diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 00000000..16ef5c5f
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,3 @@
+# GitHub syntax highlighting
+pixi.lock linguist-language=YAML
+
diff --git a/.github/ci/colcon_defaults.yaml b/.github/ci/colcon_defaults.yaml
new file mode 100644
index 00000000..787bb25b
--- /dev/null
+++ b/.github/ci/colcon_defaults.yaml
@@ -0,0 +1,22 @@
+ {
+  "build": {
+    "merge-install": true,
+    "cmake-args": [
+      "-GNinja",
+      "--no-warn-unused-cli",
+      "-DCMAKE_BUILD_TYPE=RelWithDebInfo",
+      "-DBUILD_DOCS:bool=false",
+      "-DSKIP_optix:bool=true"
+    ],
+    "event-handlers": [
+      "console_cohesion+",
+      "console_package_list+",
+    ]
+  },
+  "test": {
+    "merge-install": true,
+    "event-handlers": [
+      "console_direct+",
+    ]
+  }
+}
diff --git a/.github/workflows/pixi.yaml b/.github/workflows/pixi.yaml
new file mode 100644
index 00000000..7bafcce4
--- /dev/null
+++ b/.github/workflows/pixi.yaml
@@ -0,0 +1,17 @@
+name: Pixi-based CI
+on: [push, pull_request]
+
+jobs:
+  default:
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: prefix-dev/setup-pixi@v0.3.0
+        with:
+          pixi-version: v0.6.0
+          cache: true
+      - run: pixi run sync collection-ionic.yaml
+      - run: pixi run build
diff --git a/.gitignore b/.gitignore
index 0d20b648..792519b9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,7 @@
 *.pyc
+
+.pixi
+build
+log
+install
+src
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 00000000..ab729990
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,8318 @@
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+    win-64: e90c2ee71ad70fc0a1c8302029533a7d1498f2bffcd0eaa8d2934700e775dc1d
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+  custom_metadata: null
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diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 00000000..fd65baea
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,20 @@
+[project]
+name = "gazebodistro"
+version = "0.1.0"
+description = "Add a short description here"
+authors = ["Michael Carroll <mjcarroll@intrinsic.ai>"]
+channels = ["conda-forge"]
+platforms = ["linux-64", "win-64", "osx-64", "osx-arm64", "linux-aarch64"]
+
+[tasks]
+sync = {cmd = "mkdir src && vcs import src --input "}
+colcon = {cmd = "COLCON_DEFAULTS_FILE=.github/ci/colcon_defaults.yaml colcon"}
+build = {cmd = "COLCON_DEFAULTS_FILE=.github/ci/colcon_defaults.yaml colcon build"}
+test = {cmd = "COLCON_DEFAULTS_FILE=.github/ci/colcon_defaults.yaml colcon test"}
+
+[dependencies]
+
+[host-dependencies]
+git = "2.42.0.*"
+vcstool = "0.3.0.*"
+colcon-common-extensions = "0.3.0.*"