From 24f0c184336b625cc69c3554fc72f409113b1d0f Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 19:48:03 +0000
Subject: [PATCH 01/77] Install pixi

---
 .../reusable-ros-tooling-win-build.yml        | 21 +++++++++++++------
 1 file changed, 15 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 486e94c..426255a 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -17,7 +17,7 @@ on:
       os_name:
         description: 'On which OS to run the build job'
         required: false
-        default: 'windows-2019'
+        default: 'windows-2025'
         type: string
       container:
         description: '(optional) Docker container to run the job in, e.g. ubuntu:noble'
@@ -50,10 +50,19 @@ jobs:
         with:
           python-version: '3.8'
 
-      - uses: ros-tooling/setup-ros@0.7.13
-        with:
-          required-ros-distributions: ${{ inputs.ros_distro }}
-          use-ros2-testing: true
+      - name: Install Pixi and ROS
+        # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
+        run: |
+          md C:\dev
+          powershell -ExecutionPolicy ByPass -c "irm -useb https://pixi.sh/install.ps1 | iex"
+          cd C:\dev
+          irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile pixi.toml
+          pixi install
+          # Download and extract ROS 2 package using PowerShell
+          $url = "https://ci.ros2.org/view/packaging/job/packaging_windows-2025/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip"
+          $output = "C:\dev\ros2-package-windows-AMD64.zip"
+          Invoke-WebRequest -Uri $url -OutFile $output
+          Expand-Archive -Path $output -DestinationPath C:\dev\ros2_rolling
 
       - name: Install boost
         uses: MarkusJx/install-boost@v2.5.0
@@ -65,7 +74,7 @@ jobs:
             # https://github.com/MarkusJx/prebuilt-boost/blob/main/versions-manifest.json
             boost_version: 1.86.0
             # OPTIONAL: Specify a platform version
-            platform_version: 2019
+            platform_version: 2022
             # OPTIONAL: Specify a toolset
             toolset: msvc
             # Whether the boost libraries will be supplied through static or shared libraries

From 7def4fd6c4cb34f8cfbc491589cff67a045c30e0 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 19:56:12 +0000
Subject: [PATCH 02/77] Split installation

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 426255a..3df347e 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -50,11 +50,14 @@ jobs:
         with:
           python-version: '3.8'
 
-      - name: Install Pixi and ROS
+      - name: Install Pixi
+        # https://pixi.sh/latest/installation/
+        run: |
+          powershell -ExecutionPolicy ByPass -c "irm -useb https://pixi.sh/install.ps1 | iex"
+      - name: Install ROS
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
           md C:\dev
-          powershell -ExecutionPolicy ByPass -c "irm -useb https://pixi.sh/install.ps1 | iex"
           cd C:\dev
           irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile pixi.toml
           pixi install

From 1c8e4fdfc2431539877291159c3a8f4de3bfc994 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 20:02:55 +0000
Subject: [PATCH 03/77] Use pixi action

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 3df347e..523beac 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -50,10 +50,11 @@ jobs:
         with:
           python-version: '3.8'
 
-      - name: Install Pixi
-        # https://pixi.sh/latest/installation/
-        run: |
-          powershell -ExecutionPolicy ByPass -c "irm -useb https://pixi.sh/install.ps1 | iex"
+      - uses: prefix-dev/setup-pixi@v0.8.8
+        with:
+          cache: true
+      - run: pixi run test
+
       - name: Install ROS
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |

From 00739ce302285f942db031158222e936e3d3c6e6 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 20:08:30 +0000
Subject: [PATCH 04/77] No cache

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 523beac..780946a 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -51,8 +51,6 @@ jobs:
           python-version: '3.8'
 
       - uses: prefix-dev/setup-pixi@v0.8.8
-        with:
-          cache: true
       - run: pixi run test
 
       - name: Install ROS

From c86db8563ec950f3653488ab00df2028fa798e31 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 20:08:49 +0000
Subject: [PATCH 05/77] Install python later

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 780946a..45a331d 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -44,15 +44,15 @@ jobs:
       # this will be src/{repo-owner}/{repo-name}
       repo_path: src/${{ github.repository }}
     steps:
+
+      - uses: prefix-dev/setup-pixi@v0.8.8
+      - run: pixi run test
       - uses: actions/setup-python@v5
         # setup-ros has hardcoded python 3.8, as it is the default version acc. to REP-2000 for jazzy
         # let's use the same version here for the later action-ros-ci step
         with:
           python-version: '3.8'
 
-      - uses: prefix-dev/setup-pixi@v0.8.8
-      - run: pixi run test
-
       - name: Install ROS
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |

From def6647028c2f01c38f69a3e19de443152431518 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 20:12:44 +0000
Subject: [PATCH 06/77] Use ROS' pixi.toml

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 45a331d..2f0d980 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -44,9 +44,18 @@ jobs:
       # this will be src/{repo-owner}/{repo-name}
       repo_path: src/${{ github.repository }}
     steps:
+      - name: Bootstrap pixi
+        # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
+        run: |
+          md C:\dev
+          cd C:\dev
+          irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile pixi.toml
 
       - uses: prefix-dev/setup-pixi@v0.8.8
+        with:
+          manifest-path: C:\dev\pixi.toml
       - run: pixi run test
+
       - uses: actions/setup-python@v5
         # setup-ros has hardcoded python 3.8, as it is the default version acc. to REP-2000 for jazzy
         # let's use the same version here for the later action-ros-ci step

From f613f3fa23489a7d788f53b0dc1321865f70d74e Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 20:21:40 +0000
Subject: [PATCH 07/77] Cleanup

---
 .../reusable-ros-tooling-win-build.yml        | 26 -------------------
 1 file changed, 26 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 2f0d980..0a2444c 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -54,43 +54,17 @@ jobs:
       - uses: prefix-dev/setup-pixi@v0.8.8
         with:
           manifest-path: C:\dev\pixi.toml
-      - run: pixi run test
-
-      - uses: actions/setup-python@v5
-        # setup-ros has hardcoded python 3.8, as it is the default version acc. to REP-2000 for jazzy
-        # let's use the same version here for the later action-ros-ci step
-        with:
-          python-version: '3.8'
 
       - name: Install ROS
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
-          md C:\dev
           cd C:\dev
-          irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile pixi.toml
-          pixi install
           # Download and extract ROS 2 package using PowerShell
           $url = "https://ci.ros2.org/view/packaging/job/packaging_windows-2025/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip"
           $output = "C:\dev\ros2-package-windows-AMD64.zip"
           Invoke-WebRequest -Uri $url -OutFile $output
           Expand-Archive -Path $output -DestinationPath C:\dev\ros2_rolling
 
-      - name: Install boost
-        uses: MarkusJx/install-boost@v2.5.0
-        if: ${{ inputs.install_boost }}
-        id: install-boost
-        with:
-            # REQUIRED: Specify the required boost version
-            # A list of supported versions can be found here:
-            # https://github.com/MarkusJx/prebuilt-boost/blob/main/versions-manifest.json
-            boost_version: 1.86.0
-            # OPTIONAL: Specify a platform version
-            platform_version: 2022
-            # OPTIONAL: Specify a toolset
-            toolset: msvc
-            # Whether the boost libraries will be supplied through static or shared libraries
-            link: shared
-
       - name: Checkout default ref when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
         uses: actions/checkout@v4

From e4ad042abcbcf77823dbccdfbf0bf21db9f428a0 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 20:22:45 +0000
Subject: [PATCH 08/77] Test pixi+ros

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 0a2444c..932f583 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -64,6 +64,9 @@ jobs:
           $output = "C:\dev\ros2-package-windows-AMD64.zip"
           Invoke-WebRequest -Uri $url -OutFile $output
           Expand-Archive -Path $output -DestinationPath C:\dev\ros2_rolling
+          # test if pixi and ros can be sourced
+          pixi shell
+          call ros2_rolling\local_setup.bat
 
       - name: Checkout default ref when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}

From 8e6fbd71574b819eb0a603e6aca87b8414c5748a Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 20:32:39 +0000
Subject: [PATCH 09/77] Call -> &

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 932f583..2ef1972 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -66,7 +66,9 @@ jobs:
           Expand-Archive -Path $output -DestinationPath C:\dev\ros2_rolling
           # test if pixi and ros can be sourced
           pixi shell
-          call ros2_rolling\local_setup.bat
+          exit
+          pixi shell
+          & ros2_rolling\local_setup.bat
 
       - name: Checkout default ref when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}

From fe265e93f6bdbe5831d02039795102a669b0dd3c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 20:42:37 +0000
Subject: [PATCH 10/77] use pixi and manual colcon steps

---
 .../reusable-ros-tooling-win-build.yml        | 60 ++++++++++++-------
 1 file changed, 40 insertions(+), 20 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 2ef1972..87e55ae 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -34,6 +34,16 @@ on:
         required: false
         default: false
         type: boolean
+      skip_packages:
+        description: 'Packages to skip from build and test'
+        default: ''
+        required: false
+        type: string
+      skip_packages_test:
+        description: 'Packages to skip from test additionally to skip_packages'
+        default: ''
+        required: false
+        type: string
 
 jobs:
   reusable_ros_tooling_source_build:
@@ -66,8 +76,6 @@ jobs:
           Expand-Archive -Path $output -DestinationPath C:\dev\ros2_rolling
           # test if pixi and ros can be sourced
           pixi shell
-          exit
-          pixi shell
           & ros2_rolling\local_setup.bat
 
       - name: Checkout default ref when build is not scheduled
@@ -109,25 +117,37 @@ jobs:
             "repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
           }
 
-      - uses: ros-tooling/action-ros-ci@0.4.4
-        # tests are disabled https://github.com/ros-tooling/action-ros-ci/pull/712#issuecomment-969495087
-        env:
-            BOOST_ROOT: ${{ steps.install-boost.outputs.BOOST_ROOT }}
-        with:
-          target-ros2-distro: ${{ inputs.ros_distro }}
-          package-name: ${{ steps.package_list_action.outputs.package_list }}
-          vcs-repo-file-url: |
-            ${{ steps.check_local_repos.outputs.repo_file }}
-            ${{ steps.set_windows_dependencies.outputs.repo_file }}
+      - name: Install dependencies
+        shell: bash
+        run: |
+          cd C:\dev
+          pixi shell
+          & ros2_rolling\local_setup.bat
+          if [[ -n "${{ steps.check_local_repos.outputs.repo_file }}" ]]; then
+            vcs import src < ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }}
+          fi
+          if [[ -n "${{ steps.set_windows_dependencies.outputs.repo_file }}" ]]; then
+            vcs import src < ${{ env.repo_path }}/${{ steps.set_windows_dependencies.outputs.repo_file }}
+          fi
 
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-          colcon-defaults: |
-            {
-              "test": {
-                "executor": "sequential"
-              }
-            }
-        id: action-ros
+      - name: Build workspace
+        shell: bash
+        # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
+          cd C:\dev
+          pixi shell
+          & ros2_rolling\local_setup.bat
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
+      - name: Test workspace
+        shell: bash
+        run: |
+          cd C:\dev
+          pixi shell
+          & ros2_rolling\local_setup.bat
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
+          colcon test-result --verbose
 
       - name: Download issue template for target failure  # Has to be a local file
         if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule' }}

From d6d164c94f25c901577d003ae0026a117e5a2991 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 20:56:44 +0000
Subject: [PATCH 11/77] Test pixi

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 87e55ae..9838d25 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -76,6 +76,8 @@ jobs:
           Expand-Archive -Path $output -DestinationPath C:\dev\ros2_rolling
           # test if pixi and ros can be sourced
           pixi shell
+          exit
+          pixi shell
           & ros2_rolling\local_setup.bat
 
       - name: Checkout default ref when build is not scheduled

From 81c99695cb6e4ccba08bd5772df0dc3fdce74055 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 21:02:20 +0000
Subject: [PATCH 12/77] don't use bash

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 9838d25..9743145 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -120,7 +120,6 @@ jobs:
           }
 
       - name: Install dependencies
-        shell: bash
         run: |
           cd C:\dev
           pixi shell
@@ -133,7 +132,6 @@ jobs:
           fi
 
       - name: Build workspace
-        shell: bash
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
           cd C:\dev
@@ -142,7 +140,6 @@ jobs:
           source /opt/ros2_ws/install/local_setup.bash
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
       - name: Test workspace
-        shell: bash
         run: |
           cd C:\dev
           pixi shell

From fd9174e67901036a99f17330648ab19167b327a3 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 21:06:52 +0000
Subject: [PATCH 13/77] Fix pwsh

---
 .../workflows/reusable-ros-tooling-win-build.yml   | 14 +++++---------
 1 file changed, 5 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 9743145..9b85a2b 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -107,10 +107,6 @@ jobs:
             Write-Output "No local repos file found"
             "repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
           }
-
-      - name: Set windows dependencies variable
-        id: set_windows_dependencies
-        run: |
           if (![string]::IsNullOrWhiteSpace("${{ inputs.windows_dependencies }}") -and (Test-Path "${{ env.repo_path }}\${{ inputs.windows_dependencies }}")) {
             Write-Output "Windows repos file found"
             "repo_file=${{ env.repo_path }}\${{ inputs.windows_dependencies }}" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
@@ -124,12 +120,12 @@ jobs:
           cd C:\dev
           pixi shell
           & ros2_rolling\local_setup.bat
-          if [[ -n "${{ steps.check_local_repos.outputs.repo_file }}" ]]; then
+          if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
             vcs import src < ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }}
-          fi
-          if [[ -n "${{ steps.set_windows_dependencies.outputs.repo_file }}" ]]; then
-            vcs import src < ${{ env.repo_path }}/${{ steps.set_windows_dependencies.outputs.repo_file }}
-          fi
+          }
+          if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_file }}")) {
+            vcs import src < ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }}
+          }
 
       - name: Build workspace
         # source also underlay workspace with generate_parameter_library on rhel9

From 6e81405b5edce093a1d7cec5e1728fd34fdd1f40 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 21:14:48 +0000
Subject: [PATCH 14/77] Don't switch to C:

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 9b85a2b..3309bc7 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -117,9 +117,7 @@ jobs:
 
       - name: Install dependencies
         run: |
-          cd C:\dev
           pixi shell
-          & ros2_rolling\local_setup.bat
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
             vcs import src < ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }}
           }
@@ -130,17 +128,13 @@ jobs:
       - name: Build workspace
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
-          cd C:\dev
           pixi shell
-          & ros2_rolling\local_setup.bat
-          source /opt/ros2_ws/install/local_setup.bash
+          & C:\dev\ros2_rolling\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
       - name: Test workspace
         run: |
-          cd C:\dev
           pixi shell
-          & ros2_rolling\local_setup.bat
-          source /opt/ros2_ws/install/local_setup.bash
+          & C:\dev\ros2_rolling\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
           colcon test-result --verbose
 

From 4e835981c54679a8fc1e04727813419042b654b5 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 21:14:55 +0000
Subject: [PATCH 15/77] Fix vcs command

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 3309bc7..ca274bb 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -119,10 +119,10 @@ jobs:
         run: |
           pixi shell
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
-            vcs import src < ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }}
+            vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
           }
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_file }}")) {
-            vcs import src < ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }}
+            vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
           }
 
       - name: Build workspace

From 6ff9b25f0a71e1663d928141fae627ad127607a4 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Jun 2025 21:28:58 +0000
Subject: [PATCH 16/77] Use C:\dev also for target ws

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index ca274bb..cd1396b 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -51,14 +51,15 @@ jobs:
     runs-on: ${{ inputs.os_name }}
     container: ${{ inputs.container }}
     env:
-      # this will be src/{repo-owner}/{repo-name}
-      repo_path: src/${{ github.repository }}
+      # this will be C:\dev\src\{repo-owner}/{repo-name}
+      repo_path: C:\dev\src\${{ github.repository }}
     steps:
       - name: Bootstrap pixi
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
           md C:\dev
           cd C:\dev
+          md src
           irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile pixi.toml
 
       - uses: prefix-dev/setup-pixi@v0.8.8
@@ -117,6 +118,7 @@ jobs:
 
       - name: Install dependencies
         run: |
+          cd C:\dev
           pixi shell
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
@@ -128,11 +130,14 @@ jobs:
       - name: Build workspace
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
+          cd C:\dev
           pixi shell
           & C:\dev\ros2_rolling\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
+
       - name: Test workspace
         run: |
+          cd C:\dev
           pixi shell
           & C:\dev\ros2_rolling\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}

From c14ce3288717182b2a66ba9dc38bf9f1e552b3d6 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 05:46:30 +0000
Subject: [PATCH 17/77] Use github workflow folder instead

---
 .../reusable-ros-tooling-win-build.yml        | 23 +++++++------------
 1 file changed, 8 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index cd1396b..f762ee8 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -51,30 +51,26 @@ jobs:
     runs-on: ${{ inputs.os_name }}
     container: ${{ inputs.container }}
     env:
-      # this will be C:\dev\src\{repo-owner}/{repo-name}
-      repo_path: C:\dev\src\${{ github.repository }}
+      # this will be src\{repo-owner}/{repo-name}
+      repo_path: src\${{ github.repository }}
     steps:
       - name: Bootstrap pixi
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
-          md C:\dev
-          cd C:\dev
-          md src
           irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile pixi.toml
 
       - uses: prefix-dev/setup-pixi@v0.8.8
         with:
-          manifest-path: C:\dev\pixi.toml
+          manifest-path: pixi.toml
 
       - name: Install ROS
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
-          cd C:\dev
-          # Download and extract ROS 2 package using PowerShell
+          # Download and extract ROS 2 package
           $url = "https://ci.ros2.org/view/packaging/job/packaging_windows-2025/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip"
-          $output = "C:\dev\ros2-package-windows-AMD64.zip"
+          $output = "ros2-package-windows-AMD64.zip"
           Invoke-WebRequest -Uri $url -OutFile $output
-          Expand-Archive -Path $output -DestinationPath C:\dev\ros2_rolling
+          Expand-Archive -Path $output -DestinationPath ros2_rolling
           # test if pixi and ros can be sourced
           pixi shell
           exit
@@ -118,7 +114,6 @@ jobs:
 
       - name: Install dependencies
         run: |
-          cd C:\dev
           pixi shell
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
@@ -130,16 +125,14 @@ jobs:
       - name: Build workspace
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
-          cd C:\dev
           pixi shell
-          & C:\dev\ros2_rolling\local_setup.bat
+          & ros2_rolling\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace
         run: |
-          cd C:\dev
           pixi shell
-          & C:\dev\ros2_rolling\local_setup.bat
+          & ros2_rolling\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
           colcon test-result --verbose
 

From 2b0061a80768101864094417e5e4be0e08efba79 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 05:51:28 +0000
Subject: [PATCH 18/77] Why is the first pixi shell always not working?

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index f762ee8..04c5ff4 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -114,7 +114,6 @@ jobs:
 
       - name: Install dependencies
         run: |
-          pixi shell
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
           }
@@ -125,12 +124,16 @@ jobs:
       - name: Build workspace
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
+          pixi shell
+          exit
           pixi shell
           & ros2_rolling\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace
         run: |
+          pixi shell
+          exit
           pixi shell
           & ros2_rolling\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}

From 9bcd56fcef6bb8aa8c55958e0cb4d0b0085c024f Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 11:38:50 +0000
Subject: [PATCH 19/77] Revert "don't use bash"

This reverts commit 81c99695cb6e4ccba08bd5772df0dc3fdce74055.
---
 .github/workflows/reusable-ros-tooling-win-build.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 04c5ff4..ed59a38 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -113,6 +113,7 @@ jobs:
           }
 
       - name: Install dependencies
+        shell: bash
         run: |
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
@@ -122,6 +123,7 @@ jobs:
           }
 
       - name: Build workspace
+        shell: bash
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
           pixi shell
@@ -131,6 +133,7 @@ jobs:
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace
+        shell: bash
         run: |
           pixi shell
           exit

From c971dc5f6dea099c9db5a4ce37772b4a2b975200 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 11:39:50 +0000
Subject: [PATCH 20/77] Use pixi shell-hook instead

---
 .../workflows/reusable-ros-tooling-win-build.yml   | 14 ++++----------
 1 file changed, 4 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index ed59a38..793c0e5 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -113,7 +113,6 @@ jobs:
           }
 
       - name: Install dependencies
-        shell: bash
         run: |
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
@@ -124,21 +123,16 @@ jobs:
 
       - name: Build workspace
         shell: bash
-        # source also underlay workspace with generate_parameter_library on rhel9
         run: |
-          pixi shell
-          exit
-          pixi shell
-          & ros2_rolling\local_setup.bat
+          eval "$(pixi shell-hook)"
+          . ros2_rolling\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace
         shell: bash
         run: |
-          pixi shell
-          exit
-          pixi shell
-          & ros2_rolling\local_setup.bat
+          eval "$(pixi shell-hook)"
+          . ros2_rolling\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
           colcon test-result --verbose
 

From f12a43ee2a9c12ee9d0969600b7b14b98f9d1674 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 11:54:15 +0000
Subject: [PATCH 21/77] / instead of \

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 793c0e5..22f060b 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -125,14 +125,14 @@ jobs:
         shell: bash
         run: |
           eval "$(pixi shell-hook)"
-          . ros2_rolling\local_setup.bat
+          . ros2_rolling/local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace
         shell: bash
         run: |
           eval "$(pixi shell-hook)"
-          . ros2_rolling\local_setup.bat
+          . ros2_rolling/local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
           colcon test-result --verbose
 

From fc779245ee626f97e856b6906bcb837e2948a500 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 12:19:29 +0000
Subject: [PATCH 22/77] Debug pixi shell-hook

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 22f060b..1b129ad 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -125,6 +125,8 @@ jobs:
         shell: bash
         run: |
           eval "$(pixi shell-hook)"
+          ls
+          echo $PIXI_ENV_ACTIVATED
           . ros2_rolling/local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 

From 0076de385a46f5585b6cb1779a757ad836587bbb Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 12:29:48 +0000
Subject: [PATCH 23/77] Debug pixi shell-hook

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 1b129ad..a605c53 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -124,8 +124,11 @@ jobs:
       - name: Build workspace
         shell: bash
         run: |
+          set -xeu
           eval "$(pixi shell-hook)"
           ls
+          ls ros2_rolling
+          sleep 5
           echo $PIXI_ENV_ACTIVATED
           . ros2_rolling/local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}

From fe3740f06068c84b345c7ea2b4dacd99b2af1093 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 12:35:19 +0000
Subject: [PATCH 24/77] Use custom shell wrapper

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index a605c53..e7ff6d5 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -122,15 +122,9 @@ jobs:
           }
 
       - name: Build workspace
-        shell: bash
+        shell: pixi run pwsh -Command {0} # pwsh works on all platforms
         run: |
-          set -xeu
-          eval "$(pixi shell-hook)"
-          ls
-          ls ros2_rolling
-          sleep 5
-          echo $PIXI_ENV_ACTIVATED
-          . ros2_rolling/local_setup.bat
+          & ros2_rolling\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace

From 636f2b090c38dd19db97e9cdc4e51767740182c2 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 12:48:37 +0000
Subject: [PATCH 25/77] Use set-package-list-pixi

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index e7ff6d5..11b4fb3 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -90,7 +90,7 @@ jobs:
           path: ${{ env.repo_path }}
 
       - id: package_list_action
-        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list@master
+        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@windows/pixi
         with:
           path: ${{ env.repo_path }}
 
@@ -122,16 +122,15 @@ jobs:
           }
 
       - name: Build workspace
-        shell: pixi run pwsh -Command {0} # pwsh works on all platforms
+        shell: pixi run pwsh -Command {0}
         run: |
           & ros2_rolling\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace
-        shell: bash
+        shell: pixi run pwsh -Command {0}
         run: |
-          eval "$(pixi shell-hook)"
-          . ros2_rolling/local_setup.bat
+          & ros2_rolling\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
           colcon test-result --verbose
 

From f703fc097210e4f015f1939a5e313bfabcc8e41d Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 12:48:56 +0000
Subject: [PATCH 26/77] Add set-package-list-pixi

---
 .../actions/set-package-list-pixi/action.yml  | 40 +++++++++++++++++++
 1 file changed, 40 insertions(+)
 create mode 100644 .github/actions/set-package-list-pixi/action.yml

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
new file mode 100644
index 0000000..409e132
--- /dev/null
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -0,0 +1,40 @@
+name: 'Get package list'
+# pixi and ROS 2 have to be installed in the current path
+description: 'Get a list of packages in the given path'
+inputs:
+  path:
+    description: 'Path to the repository after checkout'
+outputs:
+  package_list:
+    description: "A white-space separated list of packages"
+    value: ${{ steps.colcon.outputs.package_list }}
+  package_path_list:
+    description: "A white-space separated list of package paths"
+    value: ${{ steps.colcon.outputs.package_path_list }}
+  repo_name:
+    description: "The name of the repo, last part of github.repository"
+    value: ${{ steps.split_repo.outputs.repo_name }}
+
+
+runs:
+  using: 'composite'
+  steps:
+    - id: colcon
+      # if a path is given, list the packages in the given path and its subdirectories from the path
+      # if no path is given, list all packages in the workspace
+      run: |
+        if [[ -n "${{ inputs.path }}" ]]; then
+          echo "package_list=$(colcon list --paths ${{ inputs.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
+          echo "package_path_list=$(colcon list --paths ${{ inputs.path }} --paths-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
+        else
+          echo "package_list=$(colcon list --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
+          echo "package_path_list=$(colcon list --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
+        fi
+      shell: pixi run bash -e {0}
+    - id: split_repo
+      run: |
+        echo "repo_name=$(echo ${{ github.repository }} | cut -d '/' -f 2)" >> $GITHUB_OUTPUT
+      shell: pixi run bash -e {0}
+    - run: |
+        echo "repo ${{ steps.split_repo.outputs.repo_name }} contains the packages: ${{ steps.colcon.outputs.package_list }}"
+      shell: pixi run bash -e {0}

From 775a938235a9002c0e8885d8e9744a115cc2303b Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 12:58:56 +0000
Subject: [PATCH 27/77] Use consistent forward slash

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 11b4fb3..9d31bfe 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -51,8 +51,8 @@ jobs:
     runs-on: ${{ inputs.os_name }}
     container: ${{ inputs.container }}
     env:
-      # this will be src\{repo-owner}/{repo-name}
-      repo_path: src\${{ github.repository }}
+      # this will be src/{repo-owner}/{repo-name}
+      repo_path: src/${{ github.repository }}
     steps:
       - name: Bootstrap pixi
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html

From 7e579ded18e4c0ee00c84dc9e71ef43ddc84fbaf Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:05:31 +0000
Subject: [PATCH 28/77] Debug action

---
 .github/actions/set-package-list-pixi/action.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
index 409e132..7d4902c 100644
--- a/.github/actions/set-package-list-pixi/action.yml
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -23,6 +23,7 @@ runs:
       # if a path is given, list the packages in the given path and its subdirectories from the path
       # if no path is given, list all packages in the workspace
       run: |
+        ls {{ inputs.path }}
         if [[ -n "${{ inputs.path }}" ]]; then
           echo "package_list=$(colcon list --paths ${{ inputs.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
           echo "package_path_list=$(colcon list --paths ${{ inputs.path }} --paths-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT

From 4f1eea3fa36ee0a2a35b22de1f5ddefbb76b3966 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:10:30 +0000
Subject: [PATCH 29/77] Debug action

---
 .github/actions/set-package-list-pixi/action.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
index 7d4902c..a223101 100644
--- a/.github/actions/set-package-list-pixi/action.yml
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -23,7 +23,7 @@ runs:
       # if a path is given, list the packages in the given path and its subdirectories from the path
       # if no path is given, list all packages in the workspace
       run: |
-        ls {{ inputs.path }}
+        ls ${{ inputs.path }}
         if [[ -n "${{ inputs.path }}" ]]; then
           echo "package_list=$(colcon list --paths ${{ inputs.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
           echo "package_path_list=$(colcon list --paths ${{ inputs.path }} --paths-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT

From e2f78fb87a7814492d2d6b94a685bcca88355aa0 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:15:25 +0000
Subject: [PATCH 30/77] Remove debug action

---
 .github/actions/set-package-list-pixi/action.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
index a223101..409e132 100644
--- a/.github/actions/set-package-list-pixi/action.yml
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -23,7 +23,6 @@ runs:
       # if a path is given, list the packages in the given path and its subdirectories from the path
       # if no path is given, list all packages in the workspace
       run: |
-        ls ${{ inputs.path }}
         if [[ -n "${{ inputs.path }}" ]]; then
           echo "package_list=$(colcon list --paths ${{ inputs.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
           echo "package_path_list=$(colcon list --paths ${{ inputs.path }} --paths-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT

From e7981c8236c238e2e0455ea77a9ff963cfea09e0 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:15:37 +0000
Subject: [PATCH 31/77] Install pixi globally

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 9d31bfe..f8099c7 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -62,6 +62,7 @@ jobs:
       - uses: prefix-dev/setup-pixi@v0.8.8
         with:
           manifest-path: pixi.toml
+          activate-environment: true
 
       - name: Install ROS
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
@@ -122,13 +123,11 @@ jobs:
           }
 
       - name: Build workspace
-        shell: pixi run pwsh -Command {0}
         run: |
           & ros2_rolling\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace
-        shell: pixi run pwsh -Command {0}
         run: |
           & ros2_rolling\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}

From 0c89478d5872c08e1db54037fd8607bfd53dafc3 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:21:15 +0000
Subject: [PATCH 32/77] Use ros distro

---
 .../workflows/reusable-ros-tooling-win-build.yml   | 14 ++++----------
 1 file changed, 4 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index f8099c7..0b1edd1 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -5,8 +5,7 @@ on:
   workflow_call:
     inputs:
       ros_distro:
-        description: 'ROS 2 distribution name. One of
-          https://github.com/ros-tooling/setup-ros/blob/master/src/setup-ros-windows.ts'
+        description: 'ROS 2 distribution name, e.g. rolling'
         required: true
         type: string
       ref_for_scheduled_build:
@@ -71,12 +70,7 @@ jobs:
           $url = "https://ci.ros2.org/view/packaging/job/packaging_windows-2025/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip"
           $output = "ros2-package-windows-AMD64.zip"
           Invoke-WebRequest -Uri $url -OutFile $output
-          Expand-Archive -Path $output -DestinationPath ros2_rolling
-          # test if pixi and ros can be sourced
-          pixi shell
-          exit
-          pixi shell
-          & ros2_rolling\local_setup.bat
+          Expand-Archive -Path $output -DestinationPath ros2_${{ inputs.ros_distro }}
 
       - name: Checkout default ref when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
@@ -124,12 +118,12 @@ jobs:
 
       - name: Build workspace
         run: |
-          & ros2_rolling\local_setup.bat
+          & ros2_${{ inputs.ros_distro }}\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace
         run: |
-          & ros2_rolling\local_setup.bat
+          & ros2_${{ inputs.ros_distro }}\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
           colcon test-result --verbose
 

From eb1e2f0f0497ae2bfeaa1a19edeff3dcc3e271e0 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:21:59 +0000
Subject: [PATCH 33/77] Revert "Install pixi globally"

This reverts commit e7981c8236c238e2e0455ea77a9ff963cfea09e0.
---
 .github/workflows/reusable-ros-tooling-win-build.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 0b1edd1..c19bb94 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -61,7 +61,6 @@ jobs:
       - uses: prefix-dev/setup-pixi@v0.8.8
         with:
           manifest-path: pixi.toml
-          activate-environment: true
 
       - name: Install ROS
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
@@ -117,11 +116,13 @@ jobs:
           }
 
       - name: Build workspace
+        shell: pixi run pwsh -Command {0}
         run: |
           & ros2_${{ inputs.ros_distro }}\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
 
       - name: Test workspace
+        shell: pixi run pwsh -Command {0}
         run: |
           & ros2_${{ inputs.ros_distro }}\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}

From ab510f48158d8990efca0181370f395e8fc887b9 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:25:08 +0000
Subject: [PATCH 34/77] Also for Install dependencies

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index c19bb94..bc024f7 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -107,6 +107,7 @@ jobs:
           }
 
       - name: Install dependencies
+        shell: pixi run pwsh -Command {0}
         run: |
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src

From e4a9e6dabbe116fb240e9c585324b5af6f3c8af8 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:35:56 +0000
Subject: [PATCH 35/77] Add echo

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index bc024f7..6c61bd0 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -121,6 +121,7 @@ jobs:
         run: |
           & ros2_${{ inputs.ros_distro }}\local_setup.bat
           colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
+          echo "Build succeeded"
 
       - name: Test workspace
         shell: pixi run pwsh -Command {0}
@@ -128,6 +129,7 @@ jobs:
           & ros2_${{ inputs.ros_distro }}\local_setup.bat
           colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
           colcon test-result --verbose
+          echo "Tests succeeded"
 
       - name: Download issue template for target failure  # Has to be a local file
         if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule' }}

From 4b9bb29c633666acdeea7f5068bdd6588470b084 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:52:32 +0000
Subject: [PATCH 36/77] Cache pixi

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 6c61bd0..eb8c1a3 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -61,6 +61,7 @@ jobs:
       - uses: prefix-dev/setup-pixi@v0.8.8
         with:
           manifest-path: pixi.toml
+          cache: true
 
       - name: Install ROS
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html

From 39fd17665a154057be87168c07e710e41d6a6874 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:52:48 +0000
Subject: [PATCH 37/77] Use pixi run in current shell

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index eb8c1a3..cadb703 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -118,11 +118,10 @@ jobs:
           }
 
       - name: Build workspace
-        shell: pixi run pwsh -Command {0}
         run: |
-          & ros2_${{ inputs.ros_distro }}\local_setup.bat
-          colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
-          echo "Build succeeded"
+          pixi run & ros2_${{ inputs.ros_distro }}\local_setup.bat
+          pixi run colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
+          pixi run echo "Build succeeded"
 
       - name: Test workspace
         shell: pixi run pwsh -Command {0}

From 4aebdc26ab1b15b4a91a59a703f905c6195425a6 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 13:56:06 +0000
Subject: [PATCH 38/77] Checkout first

---
 .../reusable-ros-tooling-win-build.yml        | 24 +++++++++----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index cadb703..0205c8e 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -53,6 +53,18 @@ jobs:
       # this will be src/{repo-owner}/{repo-name}
       repo_path: src/${{ github.repository }}
     steps:
+      - name: Checkout default ref when build is not scheduled
+        if: ${{ github.event_name != 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          path: ${{ env.repo_path }}
+      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
+        if: ${{ github.event_name == 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.ref_for_scheduled_build }}
+          path: ${{ env.repo_path }}
+
       - name: Bootstrap pixi
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
@@ -72,18 +84,6 @@ jobs:
           Invoke-WebRequest -Uri $url -OutFile $output
           Expand-Archive -Path $output -DestinationPath ros2_${{ inputs.ros_distro }}
 
-      - name: Checkout default ref when build is not scheduled
-        if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          path: ${{ env.repo_path }}
-      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
-        if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref_for_scheduled_build }}
-          path: ${{ env.repo_path }}
-
       - id: package_list_action
         uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@windows/pixi
         with:

From ad9a837ec75fd2246af0aab9a0e5cedf164b5103 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 14:04:14 +0000
Subject: [PATCH 39/77] Don't cache

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 0205c8e..34370c7 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -73,7 +73,6 @@ jobs:
       - uses: prefix-dev/setup-pixi@v0.8.8
         with:
           manifest-path: pixi.toml
-          cache: true
 
       - name: Install ROS
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html

From 001f202d8a3f108ee541afc72d422424999dd6dd Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 14:07:24 +0000
Subject: [PATCH 40/77] Try windows-2022

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 34370c7..b162c80 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -16,7 +16,7 @@ on:
       os_name:
         description: 'On which OS to run the build job'
         required: false
-        default: 'windows-2025'
+        default: 'windows-2022'
         type: string
       container:
         description: '(optional) Docker container to run the job in, e.g. ubuntu:noble'
@@ -78,7 +78,7 @@ jobs:
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
           # Download and extract ROS 2 package
-          $url = "https://ci.ros2.org/view/packaging/job/packaging_windows-2025/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip"
+          $url = "https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip"
           $output = "ros2-package-windows-AMD64.zip"
           Invoke-WebRequest -Uri $url -OutFile $output
           Expand-Archive -Path $output -DestinationPath ros2_${{ inputs.ros_distro }}

From f4bebbcc1cda81c6f67766abc58c4a9b85695e40 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 14:14:03 +0000
Subject: [PATCH 41/77] Revert "Use pixi run in current shell"

This reverts commit 39fd17665a154057be87168c07e710e41d6a6874.
---
 .github/workflows/reusable-ros-tooling-win-build.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index b162c80..ff1f67a 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -117,10 +117,11 @@ jobs:
           }
 
       - name: Build workspace
+        shell: pixi run pwsh -Command {0}
         run: |
-          pixi run & ros2_${{ inputs.ros_distro }}\local_setup.bat
-          pixi run colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
-          pixi run echo "Build succeeded"
+          & ros2_${{ inputs.ros_distro }}\local_setup.bat
+          colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
+          echo "Build succeeded"
 
       - name: Test workspace
         shell: pixi run pwsh -Command {0}

From 80ebdc6936f159f473e1d86ad0550324ba860551 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 14:20:59 +0000
Subject: [PATCH 42/77] Properly concatenate colcon command

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index ff1f67a..373c01a 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -120,14 +120,19 @@ jobs:
         shell: pixi run pwsh -Command {0}
         run: |
           & ros2_${{ inputs.ros_distro }}\local_setup.bat
-          colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
+          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
+          $skip_arg = if (![string]::IsNullOrWhiteSpace(${{ inputs.skip_packages }})) { "--packages-skip ${{ inputs.skip_packages }}" } else { "" }
+          colcon build $up_to_arg $skip_arg
           echo "Build succeeded"
 
       - name: Test workspace
         shell: pixi run pwsh -Command {0}
         run: |
           & ros2_${{ inputs.ros_distro }}\local_setup.bat
-          colcon test --executor sequential --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
+          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
+          $skip_packages = "${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}"
+          $skip_arg = if (![string]::IsNullOrWhiteSpace($skip_packages)) { "--packages-skip $skip_packages" } else { "" }
+          colcon test --executor sequential $up_to_arg $skip_arg
           colcon test-result --verbose
           echo "Tests succeeded"
 

From a2e587ab10895a39bc6ac992160193297f4c0521 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 14:32:48 +0000
Subject: [PATCH 43/77] Use bash instead of pwsh

---
 .../reusable-ros-tooling-win-build.yml        | 31 +++++++++++++------
 1 file changed, 22 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 373c01a..9a13322 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -117,21 +117,34 @@ jobs:
           }
 
       - name: Build workspace
-        shell: pixi run pwsh -Command {0}
+        shell: pixi run bash -e {0}
         run: |
-          & ros2_${{ inputs.ros_distro }}\local_setup.bat
-          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
-          $skip_arg = if (![string]::IsNullOrWhiteSpace(${{ inputs.skip_packages }})) { "--packages-skip ${{ inputs.skip_packages }}" } else { "" }
+          source ros2_${{ inputs.ros_distro }}\local_setup.bat
+          up_to_arg=""
+          if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
+          up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
+          fi
+          skip_arg=""
+          if [ -n "${{ inputs.skip_packages }}" ]; then
+          skip_arg="--packages-skip ${{ inputs.skip_packages }}"
+          fi
           colcon build $up_to_arg $skip_arg
+          echo "colcon build $up_to_arg $skip_arg"
           echo "Build succeeded"
 
       - name: Test workspace
-        shell: pixi run pwsh -Command {0}
+        shell: pixi run bash -e {0}
         run: |
-          & ros2_${{ inputs.ros_distro }}\local_setup.bat
-          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
-          $skip_packages = "${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}"
-          $skip_arg = if (![string]::IsNullOrWhiteSpace($skip_packages)) { "--packages-skip $skip_packages" } else { "" }
+          source ros2_${{ inputs.ros_distro }}\local_setup.bat
+          up_to_arg=""
+          if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
+          up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
+          fi
+          skip_packages="${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}"
+          skip_arg=""
+          if [ -n "$skip_packages" ]; then
+          skip_arg="--packages-skip $skip_packages"
+          fi
           colcon test --executor sequential $up_to_arg $skip_arg
           colcon test-result --verbose
           echo "Tests succeeded"

From 76ad1f0f5167f96222a989bfaa27dd37fa883030 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 14:41:48 +0000
Subject: [PATCH 44/77] Fix slash

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 9a13322..ed4b2cc 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -119,7 +119,8 @@ jobs:
       - name: Build workspace
         shell: pixi run bash -e {0}
         run: |
-          source ros2_${{ inputs.ros_distro }}\local_setup.bat
+          ls ros2_${{ inputs.ros_distro }}
+          source ros2_${{ inputs.ros_distro }}/local_setup.bat
           up_to_arg=""
           if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
           up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
@@ -135,7 +136,7 @@ jobs:
       - name: Test workspace
         shell: pixi run bash -e {0}
         run: |
-          source ros2_${{ inputs.ros_distro }}\local_setup.bat
+          source ros2_${{ inputs.ros_distro }}/local_setup.bat
           up_to_arg=""
           if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
           up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"

From 2a3396d598df196f1a150dade015b4b6c9f13cb3 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 14:50:56 +0000
Subject: [PATCH 45/77] Fix path of ros rolling

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index ed4b2cc..16bf208 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -119,8 +119,8 @@ jobs:
       - name: Build workspace
         shell: pixi run bash -e {0}
         run: |
-          ls ros2_${{ inputs.ros_distro }}
-          source ros2_${{ inputs.ros_distro }}/local_setup.bat
+          ls ros2_${{ inputs.ros_distro }}/ros2-windows
+          source ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.bat
           up_to_arg=""
           if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
           up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
@@ -129,14 +129,14 @@ jobs:
           if [ -n "${{ inputs.skip_packages }}" ]; then
           skip_arg="--packages-skip ${{ inputs.skip_packages }}"
           fi
-          colcon build $up_to_arg $skip_arg
           echo "colcon build $up_to_arg $skip_arg"
+          colcon build $up_to_arg $skip_arg
           echo "Build succeeded"
 
       - name: Test workspace
         shell: pixi run bash -e {0}
         run: |
-          source ros2_${{ inputs.ros_distro }}/local_setup.bat
+          source ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.bat
           up_to_arg=""
           if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
           up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"

From bdc4d4a45272b1492ea138c0ae5f62de8e8992c2 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 15:10:33 +0000
Subject: [PATCH 46/77] Revert "Use bash instead of pwsh"

This reverts commit a2e587ab10895a39bc6ac992160193297f4c0521.
---
 .../reusable-ros-tooling-win-build.yml        | 29 ++++++-------------
 1 file changed, 9 insertions(+), 20 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 16bf208..9e8e30e 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -117,35 +117,24 @@ jobs:
           }
 
       - name: Build workspace
-        shell: pixi run bash -e {0}
+        shell: pixi run pwsh -Command {0}
         run: |
           ls ros2_${{ inputs.ros_distro }}/ros2-windows
-          source ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.bat
-          up_to_arg=""
-          if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
-          up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
-          fi
-          skip_arg=""
-          if [ -n "${{ inputs.skip_packages }}" ]; then
-          skip_arg="--packages-skip ${{ inputs.skip_packages }}"
-          fi
+          ./ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.ps1
+          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
+          $skip_arg = if (![string]::IsNullOrWhiteSpace(${{ inputs.skip_packages }})) { "--packages-skip ${{ inputs.skip_packages }}" } else { "" }
           echo "colcon build $up_to_arg $skip_arg"
           colcon build $up_to_arg $skip_arg
           echo "Build succeeded"
 
       - name: Test workspace
-        shell: pixi run bash -e {0}
+        shell: pixi run pwsh -Command {0}
         run: |
-          source ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.bat
+          ./ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.ps1
           up_to_arg=""
-          if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
-          up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
-          fi
-          skip_packages="${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}"
-          skip_arg=""
-          if [ -n "$skip_packages" ]; then
-          skip_arg="--packages-skip $skip_packages"
-          fi
+          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
+          $skip_packages = "${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}"
+          $skip_arg = if (![string]::IsNullOrWhiteSpace($skip_packages)) { "--packages-skip $skip_packages" } else { "" }
           colcon test --executor sequential $up_to_arg $skip_arg
           colcon test-result --verbose
           echo "Tests succeeded"

From 10cf25e8b7a515f5866d15fb7f1135b153f6634b Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Thu, 12 Jun 2025 15:35:17 +0000
Subject: [PATCH 47/77] Add debug steps

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 9e8e30e..e4f7b5c 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -115,6 +115,18 @@ jobs:
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_file }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
           }
+      - name: Debug Build workspace 1
+        shell: pixi run pwsh -Command {0}
+        run: |
+          ls ros2_${{ inputs.ros_distro }}/ros2-windows
+      - name: Debug Build workspace 2
+        shell: pixi run pwsh -Command {0}
+        run: |
+          ls ros2_${{ inputs.ros_distro }}/ros2-windows
+          ./ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.ps1
+          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
+          $skip_arg = if (![string]::IsNullOrWhiteSpace(${{ inputs.skip_packages }})) { "--packages-skip ${{ inputs.skip_packages }}" } else { "" }
+          echo "colcon build $up_to_arg $skip_arg"
 
       - name: Build workspace
         shell: pixi run pwsh -Command {0}

From 5d05c834e7cffb09c88a71fd91c3d78604c3d7bb Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 22:09:49 +0200
Subject: [PATCH 48/77] Don't run tests

---
 .../reusable-ros-tooling-win-build.yml          | 17 ++---------------
 1 file changed, 2 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index e4f7b5c..82ed474 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -139,22 +139,9 @@ jobs:
           colcon build $up_to_arg $skip_arg
           echo "Build succeeded"
 
-      - name: Test workspace
-        shell: pixi run pwsh -Command {0}
-        run: |
-          ./ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.ps1
-          up_to_arg=""
-          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
-          $skip_packages = "${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}"
-          $skip_arg = if (![string]::IsNullOrWhiteSpace($skip_packages)) { "--packages-skip $skip_packages" } else { "" }
-          colcon test --executor sequential $up_to_arg $skip_arg
-          colcon test-result --verbose
-          echo "Tests succeeded"
-
-      - name: Download issue template for target failure  # Has to be a local file
+      - name: Download issue template for target failure # Has to be a local file
         if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule' }}
-        run:
-          wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/.github/issue_template_failed_ci.md -O ${{ env.repo_path }}/.github/issue_template_failed_ci.md
+        run: wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/.github/issue_template_failed_ci.md -O ${{ env.repo_path }}/.github/issue_template_failed_ci.md
       - uses: JasonEtco/create-an-issue@v2
         # action-ros-ci does not report more details on test failures afaik
         if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule'}}

From bf41cc1480105a9b91e8fd5b3438eaf340d8898e Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 22:15:32 +0200
Subject: [PATCH 49/77] Add additional parameters and use C:\dev for pixi + ROS

---
 .../reusable-ros-tooling-win-build.yml        | 100 +++++++++++-------
 1 file changed, 61 insertions(+), 39 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 82ed474..e3e9335 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -5,42 +5,37 @@ on:
   workflow_call:
     inputs:
       ros_distro:
-        description: 'ROS 2 distribution name, e.g. rolling'
+        description: "ROS 2 distribution name, e.g. rolling"
         required: true
         type: string
       ref_for_scheduled_build:
-        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
-        default: ''
+        description: "Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag."
+        default: ""
         required: false
         type: string
       os_name:
-        description: 'On which OS to run the build job'
+        description: "On which OS to run the build job"
         required: false
-        default: 'windows-2022'
+        default: "windows-2022"
         type: string
       container:
-        description: '(optional) Docker container to run the job in, e.g. ubuntu:noble'
+        description: "(optional) Docker container to run the job in, e.g. ubuntu:noble"
         required: false
-        default: ''
+        default: ""
         type: string
-      windows_dependencies:
-        description: 'Path to a repos file with additional windows dependencies'
+      pixi_dependencies:
+        description: "Whitespace separated list of additional pixi dependencies"
         required: false
-        default: ''
+        default: ""
         type: string
-      install_boost:
-        description: 'Install boost for the build'
-        required: false
-        default: false
-        type: boolean
-      skip_packages:
-        description: 'Packages to skip from build and test'
-        default: ''
+      windows_dependencies:
+        description: "Path to a repos file with additional windows dependencies"
         required: false
+        default: ""
         type: string
-      skip_packages_test:
-        description: 'Packages to skip from test additionally to skip_packages'
-        default: ''
+      skip_packages:
+        description: "Packages to skip from build and test"
+        default: ""
         required: false
         type: string
 
@@ -52,6 +47,7 @@ jobs:
     env:
       # this will be src/{repo-owner}/{repo-name}
       repo_path: src/${{ github.repository }}
+      pixi_path: C:\dev
     steps:
       - name: Checkout default ref when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
@@ -68,13 +64,22 @@ jobs:
       - name: Bootstrap pixi
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
+          mkdir -p ${{ env.pixi_path }}
+          Set-Location -Path ${{ env.pixi_path }}
           irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile pixi.toml
 
-      - uses: prefix-dev/setup-pixi@v0.8.8
+      - name: Install pixi
+        uses: prefix-dev/setup-pixi@v0.8.8
         with:
-          manifest-path: pixi.toml
+          manifest-path: ${{ env.pixi_path }}\pixi.toml
+
+      - name: Install additional pixi dependencies
+        working-directory: ${{ env.pixi_path }}
+        run: |
+          pixi add ${{ inputs.pixi_dependencies }}
 
       - name: Install ROS
+        working-directory: ${{ env.pixi_path }}
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
           # Download and extract ROS 2 package
@@ -115,29 +120,46 @@ jobs:
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_file }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
           }
+
       - name: Debug Build workspace 1
-        shell: pixi run pwsh -Command {0}
+        shell: cmd
         run: |
-          ls ros2_${{ inputs.ros_distro }}/ros2-windows
-      - name: Debug Build workspace 2
-        shell: pixi run pwsh -Command {0}
+          pixi shell --manifest-path ${{ env.pixi_path }}
+          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows
+
+      - name: Debug Build workspace 1.5
+        shell: cmd
         run: |
-          ls ros2_${{ inputs.ros_distro }}/ros2-windows
-          ./ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.ps1
-          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
-          $skip_arg = if (![string]::IsNullOrWhiteSpace(${{ inputs.skip_packages }})) { "--packages-skip ${{ inputs.skip_packages }}" } else { "" }
+          pixi shell --manifest-path ${{ env.pixi_path }}
+          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows
+          call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat
+          echo "sourced ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat"
+          up_to_arg=""
+          if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
+          up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
+          fi
+          skip_arg=""
+          if [ -n "${{ inputs.skip_packages }}" ]; then
+          skip_arg="--packages-skip ${{ inputs.skip_packages }}"
+          fi
           echo "colcon build $up_to_arg $skip_arg"
 
-      - name: Build workspace
-        shell: pixi run pwsh -Command {0}
+      - name: Debug Build workspace 2
+        shell: cmd
         run: |
-          ls ros2_${{ inputs.ros_distro }}/ros2-windows
-          ./ros2_${{ inputs.ros_distro }}/ros2-windows/local_setup.ps1
-          $up_to_arg = if (![string]::IsNullOrWhiteSpace(${{ steps.package_list_action.outputs.package_list }})) { "--packages-up-to ${{ steps.package_list_action.outputs.package_list }}" } else { "" }
-          $skip_arg = if (![string]::IsNullOrWhiteSpace(${{ inputs.skip_packages }})) { "--packages-skip ${{ inputs.skip_packages }}" } else { "" }
+          pixi shell --manifest-path ${{ env.pixi_path }}
+          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows
+          call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat
+          echo "sourced ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat"
+          up_to_arg=""
+          if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
+          up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
+          fi
+          skip_arg=""
+          if [ -n "${{ inputs.skip_packages }}" ]; then
+          skip_arg="--packages-skip ${{ inputs.skip_packages }}"
+          fi
           echo "colcon build $up_to_arg $skip_arg"
-          colcon build $up_to_arg $skip_arg
-          echo "Build succeeded"
 
       - name: Download issue template for target failure # Has to be a local file
         if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule' }}

From 2bc8936bbe0e054d1a72989d74c3357a95edcc5c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 22:41:41 +0200
Subject: [PATCH 50/77] Fix action with pixi

---
 .../actions/set-package-list-pixi/action.yml   | 18 ++++++++++--------
 .../reusable-ros-tooling-win-build.yml         | 12 +++++++++---
 2 files changed, 19 insertions(+), 11 deletions(-)

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
index 409e132..06ad98f 100644
--- a/.github/actions/set-package-list-pixi/action.yml
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -1,9 +1,11 @@
-name: 'Get package list'
+name: "Get package list"
 # pixi and ROS 2 have to be installed in the current path
-description: 'Get a list of packages in the given path'
+description: "Get a list of packages in the given path"
 inputs:
   path:
-    description: 'Path to the repository after checkout'
+    description: "Path to the repository after checkout"
+  mainfest-path:
+    description: "Path to the pixi.toml file or workspace directory"
 outputs:
   package_list:
     description: "A white-space separated list of packages"
@@ -15,14 +17,14 @@ outputs:
     description: "The name of the repo, last part of github.repository"
     value: ${{ steps.split_repo.outputs.repo_name }}
 
-
 runs:
-  using: 'composite'
+  using: "composite"
   steps:
     - id: colcon
       # if a path is given, list the packages in the given path and its subdirectories from the path
       # if no path is given, list all packages in the workspace
       run: |
+        pixi shell --manifest-path ${{ inputs.mainfest-path }}
         if [[ -n "${{ inputs.path }}" ]]; then
           echo "package_list=$(colcon list --paths ${{ inputs.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
           echo "package_path_list=$(colcon list --paths ${{ inputs.path }} --paths-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
@@ -30,11 +32,11 @@ runs:
           echo "package_list=$(colcon list --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
           echo "package_path_list=$(colcon list --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
         fi
-      shell: pixi run bash -e {0}
+      shell: bash
     - id: split_repo
       run: |
         echo "repo_name=$(echo ${{ github.repository }} | cut -d '/' -f 2)" >> $GITHUB_OUTPUT
-      shell: pixi run bash -e {0}
+      shell: bash
     - run: |
         echo "repo ${{ steps.split_repo.outputs.repo_name }} contains the packages: ${{ steps.colcon.outputs.package_list }}"
-      shell: pixi run bash -e {0}
+      shell: bash
diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index e3e9335..28a2b5d 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -88,10 +88,12 @@ jobs:
           Invoke-WebRequest -Uri $url -OutFile $output
           Expand-Archive -Path $output -DestinationPath ros2_${{ inputs.ros_distro }}
 
-      - id: package_list_action
+      - name: Get package list
+        id: package_list_action
         uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@windows/pixi
         with:
           path: ${{ env.repo_path }}
+          manifest-path: ${{ env.pixi_path }}
 
       - name: Check for local repos file
         id: check_local_repos
@@ -144,7 +146,10 @@ jobs:
           fi
           echo "colcon build $up_to_arg $skip_arg"
 
-      - name: Debug Build workspace 2
+      - name: Build workspace
+        # use Ninja generator for faster builds, needed for RSL
+        # https://github.com/search?q=repo%3APickNikRobotics%2FRSL%20ninja&type=code
+        # https://github.com/colcon/colcon-ros/issues/84#issuecomment-1862881299
         shell: cmd
         run: |
           pixi shell --manifest-path ${{ env.pixi_path }}
@@ -159,7 +164,8 @@ jobs:
           if [ -n "${{ inputs.skip_packages }}" ]; then
           skip_arg="--packages-skip ${{ inputs.skip_packages }}"
           fi
-          echo "colcon build $up_to_arg $skip_arg"
+          echo "colcon build $up_to_arg $skip_arg  --cmake-args -G Ninja"
+          colcon build $up_to_arg $skip_arg  --cmake-args -G Ninja
 
       - name: Download issue template for target failure # Has to be a local file
         if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule' }}

From 2eceb24dd84ffd506f48b1ada7805c76f8555b0b Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 22:56:14 +0200
Subject: [PATCH 51/77] Fix typo

---
 .github/actions/set-package-list-pixi/action.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
index 06ad98f..b3ae1c2 100644
--- a/.github/actions/set-package-list-pixi/action.yml
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -4,7 +4,7 @@ description: "Get a list of packages in the given path"
 inputs:
   path:
     description: "Path to the repository after checkout"
-  mainfest-path:
+  manifest-path:
     description: "Path to the pixi.toml file or workspace directory"
 outputs:
   package_list:
@@ -24,7 +24,7 @@ runs:
       # if a path is given, list the packages in the given path and its subdirectories from the path
       # if no path is given, list all packages in the workspace
       run: |
-        pixi shell --manifest-path ${{ inputs.mainfest-path }}
+        pixi shell --manifest-path ${{ inputs.manifest-path }}
         if [[ -n "${{ inputs.path }}" ]]; then
           echo "package_list=$(colcon list --paths ${{ inputs.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
           echo "package_path_list=$(colcon list --paths ${{ inputs.path }} --paths-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT

From c66d0c82cc9ad26b32e4f24eb32f619c39ae6d38 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 22:57:38 +0200
Subject: [PATCH 52/77] Remove ninja again

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 28a2b5d..e191319 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -147,7 +147,7 @@ jobs:
           echo "colcon build $up_to_arg $skip_arg"
 
       - name: Build workspace
-        # use Ninja generator for faster builds, needed for RSL
+        # TODO: use Ninja generator for RSL, but doesn't work for msg packages
         # https://github.com/search?q=repo%3APickNikRobotics%2FRSL%20ninja&type=code
         # https://github.com/colcon/colcon-ros/issues/84#issuecomment-1862881299
         shell: cmd
@@ -164,8 +164,8 @@ jobs:
           if [ -n "${{ inputs.skip_packages }}" ]; then
           skip_arg="--packages-skip ${{ inputs.skip_packages }}"
           fi
-          echo "colcon build $up_to_arg $skip_arg  --cmake-args -G Ninja"
-          colcon build $up_to_arg $skip_arg  --cmake-args -G Ninja
+          echo "colcon build $up_to_arg $skip_arg --cmake-args -G Ninja --event-handler console_cohesion+"
+          colcon build $up_to_arg $skip_arg --cmake-args --event-handler console_cohesion+
 
       - name: Download issue template for target failure # Has to be a local file
         if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule' }}

From f8eaef35eec1af347eab42a218d638163c39baa4 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 23:30:15 +0200
Subject: [PATCH 53/77] Debug manifest path

---
 .github/actions/set-package-list-pixi/action.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
index b3ae1c2..99ef0b0 100644
--- a/.github/actions/set-package-list-pixi/action.yml
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -24,6 +24,8 @@ runs:
       # if a path is given, list the packages in the given path and its subdirectories from the path
       # if no path is given, list all packages in the workspace
       run: |
+        echo $PWD
+        ls ${{ inputs.manifest-path }} || true
         pixi shell --manifest-path ${{ inputs.manifest-path }}
         if [[ -n "${{ inputs.path }}" ]]; then
           echo "package_list=$(colcon list --paths ${{ inputs.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT

From 4421a0422f0815a6b5e29b6d6f9e969f3baa994f Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 23:35:42 +0200
Subject: [PATCH 54/77] Use \

---
 .../workflows/reusable-ros-tooling-win-build.yml    | 13 +++++--------
 1 file changed, 5 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index e191319..8716fe4 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -127,19 +127,16 @@ jobs:
         shell: cmd
         run: |
           pixi shell --manifest-path ${{ env.pixi_path }}
-          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows
+          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows
 
       - name: Debug Build workspace 1.5
         shell: cmd
         run: |
           pixi shell --manifest-path ${{ env.pixi_path }}
-          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows
-          call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat
-          echo "sourced ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat"
-          up_to_arg=""
-          if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
-          up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
-          fi
+          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows
+          call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
+          echo "sourced ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat"
+          up_to_arg="--packages-up-to realtime_tools"
           skip_arg=""
           if [ -n "${{ inputs.skip_packages }}" ]; then
           skip_arg="--packages-skip ${{ inputs.skip_packages }}"

From 91169f13a2843c2d1cf625a8dc4f455f33f246b1 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 23:35:51 +0200
Subject: [PATCH 55/77] hardcode package for now

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 8716fe4..ea81619 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -88,12 +88,12 @@ jobs:
           Invoke-WebRequest -Uri $url -OutFile $output
           Expand-Archive -Path $output -DestinationPath ros2_${{ inputs.ros_distro }}
 
-      - name: Get package list
-        id: package_list_action
-        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@windows/pixi
-        with:
-          path: ${{ env.repo_path }}
-          manifest-path: ${{ env.pixi_path }}
+      # - name: Get package list
+      #   id: package_list_action
+      #   uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@windows/pixi
+      #   with:
+      #     path: ${{ env.repo_path }}
+      #     manifest-path: ${{ env.pixi_path }}
 
       - name: Check for local repos file
         id: check_local_repos

From c5a81a3e2052d78942f25c65c42af043ca5a7013 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 23:48:56 +0200
Subject: [PATCH 56/77] Hardcode pacakge in install deps step

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index ea81619..ab57fe8 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -98,9 +98,9 @@ jobs:
       - name: Check for local repos file
         id: check_local_repos
         run: |
-          if (Test-Path ${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos) {
+          if (Test-Path ${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos) {
               Write-Output "Local repos file found"
-              "repo_file=${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
+              "repo_file=${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
           } else {
             Write-Output "No local repos file found"
             "repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append

From 5774a0eb1cfa35f674c999e19328f4b48c5ee634 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Fri, 13 Jun 2025 23:49:07 +0200
Subject: [PATCH 57/77] Fix install deps step

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index ab57fe8..16a72fd 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -114,8 +114,9 @@ jobs:
           }
 
       - name: Install dependencies
-        shell: pixi run pwsh -Command {0}
+        shell: pwsh
         run: |
+          pixi shell --manifest-path ${{ env.pixi_path }}
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
           }

From b3b0f41453faa97ecbfe7d6c1f07355b1c635478 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 00:25:01 +0200
Subject: [PATCH 58/77] Fix check_local_repos

---
 .../workflows/reusable-ros-tooling-win-build.yml | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 16a72fd..f339731 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -99,30 +99,30 @@ jobs:
         id: check_local_repos
         run: |
           if (Test-Path ${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos) {
-              Write-Output "Local repos file found"
-              "repo_file=${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
+            Write-Output "Local repos file found"
+            "repo_file=${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos" | Out-File -FilePath $Env:GITHUB_OUTPUT
           } else {
             Write-Output "No local repos file found"
-            "repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
+            "repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT
           }
           if (![string]::IsNullOrWhiteSpace("${{ inputs.windows_dependencies }}") -and (Test-Path "${{ env.repo_path }}\${{ inputs.windows_dependencies }}")) {
             Write-Output "Windows repos file found"
-            "repo_file=${{ env.repo_path }}\${{ inputs.windows_dependencies }}" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
+            "repo_file_win=${{ env.repo_path }}\${{ inputs.windows_dependencies }}" | Out-File -FilePath $Env:GITHUB_OUTPUT
           } else {
             Write-Output "No windows dependencies provided or file not found"
-            "repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT -Append
+            "repo_file_win=" | Out-File -FilePath $Env:GITHUB_OUTPUT
           }
 
       - name: Install dependencies
         shell: pwsh
         run: |
           pixi shell --manifest-path ${{ env.pixi_path }}
-          if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_files }}")) {
-            vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
-          }
           if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_file }}")) {
             vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
           }
+          if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_file_win }}")) {
+            vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file_win }} src
+          }
 
       - name: Debug Build workspace 1
         shell: cmd

From af76e72d968abc71a59a8c85a10f51075ac2e32f Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 00:31:28 +0200
Subject: [PATCH 59/77] Fix build step

---
 .../reusable-ros-tooling-win-build.yml        | 51 +++++++------------
 1 file changed, 19 insertions(+), 32 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index f339731..aa960f1 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -137,12 +137,15 @@ jobs:
           ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows
           call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
           echo "sourced ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat"
-          up_to_arg="--packages-up-to realtime_tools"
-          skip_arg=""
-          if [ -n "${{ inputs.skip_packages }}" ]; then
-          skip_arg="--packages-skip ${{ inputs.skip_packages }}"
-          fi
-          echo "colcon build $up_to_arg $skip_arg"
+          set up_to_arg=
+          if not "realtime_tools"=="" (
+          set up_to_arg=--packages-up-to realtime_tools
+          )
+          set skip_arg=
+          if not "${{ inputs.skip_packages }}"=="" (
+          set skip_arg=--packages-skip ${{ inputs.skip_packages }}
+          )
+          echo colcon build %up_to_arg% %skip_arg%
 
       - name: Build workspace
         # TODO: use Ninja generator for RSL, but doesn't work for msg packages
@@ -151,31 +154,15 @@ jobs:
         shell: cmd
         run: |
           pixi shell --manifest-path ${{ env.pixi_path }}
-          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows
           call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat
           echo "sourced ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat"
-          up_to_arg=""
-          if [ -n "${{ steps.package_list_action.outputs.package_list }}" ]; then
-          up_to_arg="--packages-up-to ${{ steps.package_list_action.outputs.package_list }}"
-          fi
-          skip_arg=""
-          if [ -n "${{ inputs.skip_packages }}" ]; then
-          skip_arg="--packages-skip ${{ inputs.skip_packages }}"
-          fi
-          echo "colcon build $up_to_arg $skip_arg --cmake-args -G Ninja --event-handler console_cohesion+"
-          colcon build $up_to_arg $skip_arg --cmake-args --event-handler console_cohesion+
-
-      - name: Download issue template for target failure # Has to be a local file
-        if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule' }}
-        run: wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/.github/issue_template_failed_ci.md -O ${{ env.repo_path }}/.github/issue_template_failed_ci.md
-      - uses: JasonEtco/create-an-issue@v2
-        # action-ros-ci does not report more details on test failures afaik
-        if: ${{ always() && steps.action-ros.outcome == 'failure' && github.event_name == 'schedule'}}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          ACTION_NAME: ${{ inputs.ros_distro }}/source
-          REF: ${{ inputs.ref_for_scheduled_build }}
-          URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
-        with:
-          update_existing: true
-          filename: ${{ env.repo_path }}/.github/issue_template_failed_ci.md
+          set up_to_arg=
+          if not "realtime_tools"=="" (
+          set up_to_arg=--packages-up-to realtime_tools
+          )
+          set skip_arg=
+          if not "${{ inputs.skip_packages }}"=="" (
+          set skip_arg=--packages-skip ${{ inputs.skip_packages }}
+          )
+          echo colcon build %up_to_arg% %skip_arg%
+          colcon build %up_to_arg% %skip_arg% --cmake-args --event-handler console_cohesion+

From c1c320481526f0cbb272adcb2b7831ca159328f3 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 00:45:23 +0200
Subject: [PATCH 60/77] get colcon version

---
 .../reusable-ros-tooling-win-build.yml        | 19 ++++++-------------
 1 file changed, 6 insertions(+), 13 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index aa960f1..04285ed 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -134,18 +134,11 @@ jobs:
         shell: cmd
         run: |
           pixi shell --manifest-path ${{ env.pixi_path }}
-          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows
+          colcon --version
           call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
-          echo "sourced ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat"
-          set up_to_arg=
-          if not "realtime_tools"=="" (
-          set up_to_arg=--packages-up-to realtime_tools
-          )
-          set skip_arg=
-          if not "${{ inputs.skip_packages }}"=="" (
-          set skip_arg=--packages-skip ${{ inputs.skip_packages }}
-          )
-          echo colcon build %up_to_arg% %skip_arg%
+          echo sourced ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
+          echo colcon --version
+          colcon --version
 
       - name: Build workspace
         # TODO: use Ninja generator for RSL, but doesn't work for msg packages
@@ -154,8 +147,8 @@ jobs:
         shell: cmd
         run: |
           pixi shell --manifest-path ${{ env.pixi_path }}
-          call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat
-          echo "sourced ros2_${{ inputs.ros_distro }}/ros2-windows/setup.bat"
+          call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
+          echo sourced ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
           set up_to_arg=
           if not "realtime_tools"=="" (
           set up_to_arg=--packages-up-to realtime_tools

From b4d5f9889b227fffd72117a8aac607ce033657f7 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 08:11:36 +0200
Subject: [PATCH 61/77] Fix install dependencies

---
 .../reusable-ros-tooling-win-build.yml        | 23 ++++++++-----------
 1 file changed, 9 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 04285ed..d1ffd4e 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -95,33 +95,28 @@ jobs:
       #     path: ${{ env.repo_path }}
       #     manifest-path: ${{ env.pixi_path }}
 
-      - name: Check for local repos file
-        id: check_local_repos
+      - name: Install dependencies
         run: |
           if (Test-Path ${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos) {
             Write-Output "Local repos file found"
-            "repo_file=${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos" | Out-File -FilePath $Env:GITHUB_OUTPUT
+            $repo_file = "${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos"
           } else {
             Write-Output "No local repos file found"
-            "repo_file=" | Out-File -FilePath $Env:GITHUB_OUTPUT
+            $repo_file=""
           }
           if (![string]::IsNullOrWhiteSpace("${{ inputs.windows_dependencies }}") -and (Test-Path "${{ env.repo_path }}\${{ inputs.windows_dependencies }}")) {
             Write-Output "Windows repos file found"
-            "repo_file_win=${{ env.repo_path }}\${{ inputs.windows_dependencies }}" | Out-File -FilePath $Env:GITHUB_OUTPUT
+            $repo_file_win = "${{ env.repo_path }}\${{ inputs.windows_dependencies }}"
           } else {
             Write-Output "No windows dependencies provided or file not found"
-            "repo_file_win=" | Out-File -FilePath $Env:GITHUB_OUTPUT
+            $repo_file_win = ""
           }
-
-      - name: Install dependencies
-        shell: pwsh
-        run: |
           pixi shell --manifest-path ${{ env.pixi_path }}
-          if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_file }}")) {
-            vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file }} src
+          if (![string]::IsNullOrWhiteSpace($repo_file)) {
+            vcs import --input ${{ env.repo_path }}/$repo_file src
           }
-          if (![string]::IsNullOrWhiteSpace("${{ steps.check_local_repos.outputs.repo_file_win }}")) {
-            vcs import --input ${{ env.repo_path }}/${{ steps.check_local_repos.outputs.repo_file_win }} src
+          if (![string]::IsNullOrWhiteSpace($repo_file_win)) {
+            vcs import --input ${{ env.repo_path }}/$repo_file_win src
           }
 
       - name: Debug Build workspace 1

From 3650a437ef59e773792dec152530934703f8ba43 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 08:12:29 +0200
Subject: [PATCH 62/77] Debug output

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index d1ffd4e..bea20a3 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -112,6 +112,8 @@ jobs:
             $repo_file_win = ""
           }
           pixi shell --manifest-path ${{ env.pixi_path }}
+          vcs --version
+          colcon --version
           if (![string]::IsNullOrWhiteSpace($repo_file)) {
             vcs import --input ${{ env.repo_path }}/$repo_file src
           }

From 9888004d9a1f72b7bd064b73caedb56fabb799b8 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 08:24:45 +0200
Subject: [PATCH 63/77] Debug pixi

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index bea20a3..83fe84f 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -112,6 +112,8 @@ jobs:
             $repo_file_win = ""
           }
           pixi shell --manifest-path ${{ env.pixi_path }}
+          pixi run --manifest-path ${{ env.pixi_path }} vcs --version
+          pixi run --manifest-path ${{ env.pixi_path }} colcon --version
           vcs --version
           colcon --version
           if (![string]::IsNullOrWhiteSpace($repo_file)) {

From 3fbc970cacc53fdf7eefad353018f4c8b7ca2634 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 08:48:37 +0200
Subject: [PATCH 64/77] use shell-hook instead

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 83fe84f..f05abbf 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -111,11 +111,9 @@ jobs:
             Write-Output "No windows dependencies provided or file not found"
             $repo_file_win = ""
           }
-          pixi shell --manifest-path ${{ env.pixi_path }}
-          pixi run --manifest-path ${{ env.pixi_path }} vcs --version
-          pixi run --manifest-path ${{ env.pixi_path }} colcon --version
+          Invoke-Expression ((& pixi shell-hook -s powershell --manifest-path ${{ env.pixi_path }}) -join "`n")
           vcs --version
-          colcon --version
+          colcon --help
           if (![string]::IsNullOrWhiteSpace($repo_file)) {
             vcs import --input ${{ env.repo_path }}/$repo_file src
           }

From 74278e6644eb42c1ea0193ec11807f540aa26936 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 09:05:07 +0200
Subject: [PATCH 65/77] use shell-hook instead

---
 .../reusable-ros-tooling-win-build.yml        | 25 +++++--------------
 1 file changed, 6 insertions(+), 19 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index f05abbf..b5cb39f 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -115,37 +115,24 @@ jobs:
           vcs --version
           colcon --help
           if (![string]::IsNullOrWhiteSpace($repo_file)) {
-            vcs import --input ${{ env.repo_path }}/$repo_file src
+            vcs import --input $repo_file src
           }
           if (![string]::IsNullOrWhiteSpace($repo_file_win)) {
-            vcs import --input ${{ env.repo_path }}/$repo_file_win src
+            vcs import --input $repo_file_win src
           }
 
-      - name: Debug Build workspace 1
-        shell: cmd
-        run: |
-          pixi shell --manifest-path ${{ env.pixi_path }}
-          ls ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows
-
-      - name: Debug Build workspace 1.5
-        shell: cmd
-        run: |
-          pixi shell --manifest-path ${{ env.pixi_path }}
-          colcon --version
-          call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
-          echo sourced ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
-          echo colcon --version
-          colcon --version
-
       - name: Build workspace
         # TODO: use Ninja generator for RSL, but doesn't work for msg packages
         # https://github.com/search?q=repo%3APickNikRobotics%2FRSL%20ninja&type=code
         # https://github.com/colcon/colcon-ros/issues/84#issuecomment-1862881299
         shell: cmd
         run: |
-          pixi shell --manifest-path ${{ env.pixi_path }}
+          call pixi.bat shell-hook -s cmd --manifest-path ${{ env.pixi_path }} > pixi_env.bat
+          call pixi_env.bat
+          
           call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
           echo sourced ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
+          
           set up_to_arg=
           if not "realtime_tools"=="" (
           set up_to_arg=--packages-up-to realtime_tools

From 7a042c1306d98a62cbe4ab7da2dfcc7a45cb8390 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 09:23:09 +0200
Subject: [PATCH 66/77] fix path

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index b5cb39f..06e8882 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -127,9 +127,9 @@ jobs:
         # https://github.com/colcon/colcon-ros/issues/84#issuecomment-1862881299
         shell: cmd
         run: |
-          call pixi.bat shell-hook -s cmd --manifest-path ${{ env.pixi_path }} > pixi_env.bat
+          call pixi shell-hook -s cmd --manifest-path ${{ env.pixi_path }} > pixi_env.bat
           call pixi_env.bat
-          
+
           call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
           echo sourced ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
           

From e46a80b82208a7e2646fd33274afd71719c3dee9 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 09:37:46 +0200
Subject: [PATCH 67/77] Use action for getting package names

---
 .../actions/set-package-list-pixi/action.yml  | 25 +++++++++--------
 .../reusable-ros-tooling-win-build.yml        | 28 ++++++++-----------
 2 files changed, 26 insertions(+), 27 deletions(-)

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
index 99ef0b0..cc719ae 100644
--- a/.github/actions/set-package-list-pixi/action.yml
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -24,17 +24,20 @@ runs:
       # if a path is given, list the packages in the given path and its subdirectories from the path
       # if no path is given, list all packages in the workspace
       run: |
-        echo $PWD
-        ls ${{ inputs.manifest-path }} || true
-        pixi shell --manifest-path ${{ inputs.manifest-path }}
-        if [[ -n "${{ inputs.path }}" ]]; then
-          echo "package_list=$(colcon list --paths ${{ inputs.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
-          echo "package_path_list=$(colcon list --paths ${{ inputs.path }} --paths-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
-        else
-          echo "package_list=$(colcon list --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
-          echo "package_path_list=$(colcon list --paths-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
-        fi
-      shell: bash
+        call pixi shell-hook -s cmd --manifest-path ${{ inputs.manifest-path }} > pixi_env.bat
+        call pixi_env.bat
+        if not "${{ inputs.path }}"=="" (
+          for /f "delims=" %%a in ('colcon list --paths ${{ inputs.path }} --names-only') do set "package_list=!package_list! %%a"
+          for /f "delims=" %%a in ('colcon list --paths ${{ inputs.path }}\* --names-only') do set "package_list=!package_list! %%a"
+          for /f "delims=" %%a in ('colcon list --paths ${{ inputs.path }} --paths-only') do set "package_path_list=!package_path_list! %%a"
+          for /f "delims=" %%a in ('colcon list --paths ${{ inputs.path }}\* --paths-only') do set "package_path_list=!package_path_list! %%a"
+        ) else (
+          for /f "delims=" %%a in ('colcon list --names-only') do set "package_list=!package_list! %%a"
+          for /f "delims=" %%a in ('colcon list --paths-only') do set "package_path_list=!package_path_list! %%a"
+        )
+        echo package_list=%package_list%>> %GITHUB_OUTPUT%
+        echo package_path_list=%package_path_list%>> %GITHUB_OUTPUT%
+      shell: cmd
     - id: split_repo
       run: |
         echo "repo_name=$(echo ${{ github.repository }} | cut -d '/' -f 2)" >> $GITHUB_OUTPUT
diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 06e8882..3fd8018 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -80,26 +80,26 @@ jobs:
 
       - name: Install ROS
         working-directory: ${{ env.pixi_path }}
+        # Download and extract ROS 2 package
         # https://docs.ros.org/en/rolling/Installation/Windows-Install-Binary.html
         run: |
-          # Download and extract ROS 2 package
           $url = "https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip"
           $output = "ros2-package-windows-AMD64.zip"
           Invoke-WebRequest -Uri $url -OutFile $output
           Expand-Archive -Path $output -DestinationPath ros2_${{ inputs.ros_distro }}
 
-      # - name: Get package list
-      #   id: package_list_action
-      #   uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@windows/pixi
-      #   with:
-      #     path: ${{ env.repo_path }}
-      #     manifest-path: ${{ env.pixi_path }}
+      - name: Get package list
+        id: package_list_action
+        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@windows/pixi
+        with:
+          path: ${{ env.repo_path }}
+          manifest-path: ${{ env.pixi_path }}
 
       - name: Install dependencies
         run: |
-          if (Test-Path ${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos) {
+          if (Test-Path ${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos) {
             Write-Output "Local repos file found"
-            $repo_file = "${{ env.repo_path }}\realtime_tools.${{ inputs.ros_distro }}.repos"
+            $repo_file = "${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos"
           } else {
             Write-Output "No local repos file found"
             $repo_file=""
@@ -112,8 +112,6 @@ jobs:
             $repo_file_win = ""
           }
           Invoke-Expression ((& pixi shell-hook -s powershell --manifest-path ${{ env.pixi_path }}) -join "`n")
-          vcs --version
-          colcon --help
           if (![string]::IsNullOrWhiteSpace($repo_file)) {
             vcs import --input $repo_file src
           }
@@ -131,15 +129,13 @@ jobs:
           call pixi_env.bat
 
           call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
-          echo sourced ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
           
           set up_to_arg=
-          if not "realtime_tools"=="" (
-          set up_to_arg=--packages-up-to realtime_tools
+          if not "${{ steps.package_list_action.outputs.package_list }}"=="" (
+          set up_to_arg=--packages-up-to ${{ steps.package_list_action.outputs.package_list }}
           )
           set skip_arg=
           if not "${{ inputs.skip_packages }}"=="" (
           set skip_arg=--packages-skip ${{ inputs.skip_packages }}
           )
-          echo colcon build %up_to_arg% %skip_arg%
-          colcon build %up_to_arg% %skip_arg% --cmake-args --event-handler console_cohesion+
+          colcon build %up_to_arg% %skip_arg%

From 6a2eef82ab598ef5daaf521c7f0a37e609f04540 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 17:48:36 +0200
Subject: [PATCH 68/77] Suppress output

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 3fd8018..2d87ee9 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -126,7 +126,7 @@ jobs:
         shell: cmd
         run: |
           call pixi shell-hook -s cmd --manifest-path ${{ env.pixi_path }} > pixi_env.bat
-          call pixi_env.bat
+          call pixi_env.bat >nul 2>&1
 
           call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
           

From 63188d4193a28859841b95a9ec505ff6a2915c3c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 17:48:51 +0200
Subject: [PATCH 69/77] Fix batch script

---
 .../actions/set-package-list-pixi/action.yml  | 32 ++++++++++++++-----
 1 file changed, 24 insertions(+), 8 deletions(-)

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
index cc719ae..3ca09cd 100644
--- a/.github/actions/set-package-list-pixi/action.yml
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -26,17 +26,33 @@ runs:
       run: |
         call pixi shell-hook -s cmd --manifest-path ${{ inputs.manifest-path }} > pixi_env.bat
         call pixi_env.bat
+        setlocal enabledelayedexpansion
+        set "package_list="
+        set "package_path_list="
         if not "${{ inputs.path }}"=="" (
-          for /f "delims=" %%a in ('colcon list --paths ${{ inputs.path }} --names-only') do set "package_list=!package_list! %%a"
-          for /f "delims=" %%a in ('colcon list --paths ${{ inputs.path }}\* --names-only') do set "package_list=!package_list! %%a"
-          for /f "delims=" %%a in ('colcon list --paths ${{ inputs.path }} --paths-only') do set "package_path_list=!package_path_list! %%a"
-          for /f "delims=" %%a in ('colcon list --paths ${{ inputs.path }}\* --paths-only') do set "package_path_list=!package_path_list! %%a"
+          for /f "delims=" %%a in ('colcon list --paths "${{ inputs.path }}" --names-only') do (
+            set "package_list=!package_list! %%a"
+          )
+          for /f "delims=" %%a in ('colcon list --paths "${{ inputs.path }}\*" --names-only') do (
+            set "package_list=!package_list! %%a"
+          )
+          for /f "delims=" %%a in ('colcon list --paths "${{ inputs.path }}" --paths-only') do (
+            set "package_path_list=!package_path_list! %%a"
+          )
+          for /f "delims=" %%a in ('colcon list --paths "${{ inputs.path }}\*" --paths-only') do (
+            set "package_path_list=!package_path_list! %%a"
+          )
         ) else (
-          for /f "delims=" %%a in ('colcon list --names-only') do set "package_list=!package_list! %%a"
-          for /f "delims=" %%a in ('colcon list --paths-only') do set "package_path_list=!package_path_list! %%a"
+          for /f "delims=" %%a in ('colcon list --names-only') do (
+            set "package_list=!package_list! %%a"
+          )
+          for /f "delims=" %%a in ('colcon list --paths-only') do (
+            set "package_path_list=!package_path_list! %%a"
+          )
         )
-        echo package_list=%package_list%>> %GITHUB_OUTPUT%
-        echo package_path_list=%package_path_list%>> %GITHUB_OUTPUT%
+        echo package_list=!package_list!>> %GITHUB_OUTPUT%
+        echo package_path_list=!package_path_list!>> %GITHUB_OUTPUT%
+        endlocal
       shell: cmd
     - id: split_repo
       run: |

From 0cae4b52b102b4c00903a1e2de99ab5a2ed0d705 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 18:11:14 +0200
Subject: [PATCH 70/77] Cleanup and add some comments

---
 .../actions/set-package-list-pixi/action.yml  |  7 +++-
 .../reusable-ros-tooling-win-build.yml        | 37 ++++++++-----------
 2 files changed, 20 insertions(+), 24 deletions(-)

diff --git a/.github/actions/set-package-list-pixi/action.yml b/.github/actions/set-package-list-pixi/action.yml
index 3ca09cd..5f18800 100644
--- a/.github/actions/set-package-list-pixi/action.yml
+++ b/.github/actions/set-package-list-pixi/action.yml
@@ -1,11 +1,14 @@
 name: "Get package list"
-# pixi and ROS 2 have to be installed in the current path
+# pixi has to be installed and available in the PATH
 description: "Get a list of packages in the given path"
 inputs:
   path:
-    description: "Path to the repository after checkout"
+    description: "Path to the repository after checkout action, e.g. src/repo-name"
+    required: false
+    default: ""
   manifest-path:
     description: "Path to the pixi.toml file or workspace directory"
+    required: true
 outputs:
   package_list:
     description: "A white-space separated list of packages"
diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 2d87ee9..2b8ed06 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -19,7 +19,7 @@ on:
         default: "windows-2022"
         type: string
       container:
-        description: "(optional) Docker container to run the job in, e.g. ubuntu:noble"
+        description: "Docker container to run the job in, e.g. ubuntu:noble"
         required: false
         default: ""
         type: string
@@ -34,7 +34,7 @@ on:
         default: ""
         type: string
       skip_packages:
-        description: "Packages to skip from build and test"
+        description: "Packages to skip from build"
         default: ""
         required: false
         type: string
@@ -45,9 +45,9 @@ jobs:
     runs-on: ${{ inputs.os_name }}
     container: ${{ inputs.container }}
     env:
+      pixi_path: C:\dev
       # this will be src/{repo-owner}/{repo-name}
       repo_path: src/${{ github.repository }}
-      pixi_path: C:\dev
     steps:
       - name: Checkout default ref when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
@@ -96,27 +96,20 @@ jobs:
           manifest-path: ${{ env.pixi_path }}
 
       - name: Install dependencies
+        # check for repos files, and pass them to vcstool
         run: |
-          if (Test-Path ${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos) {
-            Write-Output "Local repos file found"
-            $repo_file = "${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos"
-          } else {
-            Write-Output "No local repos file found"
-            $repo_file=""
-          }
-          if (![string]::IsNullOrWhiteSpace("${{ inputs.windows_dependencies }}") -and (Test-Path "${{ env.repo_path }}\${{ inputs.windows_dependencies }}")) {
-            Write-Output "Windows repos file found"
-            $repo_file_win = "${{ env.repo_path }}\${{ inputs.windows_dependencies }}"
-          } else {
-            Write-Output "No windows dependencies provided or file not found"
-            $repo_file_win = ""
-          }
           Invoke-Expression ((& pixi shell-hook -s powershell --manifest-path ${{ env.pixi_path }}) -join "`n")
-          if (![string]::IsNullOrWhiteSpace($repo_file)) {
+          $repo_file = "${{ env.repo_path }}\${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos"
+          if (Test-Path "$repo_file") {
+            Write-Output "Local repos file found"
             vcs import --input $repo_file src
           }
-          if (![string]::IsNullOrWhiteSpace($repo_file_win)) {
-            vcs import --input $repo_file_win src
+          if (![string]::IsNullOrWhiteSpace("${{ inputs.windows_dependencies }}") {
+            $repo_file_win = "${{ env.repo_path }}\${{ inputs.windows_dependencies }}"
+            if (Test-Path "$repo_file_win") {
+              Write-Output "Windows repos file found"
+              vcs import --input $repo_file_win src
+            }
           }
 
       - name: Build workspace
@@ -132,10 +125,10 @@ jobs:
           
           set up_to_arg=
           if not "${{ steps.package_list_action.outputs.package_list }}"=="" (
-          set up_to_arg=--packages-up-to ${{ steps.package_list_action.outputs.package_list }}
+            set up_to_arg=--packages-up-to ${{ steps.package_list_action.outputs.package_list }}
           )
           set skip_arg=
           if not "${{ inputs.skip_packages }}"=="" (
-          set skip_arg=--packages-skip ${{ inputs.skip_packages }}
+            set skip_arg=--packages-skip ${{ inputs.skip_packages }}
           )
           colcon build %up_to_arg% %skip_arg%

From af612fd50f95bf5c4d99a02589934d4095608fdc Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 21:44:05 +0200
Subject: [PATCH 71/77] Fix paranthesis and pre-commit

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 2b8ed06..1745798 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -104,7 +104,7 @@ jobs:
             Write-Output "Local repos file found"
             vcs import --input $repo_file src
           }
-          if (![string]::IsNullOrWhiteSpace("${{ inputs.windows_dependencies }}") {
+          if (![string]::IsNullOrWhiteSpace("${{ inputs.windows_dependencies }}")) {
             $repo_file_win = "${{ env.repo_path }}\${{ inputs.windows_dependencies }}"
             if (Test-Path "$repo_file_win") {
               Write-Output "Windows repos file found"
@@ -122,7 +122,7 @@ jobs:
           call pixi_env.bat >nul 2>&1
 
           call ${{ env.pixi_path }}\ros2_${{ inputs.ros_distro }}\ros2-windows\setup.bat
-          
+
           set up_to_arg=
           if not "${{ steps.package_list_action.outputs.package_list }}"=="" (
             set up_to_arg=--packages-up-to ${{ steps.package_list_action.outputs.package_list }}

From e339c3517edeb820c3d5e2501ae1a9cfeedcf552 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 14 Jun 2025 23:00:38 +0200
Subject: [PATCH 72/77] Add event handler to colcon build

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 1745798..bcf3a1e 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -131,4 +131,4 @@ jobs:
           if not "${{ inputs.skip_packages }}"=="" (
             set skip_arg=--packages-skip ${{ inputs.skip_packages }}
           )
-          colcon build %up_to_arg% %skip_arg%
+          colcon build %up_to_arg% %skip_arg% --event-handler console_cohesion+

From dda66bbce61edf98bd35d0164b38e61b0d5baf3e Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 16 Jun 2025 00:07:35 +0200
Subject: [PATCH 73/77] Try additional input for Ninja packages

---
 .../workflows/reusable-ros-tooling-win-build.yml  | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index bcf3a1e..62b59c2 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -38,6 +38,11 @@ on:
         default: ""
         required: false
         type: string
+      ninja_packages:
+        description: "Packages to be built with Ninja generator (default is MSVC otherwise)"
+        default: ""
+        required: false
+        type: string
 
 jobs:
   reusable_ros_tooling_source_build:
@@ -113,7 +118,8 @@ jobs:
           }
 
       - name: Build workspace
-        # TODO: use Ninja generator for RSL, but doesn't work for msg packages
+        # use Ninja generator optionally for selected packages. 
+        # This is needed for RSL, but doesn't work for msg packages
         # https://github.com/search?q=repo%3APickNikRobotics%2FRSL%20ninja&type=code
         # https://github.com/colcon/colcon-ros/issues/84#issuecomment-1862881299
         shell: cmd
@@ -131,4 +137,9 @@ jobs:
           if not "${{ inputs.skip_packages }}"=="" (
             set skip_arg=--packages-skip ${{ inputs.skip_packages }}
           )
-          colcon build %up_to_arg% %skip_arg% --event-handler console_cohesion+
+          set skip_ninja_arg=
+          if not "${{ inputs.ninja_packages }}"=="" (
+            colcon build --packages-select ${{ inputs.ninja_packages }} --event-handler console_cohesion+
+            set skip_ninja_arg=--packages-skip ${{ inputs.ninja_packages }}            
+          )
+          colcon build %up_to_arg% %skip_arg% %skip_ninja_arg% --event-handler console_cohesion+

From 4c4eaf7017c4e2e0fedd8fa7fab99ec09e670376 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 16 Jun 2025 10:38:39 +0200
Subject: [PATCH 74/77] Build up-to

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index 62b59c2..f3ac1d0 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -139,7 +139,7 @@ jobs:
           )
           set skip_ninja_arg=
           if not "${{ inputs.ninja_packages }}"=="" (
-            colcon build --packages-select ${{ inputs.ninja_packages }} --event-handler console_cohesion+
+            colcon build --packages-up-to ${{ inputs.ninja_packages }} --event-handler console_cohesion+
             set skip_ninja_arg=--packages-skip ${{ inputs.ninja_packages }}            
           )
           colcon build %up_to_arg% %skip_arg% %skip_ninja_arg% --event-handler console_cohesion+

From 67f45d5726309a29f8d67a024502b2ef2a46aaa6 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 16 Jun 2025 11:10:30 +0200
Subject: [PATCH 75/77] Add Ninja itself

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index f3ac1d0..ea51523 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -139,7 +139,7 @@ jobs:
           )
           set skip_ninja_arg=
           if not "${{ inputs.ninja_packages }}"=="" (
-            colcon build --packages-up-to ${{ inputs.ninja_packages }} --event-handler console_cohesion+
+            colcon build --packages-up-to ${{ inputs.ninja_packages }} --cmake-args -G Ninja --event-handler console_cohesion+
             set skip_ninja_arg=--packages-skip ${{ inputs.ninja_packages }}            
           )
           colcon build %up_to_arg% %skip_arg% %skip_ninja_arg% --event-handler console_cohesion+

From 13405752537b892beb3d26146eb27abc5ca9f039 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 16 Jun 2025 11:12:59 +0200
Subject: [PATCH 76/77] Remove trailing ws

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index ea51523..a106def 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -118,7 +118,7 @@ jobs:
           }
 
       - name: Build workspace
-        # use Ninja generator optionally for selected packages. 
+        # use Ninja generator optionally for selected packages.
         # This is needed for RSL, but doesn't work for msg packages
         # https://github.com/search?q=repo%3APickNikRobotics%2FRSL%20ninja&type=code
         # https://github.com/colcon/colcon-ros/issues/84#issuecomment-1862881299
@@ -140,6 +140,6 @@ jobs:
           set skip_ninja_arg=
           if not "${{ inputs.ninja_packages }}"=="" (
             colcon build --packages-up-to ${{ inputs.ninja_packages }} --cmake-args -G Ninja --event-handler console_cohesion+
-            set skip_ninja_arg=--packages-skip ${{ inputs.ninja_packages }}            
+            set skip_ninja_arg=--packages-skip ${{ inputs.ninja_packages }}
           )
           colcon build %up_to_arg% %skip_arg% %skip_ninja_arg% --event-handler console_cohesion+

From 112cbb8d738f6bbbbfb7af399a2c7f0e2b33b617 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Mon, 23 Jun 2025 09:11:49 +0200
Subject: [PATCH 77/77] Use master branch of CI repo

---
 .github/workflows/reusable-ros-tooling-win-build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/reusable-ros-tooling-win-build.yml b/.github/workflows/reusable-ros-tooling-win-build.yml
index a106def..5c74996 100644
--- a/.github/workflows/reusable-ros-tooling-win-build.yml
+++ b/.github/workflows/reusable-ros-tooling-win-build.yml
@@ -95,7 +95,7 @@ jobs:
 
       - name: Get package list
         id: package_list_action
-        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@windows/pixi
+        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list-pixi@master
         with:
           path: ${{ env.repo_path }}
           manifest-path: ${{ env.pixi_path }}