robostackenv.yaml b/env/robostackenv.yaml
index 95af1c9d9..da8a09dc8 100644
--- a/env/robostackenv.yaml
+++ b/env/robostackenv.yaml
@@ -4,17 +4,14 @@ channels:
 - conda-forge
 dependencies:
 - python=3.11
-- conda-build
 - anaconda-client
-- mamba
-- conda
 - catkin_pkg
 - ruamel.yaml
 - rosdistro
 - empy
 - networkx
 - requests
-- boa
+- rattler-build
 - pip
 - pip:
-  - git+https://github.com/RoboStack/vinca.git@master
+  - git+https://github.com/RoboStack/vinca.git@rattler-build-humble
diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index 80ab123d4..03b5f95d5 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -9,6 +9,8 @@ ompl:
   add_run: ["ompl"]
 sick_tim:
   add_host: ["pkg-config"]
+class_loader:
+  add_host: ["${{ 'libcxx-devel 19.*' if osx }}"]
 moveit_visual_tools:
   add_host: ["REQUIRE_OPENGL"]
 pcl_conversions:
@@ -30,7 +32,7 @@ gazebo_ros_control:
 gazebo_pkgs:
   add_host: [tbb, tbb-devel]
 ros_ign_gazebo:
-  add_host: ["REQUIRE_OPENGL", {"sel(linux)": "libuuid"}]
+  add_host: ["REQUIRE_OPENGL", "${{ 'libuuid' if linux }}"]
 apriltag:
   add_host: ["REQUIRE_OPENGL"]
 lvr2:
@@ -79,7 +81,7 @@ mqtt_bridge:
 mrpt2:
   add_host:  ["tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "ros-noetic-octomap", "libftdi"]
   add_run:   ["tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "ros-noetic-octomap", "libftdi"]
-  add_build: [{"sel(linux)": "{{ cdt('libxcomposite-devel') }}"}]
+  add_build: ["${{ cdt('libxcomposite-devel') if linux }}"]
 image_view:
   add_host: ["REQUIRE_OPENGL"]
 rosserial_python:
@@ -119,11 +121,11 @@ safety_limiter:
 ifopt:
   add_host: ["ipopt"]
 tesseract_collision:
-  add_build: [{"sel(osx)": "llvm-openmp"}]
+  add_build: ["${{ 'llvm-openmp' if osx }}"]
 rosbridge_library:
   add_run: ["pymongo"]
 resource_retriever:
   add_host: ["libcurl"]
   add_run: ["libcurl"]
 plotjuggler:
-  add_host: [{"sel(linux)": "elfutils"}, "protobuf"]
+  add_host: ["${{ 'elfutils' if linux }}", "protobuf"]
diff --git a/patch/ros-noetic-class-loader.patch b/patch/ros-noetic-class-loader.patch
index 6e43ea08c..1a385b0d1 100644
--- a/patch/ros-noetic-class-loader.patch
+++ b/patch/ros-noetic-class-loader.patch
@@ -1,7 +1,16 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 5131553..bf5b701 100644
+index 7580a95..aa97e7a 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
+@@ -3,7 +3,7 @@ project(class_loader CXX)
+ 
+ # Default to C++14
+ if(NOT CMAKE_CXX_STANDARD)
+-  set(CMAKE_CXX_STANDARD 14)
++  set(CMAKE_CXX_STANDARD 17)
+ endif()
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   add_compile_options(-Wall -Wextra -Wpedantic)
 @@ -23,7 +23,7 @@ if(${catkin_FOUND})
    find_package(Poco REQUIRED COMPONENTS Foundation)
    catkin_package(
diff --git a/patch/ros-noetic-cv-bridge.patch b/patch/ros-noetic-cv-bridge.patch
index c6f45d381..f933765c9 100644
--- a/patch/ros-noetic-cv-bridge.patch
+++ b/patch/ros-noetic-cv-bridge.patch
@@ -1,8 +1,8 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index ef804b9..6dac00e 100644
+index ef804b91..4ef849c4 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -3,27 +3,9 @@ project(cv_bridge)
+@@ -3,28 +3,8 @@ project(cv_bridge)
  
  find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
  
@@ -26,10 +26,82 @@ index ef804b9..6dac00e 100644
 -  message(STATUS "Did not find OpenCV 4, trying OpenCV 3")
 -  set(_opencv_version 3)
 -endif()
-+find_package(Boost REQUIRED python)
- 
+-
 -find_package(OpenCV ${_opencv_version} REQUIRED
-+find_package(OpenCV 4 QUIET)
-+find_package(OpenCV 4 REQUIRED
++find_package(Boost REQUIRED CONFIG)
++find_package(OpenCV REQUIRED
    COMPONENTS
-     opencv_core
\ No newline at end of file
+     opencv_core
+     opencv_imgproc
+@@ -43,7 +23,6 @@ catkin_package(
+ catkin_python_setup()
+ 
+ include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+-link_directories(${Boost_LIBRARY_DIRS})
+ 
+ if(NOT ANDROID)
+ add_subdirectory(python)
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index d1046922..f0ebf246 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -1,8 +1,7 @@
+ # add library
+-include_directories(./)
+ add_library(${PROJECT_NAME} cv_bridge.cpp rgb_colors.cpp)
+ add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+-target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})
++target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+ 
+ install(TARGETS ${PROJECT_NAME}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+@@ -12,31 +11,12 @@ install(TARGETS ${PROJECT_NAME}
+ 
+ if(NOT ANDROID)
+ # add a Boost Python library
+-find_package(PythonInterp REQUIRED)
+-find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
++find_package (Python COMPONENTS Interpreter Development NumPy)
+ 
+-#Get the numpy include directory from its python module
+-if(NOT PYTHON_NUMPY_INCLUDE_DIR)
+-    execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import numpy; print(numpy.get_include())"
+-                    RESULT_VARIABLE PYTHON_NUMPY_PROCESS
+-                    OUTPUT_VARIABLE PYTHON_NUMPY_INCLUDE_DIR
+-                    OUTPUT_STRIP_TRAILING_WHITESPACE)
+-
+-    if(PYTHON_NUMPY_PROCESS EQUAL 0)
+-       file(TO_CMAKE_PATH "${PYTHON_NUMPY_INCLUDE_DIR}" PYTHON_NUMPY_INCLUDE_CMAKE_PATH)
+-       set(PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_CMAKE_PATH} CACHE PATH "Numpy include directory")
+-    else(PYTHON_NUMPY_PROCESS EQUAL 0)
+-        message(SEND_ERROR "Could not determine the NumPy include directory, verify that NumPy was installed correctly.")
+-    endif(PYTHON_NUMPY_PROCESS EQUAL 0)
+- endif(NOT PYTHON_NUMPY_INCLUDE_DIR)
+-
+-include_directories(${PYTHON_INCLUDE_PATH} ${Boost_INCLUDE_DIRS} ${PYTHON_NUMPY_INCLUDE_DIR})
+-
+-if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
+-  add_definitions(-DPYTHON3)
+-endif()
++add_definitions(-DPYTHON3)
+ 
+ add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp)
++target_include_directories(${PROJECT_NAME}_boost PUBLIC ${Python_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${Python_NumPy_INCLUDE_DIRS})
+ target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
+                                             ${catkin_LIBRARIES}
+                                             ${PROJECT_NAME}
+diff --git a/src/cv_bridge.cpp b/src/cv_bridge.cpp
+index 44f23a32..8de258f7 100644
+--- a/src/cv_bridge.cpp
++++ b/src/cv_bridge.cpp
+@@ -33,7 +33,9 @@
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+ 
+-#include "boost/endian/conversion.hpp"
++#include <boost/predef/make.h>
++
++#include <boost/endian/conversion.hpp>
+ 
+ #include <map>
+ 
diff --git a/patch/ros-noetic-librealsense2.patch b/patch/ros-noetic-librealsense2.patch
index 3912f55f8..51589add7 100644
--- a/patch/ros-noetic-librealsense2.patch
+++ b/patch/ros-noetic-librealsense2.patch
@@ -1,19 +1,18 @@
 diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
-index 4ec81bb..c4102dc 100644
+index 4ec81bbf..7822b692 100644
 --- a/CMake/unix_config.cmake
 +++ b/CMake/unix_config.cmake
-@@ -8,8 +8,12 @@ macro(os_set_flags)
+@@ -7,9 +7,12 @@ macro(os_set_flags)
+     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar -Wsequence-point -Wformat -Wformat-security")
  
      execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpmachine OUTPUT_VARIABLE MACHINE)
-     if(${MACHINE} MATCHES "arm-*")
--        set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
--        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
-+        set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mfpu=neon -mfloat-abi=hard -ftree-vectorize")
-+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize")
-+        if(NOT APPLE)
-+            set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -latomic")
-+            set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -latomic")
-+        endif()
+-    if(${MACHINE} MATCHES "arm-*")
++    if(${MACHINE} MATCHES "arm-*" AND NOT APPLE)
+         set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
+         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
++    elseif(${MACHINE} MATCHES "arm-*" AND APPLE)
++        set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -ftree-vectorize")
++        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftree-vectorize")
      elseif(${MACHINE} MATCHES "aarch64-*")
          set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mstrict-align -ftree-vectorize")
          set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mstrict-align -ftree-vectorize")
diff --git a/patch/ros-noetic-rosbag-storage.patch b/patch/ros-noetic-rosbag-storage.patch
new file mode 100644
index 000000000..38838baa5
--- /dev/null
+++ b/patch/ros-noetic-rosbag-storage.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 82532b91f4..61a0448e41 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -27,7 +27,7 @@ add_definitions(${BZIP2_DEFINITIONS})
+ 
+ set(AES_ENCRYPT_SOURCE "")
+ set(AES_ENCRYPT_LIBRARIES "")
+-if(NOT WIN32)
++if(NOT WIN32 AND NOT APPLE)
+   set(AES_ENCRYPT_SOURCE "src/aes_encryptor.cpp" "src/gpgme_utils.cpp")
+   find_library(GPGME_LIBRARY
+     NAMES "gpgme"
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 000000000..0f3c59291
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,3035 @@
+version: 6
+environments:
+  beta:
+    channels:
+    - url: https://repo.prefix.dev/conda-forge/
+    indexes:
+    - https://pypi.org/simple
+    packages:
+      linux-64:
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/noarch/anaconda-client-1.12.3-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/attrs-24.3.0-pyh71513ae_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/brotli-python-1.1.0-py311hfdbb021_2.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/ca-certificates-2024.12.14-hbcca054_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/certifi-2024.12.14-pyhd8ed1ab_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/cffi-1.17.1-py311hf29c0ef_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/charset-normalizer-3.4.0-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/conda-package-handling-2.4.0-pyha770c72_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/conda-package-streaming-0.11.0-pyhd8ed1ab_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/defusedxml-0.7.1-pyhd8ed1ab_0.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/noarch/h2-4.1.0-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/hpack-4.0.0-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/hyperframe-6.0.1-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/idna-3.10-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/importlib_resources-6.4.5-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/jsonschema-4.23.0-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/jsonschema-specifications-2024.10.1-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/jupyter_core-5.7.2-pyh31011fe_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/ld_impl_linux-64-2.43-h712a8e2_2.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libexpat-2.6.4-h5888daf_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libffi-3.4.2-h7f98852_5.tar.bz2
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libgcc-14.2.0-h77fa898_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libgcc-ng-14.2.0-h69a702a_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libgomp-14.2.0-h77fa898_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/liblzma-5.6.3-hb9d3cd8_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libsqlite-3.47.2-hee588c1_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libstdcxx-14.2.0-hc0a3c3a_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libstdcxx-ng-14.2.0-h4852527_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libuuid-2.38.1-h0b41bf4_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libxcrypt-4.4.36-hd590300_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libzlib-1.3.1-hb9d3cd8_2.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/nbformat-5.10.4-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/ncurses-6.5-he02047a_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/openssl-3.4.0-hb9d3cd8_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/patchelf-0.17.2-h58526e2_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/pkgutil-resolve-name-1.3.10-pyhd8ed1ab_2.conda
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+  - zstd >=1.5.6,<1.5.7.0a0
+  - zstd >=1.5.6,<1.6.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/zstandard?source=hash-mapping
+  size: 417923
+  timestamp: 1725305669690
+- conda: https://repo.prefix.dev/conda-forge/linux-aarch64/zstandard-0.23.0-py311hd5293d8_1.conda
+  sha256: 44c4c8e718f7f50c985d9b3de23760fb01987e6307301eef0bcfc26862094690
+  md5: 7a022310d8759b7d251717b09242ee13
+  depends:
+  - cffi >=1.11
+  - libgcc >=13
+  - python >=3.11,<3.12.0a0
+  - python >=3.11,<3.12.0a0 *_cpython
+  - python_abi 3.11.* *_cp311
+  - zstd >=1.5.6,<1.5.7.0a0
+  - zstd >=1.5.6,<1.6.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/zstandard?source=hash-mapping
+  size: 391826
+  timestamp: 1725305804278
+- conda: https://repo.prefix.dev/conda-forge/osx-64/zstandard-0.23.0-py311hdf6fcd6_1.conda
+  sha256: d9bf977b620750049eb60fffca299a701342a2df59bcc2586a79b2f7c5783fa1
+  md5: 4fc42d6f85a21b09ee6477f456554df3
+  depends:
+  - __osx >=10.13
+  - cffi >=1.11
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - zstd >=1.5.6,<1.5.7.0a0
+  - zstd >=1.5.6,<1.6.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/zstandard?source=hash-mapping
+  size: 411350
+  timestamp: 1725305723486
+- conda: https://repo.prefix.dev/conda-forge/osx-arm64/zstandard-0.23.0-py311ha60cc69_1.conda
+  sha256: d2f2f1a408e2353fc61d2bf064313270be2260ee212fe827dcf3cfd3754f1354
+  md5: 29d320d6450b2948740a9be3761b2e9d
+  depends:
+  - __osx >=11.0
+  - cffi >=1.11
+  - python >=3.11,<3.12.0a0
+  - python >=3.11,<3.12.0a0 *_cpython
+  - python_abi 3.11.* *_cp311
+  - zstd >=1.5.6,<1.5.7.0a0
+  - zstd >=1.5.6,<1.6.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/zstandard?source=hash-mapping
+  size: 332271
+  timestamp: 1725305847224
+- conda: https://repo.prefix.dev/conda-forge/win-64/zstandard-0.23.0-py311h53056dc_1.conda
+  sha256: a93584e6167c3598854a47f3bf8276fa646a3bb4d12fcfc23a54e37d5879f35c
+  md5: 7d4c123cbb5e6293dd4dd2f8d30f0de4
+  depends:
+  - cffi >=1.11
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  - zstd >=1.5.6,<1.5.7.0a0
+  - zstd >=1.5.6,<1.6.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls:
+  - pkg:pypi/zstandard?source=hash-mapping
+  size: 321357
+  timestamp: 1725305930669
+- conda: https://repo.prefix.dev/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda
+  sha256: c558b9cc01d9c1444031bd1ce4b9cff86f9085765f17627a6cd85fc623c8a02b
+  md5: 4d056880988120e29d75bfff282e0f45
+  depends:
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 554846
+  timestamp: 1714722996770
+- conda: https://repo.prefix.dev/conda-forge/linux-aarch64/zstd-1.5.6-h02f22dd_0.conda
+  sha256: 484f9d0722c77685ae379fbff3ccd662af9ead7e59eb39cd6d0c677cdf25ff6c
+  md5: be8d5f8cf21aed237b8b182ea86b3dd6
+  depends:
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 539937
+  timestamp: 1714723130243
+- conda: https://repo.prefix.dev/conda-forge/osx-64/zstd-1.5.6-h915ae27_0.conda
+  sha256: efa04a98cb149643fa54c4dad5a0179e36a5fbc88427ea0eec88ceed87fd0f96
+  md5: 4cb2cd56f039b129bb0e491c1164167e
+  depends:
+  - __osx >=10.9
+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 498900
+  timestamp: 1714723303098
+- conda: https://repo.prefix.dev/conda-forge/osx-arm64/zstd-1.5.6-hb46c0d2_0.conda
+  sha256: 2d4fd1ff7ee79cd954ca8e81abf11d9d49954dd1fef80f27289e2402ae9c2e09
+  md5: d96942c06c3e84bfcc5efb038724a7fd
+  depends:
+  - __osx >=11.0
+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 405089
+  timestamp: 1714723101397
+- conda: https://repo.prefix.dev/conda-forge/win-64/zstd-1.5.6-h0ea2cb4_0.conda
+  sha256: 768e30dc513568491818fb068ee867c57c514b553915536da09e5d10b4ebf3c3
+  md5: 9a17230f95733c04dc40a2b1e5491d74
+  depends:
+  - libzlib >=1.2.13,<2.0.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 349143
+  timestamp: 1714723445995
diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 000000000..461680b1c
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,58 @@
+[project]
+name = "ros-noetic"
+# Just a convention, this is the same as the mutex package
+version = "0.6.0"
+description = "RoboStack repo to package ros-noetic packages as conda packages"
+authors = ["Tobias Fischer <tobias.fischer@qut.edu.au>", "Wolf Vollprecht <w.vollprecht@gmail.com>", "Silvio Traversaro <silvio@traversaro.it>"]
+channels = ["https://repo.prefix.dev/conda-forge"]
+platforms = ["osx-arm64", "linux-64", "osx-64", "linux-aarch64", "win-64"]
+
+[system-requirements]
+# 2.17 is the glibc version used in centos 7
+libc = { family="glibc", version="2.17" }
+
+[tasks]
+upload = "anaconda -t $ANACONDA_API_TOKEN upload"
+
+[dependencies]
+python = ">=3.11.0,<3.12"
+rattler-build = ">=0.33"
+anaconda-client = ">=1.12"
+
+[target.win-64.dependencies]
+# patch is required by rattler-build
+m2-patch = "*"
+# git is required by rattler-build
+git = "*"
+
+[feature.beta.pypi-dependencies]
+# This is tipically the latest commit on rattler-build-humble branch
+vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "0b1e16d1ade9716246c1618dc0a5c2a18ee01fd9" }
+# Uncomment this line to work with a local vinca for faster iteration, but remember to comment it back
+# (and regenerate the pixi.lock) once you push the modified commit to the repo
+#vinca = { path = "../vinca", editable = true }
+
+[feature.beta.tasks]
+generate-recipes = { cmd = "vinca -m", depends_on = ["rename-file"] }
+remove-file = { cmd = "rm vinca.yaml; rm -rf recipes" }
+build_additional_recipes = { cmd = "rattler-build build --recipe-dir ./additional_recipes/ros-distro-mutex -m ./conda_build_config.yaml --skip-existing" }
+build = { cmd = "rattler-build build --recipe-dir ./recipes -m ./conda_build_config.yaml --skip-existing", depends_on = ["build_additional_recipes", "generate-recipes"] }
+build_one_package = { cmd = "cp ./patch/$PACKAGE.*patch ./recipes/$PACKAGE/patch/; rattler-build build --recipe ./recipes/$PACKAGE/recipe.yaml -m ./conda_build_config.yaml", env = { PACKAGE = "ros-noetic-ros-base" } }
+
+[environments]
+beta = ["beta"]
+
+[target.linux-64.tasks]
+rename-file = { cmd = "cp vinca_linux_64.yaml vinca.yaml", depends_on = ["remove-file"] }
+
+[target.osx-64.tasks]
+rename-file = { cmd = "cp vinca_osx.yaml vinca.yaml", depends_on = ["remove-file"] }
+
+[target.osx-arm64.tasks]
+rename-file = { cmd = "ln -s vinca_osx_arm64.yaml vinca.yaml", depends_on = ["remove-file"] }
+
+[target.linux-aarch64.tasks]
+rename-file = { cmd = "cp vinca_linux_aarch64.yaml vinca.yaml", depends_on = ["remove-file"] }
+
+[target.win-64.tasks]
+rename-file = { cmd = "cp vinca_win.yaml vinca.yaml", depends_on = ["remove-file"] }
diff --git a/robostack.yaml b/robostack.yaml
index d45617de3..940d926c3 100644
--- a/robostack.yaml
+++ b/robostack.yaml
@@ -87,8 +87,12 @@ festival:
     linux: [festival, festvox-kallpc16k]
     osx: []
     win64: []
+file:
+  robostack: [file]
 ffmpeg:
   robostack: [ffmpeg]
+ffmpeg-dev:
+  robostack: [ffmpeg]
 flac:
   robostack: [libflac]
 flex:
@@ -111,6 +115,8 @@ geographiclib-tools:
   robostack: [geographiclib-cpp]
 git:
   robostack: [git]
+glslang-dev:
+  robostack: [glslang]
 glut:
   robostack:
     linux: [freeglut]
@@ -184,6 +190,8 @@ libabsl-dev:
   robostack: [libabseil]
 libblas-dev:
   robostack: [libblas, libcblas]
+libboost:
+  robostack: [libboost]
 libboost-chrono-dev:
   robostack: [libboost-devel]
 libboost-date-time:
@@ -260,8 +268,12 @@ libflann-dev:
   robostack: [flann]
 libfltk-dev:
   robostack: [fltk]
+libfreeimage-dev:
+  robostack: [freeimage]
 libfreenect-dev:
   robostack: []
+libfreetype-dev:
+  robostack: [freetype]
 libfreetype6:
   robostack: [freetype]
 libfreetype6-dev:
@@ -309,7 +321,7 @@ libhdf5-dev:
 libi2c-dev:
   robostack: [libi2c]
 liblttng-ust-dev:
-  robostack: [lttng-ust]
+  robostack: ["${{ \"lttng-ust\" if linux }}"]
 libjpeg:
   robostack: [libjpeg-turbo]
 libjsoncpp:
@@ -318,6 +330,10 @@ libjsoncpp-dev:
   robostack: [jsoncpp]
 liblapack-dev:
   robostack: [liblapack]
+liblz4:
+  robostack: [lz4]
+liblz4-dev:
+  robostack: [lz4]
 libmicrohttpd:
   robostack: [libmicrohttpd]
 libncurses-dev:
@@ -363,7 +379,7 @@ libpcap:
 libpcl-all:
   robostack: [pcl]
 libpcl-all-dev:
-  robostack: [pcl]
+  robostack: [pcl, libboost-devel, vtk-base, REQUIRE_OPENGL]
 libpng-dev:
   robostack: [libpng]
 libpoco-dev:
@@ -400,13 +416,12 @@ libreadline:
   robostack: [readline]
 libreadline-dev:
   robostack: [readline]
+libshaderc-dev:
+  robostack: [shaderc]
 libsndfile1-dev:
   robostack: [libsndfile]
 libspnav-dev:
-  robostack:
-    linux: [libspnav]
-    osx: [libspnav]
-    win64: []
+  robostack: [libspnav, xorg-xorgproto]
 libsqlite3-dev:
   robostack: [sqlite 3.*]
 libssl-dev:
@@ -454,10 +469,15 @@ libvtk:
   robostack: [vtk]
 libvtk-qt:
   robostack: [vtk]
+libvulkan-dev:
+  robostack: 
+    linux: [libvulkan-headers, libvulkan-loader]
+    osx: []
+    win64: [libvulkan-headers, libvulkan-loader]
 libx11:
-  robostack: [xorg-libx11, REQUIRE_OPENGL]
+  robostack: [xorg-libx11, xorg-xorgproto, REQUIRE_OPENGL]
 libx11-dev:
-  robostack: [xorg-libx11, REQUIRE_OPENGL]
+  robostack: [xorg-libx11, xorg-xorgproto, REQUIRE_OPENGL]
 libxaw:
   robostack:
     linux: [xorg-libxaw]
@@ -484,6 +504,12 @@ libxt-dev:
   robostack: [xorg-libxt]
 libxxf86vm:
   robostack: [REQUIRE_OPENGL]
+libyaml:
+  robostack: [yaml]
+libyaml-dev:
+  robostack: [yaml]
+libzip-dev:
+  robostack: [libzip]
 libzmq3-dev:
   robostack: [zeromq, cppzmq]
 libzstd-dev:
@@ -686,6 +712,8 @@ python3-cryptography:
   robostack: [cryptography]
 python3-defusedxml:
   robostack: [defusedxml]
+python3-deprecated:
+  robostack: [deprecated]
 python3-dev:
   robostack: [python]
 python3-docopt:
@@ -696,6 +724,8 @@ python3-empy:
   robostack: [empy]
 python3-flake8:
   robostack: [flake8]
+python3-flake8-comprehensions:
+  robostack: [flake8-comprehensions]
 python3-flask:
   robostack: [flask]
 python3-flask-cors:
@@ -770,6 +800,8 @@ python3-pip:
   robostack: [pip]
 python3-pkg-resources:
   robostack: []
+python3-protobuf:
+  robostack: [protobuf]
 python3-psutil:
   robostack: [psutil]
 python3-pyassimp:
@@ -858,6 +890,16 @@ python3-unidiff:
   robostack: [unidiff]
 python3-usb:
   robostack: [pyusb]
+python3-vcstool:
+  robostack: [vcstool]
+python3-flake8-docstrings:
+  robostack: [flake8-docstrings]
+python3-flake8-import-order:
+  robostack: [flake8-import-order]
+python3-flake8-builtins:
+  robostack: [flake8-builtins]
+python3-flake8-quotes:
+  robostack: [flake8-quotes]
 python3-venv:
   robostack: [virtualenv, pip, pip-tools, setuptools]
 python3-websocket:
@@ -872,12 +914,16 @@ qt5-qmake:
   robostack: [qt-main, REQUIRE_OPENGL]
 qtbase5-dev:
   robostack: [qt-main, REQUIRE_OPENGL]
+rapidjson-dev:
+  robostack: [rapidjson]
 roboticstoolbox-python:
   robostack: [roboticstoolbox-python]
 rsync:
   robostack: [rsync]
 rti-connext-dds-5.3.1:
   robostack: []
+ruby:
+  robostack: [ruby]
 sbcl:
   robostack:
     linux: [sbcl]
@@ -898,10 +944,7 @@ sdl2:
 socat:
   robostack: [socat]
 spacenavd:
-  robostack:
-    linux: [libspnav]
-    osx: [libspnav]
-    win64: []
+  robostack: [libspnav]
 spdlog:
   robostack: [spdlog]
 sshpass:
@@ -949,7 +992,7 @@ wget:
 xsimd:
   robostack: [xsimd]
 xtensor:
-  robostack: [xtensor 0.24]
+  robostack: [xtensor ==0.24.7]
 wx-common:
   robostack: [wxpython]
 wxpython:
@@ -966,4 +1009,5 @@ zbar:
   robostack: [zbar]
 zlib:
   robostack: [zlib]
-
+zziplib:
+  robostack: [zziplib]
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 051a4051e..dde34fce1 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -1,12 +1,12 @@
 ros_distro: noetic
-mutex_package: ros-distro-mutex 0.5 noetic
+mutex_package: ros-distro-mutex 0.6.* noetic_*
 
 # mapping for package keys
 conda_index:
   - robostack.yaml
   - packages-ignore.yaml
 
-build_number: 17
+build_number: 18
 
 # Ignore all dependencies of selected packages
 skip_all_deps: false
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 9d80213be..fc187cf53 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -1,12 +1,12 @@
 ros_distro: noetic
-mutex_package: ros-distro-mutex 0.5 noetic
+mutex_package: ros-distro-mutex 0.6.* noetic_*
 
 # mapping for package keys
 conda_index:
   - robostack.yaml
   - packages-ignore.yaml
 
-build_number: 11
+build_number: 12
 
 # Ignore all dependencies of selected packages
 skip_all_deps: false
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 462e80254..c2a1526d2 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -1,12 +1,12 @@
 ros_distro: noetic
-mutex_package: ros-distro-mutex 0.5 noetic
+mutex_package: ros-distro-mutex 0.6.* noetic_*
 
 # mapping for package keys
 conda_index:
   - robostack.yaml
   - packages-ignore.yaml
 
-build_number: 20
+build_number: 21
 
 # Ignore all dependencies of selected packages
 skip_all_deps: false
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index 8c439c8ee..de084c7eb 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -1,12 +1,12 @@
 ros_distro: noetic
-mutex_package: ros-distro-mutex 0.5 noetic
+mutex_package: ros-distro-mutex 0.6.* noetic_*
 
 # mapping for package keys
 conda_index:
   - robostack.yaml
   - packages-ignore.yaml
 
-build_number: 8
+build_number: 9
 
 # Ignore all dependencies of selected packages
 skip_all_deps: false
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 69d8e4071..77b5c3353 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -1,12 +1,12 @@
 ros_distro: noetic
-mutex_package: ros-distro-mutex 0.5 noetic
+mutex_package: ros-distro-mutex 0.6.* noetic_*
 
 # mapping for package keys
 conda_index:
   - robostack.yaml
   - packages-ignore.yaml
 
-build_number: 16
+build_number: 17
 
 # Ignore all dependencies of selected packages
 skip_all_deps: false