chore: improve pixi config ros (#392)

* chore: improve pixi config ros

* chore: error on clippy warnings

* fix: config usage

* misc: package map test changes

* docs: add the mapping logic to the documentation

* docs: use simplified version of the mapping structure

Author: ruben-arts

.github/workflows/python-bindings.yml

@@ -38,7 +38,7 @@ jobs:
       - name: Run clippy
         run: |
           cd py-pixi-build-backend
-          pixi run -e ci lint-rust
+          pixi run -e ci lint
       - name: Run tests
         run: |
           cd py-pixi-build-backend

backends/pixi-build-ros/pixi.lock

@@ -6,6 +6,17 @@ channels = [
 platforms = ["osx-arm64", "win-64", "linux-64"]
 preview = ["pixi-build"]
 
+[activation.env]
+CARGO_TARGET_DIR = "target/pixi"
+
+[target.linux-64.dependencies]
+clang = ">=21.1,<21.2"
+mold = ">=2.33.0,<3.0"
+patchelf = "==0.18.0"
+
+[target.linux-64.activation]
+scripts = ["../../scripts/activate.sh"]
+
 [dependencies]
 pydantic = ">=2.8.2,<3"
 py_rattler = ">=0.15.0,<0.16"

backends/pixi-build-ros/pixi.toml

@@ -105,8 +105,6 @@ def _parse_package_mappings(
         """Parse additional package mappings if set."""
         if input_value is None:
             return []
-
-        base_path = Path(os.getcwd())
         if info.context and "manifest_root" in info.context:
             base_path = Path(info.context["manifest_root"])
 

backends/pixi-build-ros/src/pixi_build_ros/config.py

@@ -141,8 +141,7 @@ def generate_recipe(
 
     def extract_input_globs_from_build(self, config: dict[str, Any], workdir: Path, editable: bool) -> list[str]:
         """Extract input globs for the build."""
-        ros_config = ROSBackendConfig.model_validate(config)
-        return get_build_input_globs(ros_config, editable)
+        return get_build_input_globs(config, editable)
 
     def default_variants(self, host_platform: Platform) -> dict[str, Any]:
         """Get the default variants for the generator."""

backends/pixi-build-ros/src/pixi_build_ros/ros_generator.py

@@ -11,7 +11,7 @@
 from pixi_build_backend.types.platform import Platform
 from pixi_build_ros.distro import Distro
 from rattler import Version
-from .config import PackageMapEntry, PackageMappingSource, ROSBackendConfig
+from .config import PackageMapEntry, PackageMappingSource
 
 
 @dataclasses.dataclass
@@ -23,7 +23,7 @@ class PackageNameWithSpec:
 
 
 # Any in here means ROSBackendConfig
-def get_build_input_globs(config: ROSBackendConfig, editable: bool) -> list[str]:
+def get_build_input_globs(config: dict[str, Any], editable: bool) -> list[str]:
     """Get build input globs for ROS package."""
     base_globs = [
         # Source files
@@ -50,8 +50,8 @@ def get_build_input_globs(config: ROSBackendConfig, editable: bool) -> list[str]
     python_globs = [] if editable else ["**/*.py", "**/*.pyx"]
 
     all_globs = base_globs + python_globs
-    if config.extra_input_globs:
-        all_globs.extend(config.extra_input_globs)
+    if config.get("extra_input_globs"):
+        all_globs.extend(config["extra_input_globs"])
     return all_globs
 
 
@@ -260,7 +260,5 @@ def package_xml_to_conda_requirements(
     cond.host = build_requirements
     cond.build = build_requirements
     cond.run = run_requirements
-    if "navigator" == pkg.name:
-        raise Exception(cond)
 
     return cond

backends/pixi-build-ros/src/pixi_build_ros/utils.py

@@ -1,7 +1,7 @@
 alsa-oss:
   conda: [other-alsa-oss]
 new_package:
-  conda: [new-package]
+  conda: new-package
 multi_package:
   conda: [multi-package-a, multi-package-b]
 ros_package:

backends/pixi-build-ros/tests/data/other_package_map.yaml

@@ -20,7 +20,7 @@ def test_package_loading(test_data_dir: Path):
         ]
     )
     assert "new_package" in result
-    assert result["new_package"]["conda"] == ["new-package"], "Should be added"
+    assert result["new_package"]["conda"] == "new-package", "Should be added"
     assert result["alsa-oss"]["conda"] == ["other-alsa-oss"], "Should be overwritten"
     assert "robostack" not in result["alsa-oss"], "Should be overwritten due to priority of package maps"
     assert "zlib" in result, "Should still be present"
@@ -38,8 +38,8 @@ def test_package_loading_with_inline_mappings(test_data_dir: Path, distro_noetic
         "distro": distro_noetic,
         "noarch": False,
         "extra-package-mappings": [
-            {"file": str(test_data_dir / "other_package_map.yaml")},
-            {"mapping": inline_entries},
+            "other_package_map.yaml",
+            inline_entries,
             robostack_file,
         ],
     }
@@ -112,12 +112,8 @@ def test_generate_recipe_with_inline_package_mappings(package_xmls: Path, test_d
             "distro": distro_noetic,
             "noarch": False,
             "extra-package-mappings": [
-                {
-                    "mapping": {
-                        "ros_package": {"ros": ["ros-custom2", "ros-custom2-msgs"]},
-                    }
-                },
-                {"file": str(test_data_dir / "other_package_map.yaml")},
+                {"ros_package": {"ros": ["ros-custom2", "ros-custom2-msgs"]}},
+                str(test_data_dir / "other_package_map.yaml"),
             ],
         }
 

backends/pixi-build-ros/tests/test_package_map.py

@@ -104,14 +104,24 @@ It would be equivalent to the following `pixi.toml`:
 name = "my_ros_package"
 version = "1.0.0"
 description = "A useful ROS package for navigation"
-maintainers = ["John Doe <developer@@example.com"]
+maintainers = ["John Doe <developer@example.com"]
 homepage = "https://github.com/user/my_ros_package"
 repository = "https://github.com/user/my_ros_package"
 ```
 
 The backend will automatically use the metadata from `package.xml` to generate a complete conda package named `ros-jazzy-my-ros-package`.
 The fields in the `pixi.toml` will override the values from `package.xml` if they are explicitly set.
 
+### Automatic Dependency Resolution
+
+Because the definition of a dependency in a `package.xml` file is not similar to a conda package name, the backend needs to map ROS dependencies to conda packages.
+
+- **Known dependencies**: Mapped using the [`robostack.yaml`](https://github.com/prefix-dev/pixi-build-backends/blob/main/backends/pixi-build-ros/robostack.yaml).
+- **Custom mappings**: You can provide additional mappings in your `pixi.toml` under [`[package.build.config.extra-package-mappings]`](#extra-package-mappings)
+- **Other packages**: Mapped to `ros-<distro>-<package-name>` format.
+
+The `<distro>` part of the package name is automatically generated based on the `distro` configuration.
+
 ## Configuration Options
 
 You can customize the ROS backend behavior using the `[package.build.config]` section in your `pixi.toml`. The backend supports the following configuration options:
@@ -151,7 +161,7 @@ env = { ROS_VERSION = "2", AMENT_CMAKE_ENVIRONMENT_HOOKS_ENABLED = "1" }
 
 If specified, internal build state and debug information will be written to this directory. Useful for troubleshooting build issues.
 
-```toml
+```toml title="pixi.toml"
 [package.build.config]
 debug-dir = ".build-debug"
 ```
@@ -164,7 +174,7 @@ debug-dir = ".build-debug"
 
 Additional glob patterns to include as input files for the build process. These patterns are added to the default input globs that include ROS-specific files.
 
-```toml
+```toml title="pixi.toml"
 [package.build.config]
 extra-input-globs = [
     "launch/**/*.py",
@@ -179,6 +189,48 @@ Default input globs include:
 - ROS configuration: `package.xml`, `setup.py`, `setup.cfg`, `pyproject.toml`
 - Build files: `CMakeLists.txt`
 
+### `extra-package-mappings`
+
+- **Type**: `List<Map<String, Map<String, List<String> | RelativeFileName>>>`
+- **Default**: `[]`
+
+Additional dependency mappings to apply to the dependency mapping process.
+These mappings are used to extend the usage of the dependencies in the `package.xml` file.
+
+```toml title="pixi.toml"
+[package.build.config]
+extra-package-mappings = [
+    {"ros-custom" = { ros =  ["ros-custom-msgs"] }},
+    "mapping.yml"
+]
+```
+
+Or using a toml array of tables:
+
+```toml title="pixi.toml"
+[[package.build.config.extra-package-mappings]]
+custom_msgs = { ros = ["custom-messages"] }
+```
+
+Or you can use a file directly in the list:
+
+```toml title="pixi.toml"
+[package.build.config]
+extra-package-mappings = ["mapping.yml"]
+```
+
+The mapping file can contain the following:
+
+```yaml title="mapping.yml"
+package_name:  # The name of the package in the package.xml
+  conda: conda-package-name # Maps to a conda package, e.g. from `conda-forge`
+package_name2: # The name of the package in the package.xml
+  conda: [package1, package2] # Maps to a list of conda packages
+ros_package:   # The name of the package in the package.xml
+  ros: ros_package # Maps to a RoboStack style package name, e.g. `ros-<distro>-ros-package` 
+```
+
+
 ## Build Process
 
 The ROS backend follows this build process:
@@ -217,20 +269,6 @@ For ROS1 packages using catkin build system:
 </export>
 ```
 
-## Dependency Mapping
-
-The backend automatically maps ROS dependencies to conda packages using the RoboStack project mappings. Dependencies in `package.xml` are converted as follows:
-
-- **ROS packages**: Mapped to `ros-<distro>-<package-name>` format
-- **Known dependencies**: Mapped using the `robostack.yaml` configuration file.
-- **Unknown dependencies**: Passed through as-is.
-
-Example dependency mapping:
-
-- `ament_cmake` → `ros-jazzy-ament-cmake`
-- `std_msgs` → `ros-jazzy-std-msgs`
-- `opencv2` → `libopencv` (via `robostack.yaml` mapping)
-
 ## Limitations
 
 - **Version constraints**: Dependency versions from `package.xml` are currently ignored

docs/backends/pixi-build-ros.md

@@ -68,7 +68,7 @@ fmt-rust = "cargo fmt --all"
 
 lint = { depends-on = ["lint-python", "lint-rust"] }
 lint-python = "ruff check ."
-lint-rust = "cargo clippy --all"
+lint-rust = "cargo clippy --all -- -D warnings"
 
 [environments]
 # Development environment with all tools (including rust-src for IDE support)