Fix pixi regressions

.env.example

@@ -1,10 +1,8 @@
 PORT_ROSBRIDGE=9090
 PORT_CONTROL_PANEL=4004
 
-# DDS discovery (scripts/dds_env.sh). macOS defaults to localhost-only unicast:
-# tmux daemonizes to PPID 1, so the tmux server holds its own macOS Local Network
-# permission, which Homebrew tmux never gets — multicast discovery is then dropped
-# silently and nodes never find each other. Loopback is exempt. Linux keeps stock DDS.
+# DDS discovery (scripts/dds_env.sh). macOS defaults to localhost-only unicast
+# because multicast needs a Local Network permission tmux never gets.
 # LUCY_DDS_LOCALHOST=0
 # LUCY_DDS_INTERFACE=192.168.1.5
 # LUCY_DDS_PEERS=hostA,hostB

.github/workflows/install-and-launch.yml

@@ -1,5 +1,5 @@
-# - DEV=false  -> install.sh uses url_https from config/repos.json.
-# - ./install.sh --skip-build clones sub-repos; colcon build runs via pixi run build.
+# - DEV=false  -> install.py uses url_https from config/repos.json.
+# - python3 install.py --skip-build clones sub-repos; colcon build runs via pixi run build.
 
 name: Install, Launch & Release
 
@@ -58,8 +58,8 @@ jobs:
       - name: Clone sub-repositories (skip colcon)
         shell: bash
         run: |
-          chmod +x install.sh launch_lucy.sh
-          ./install.sh --skip-build
+          chmod +x launch_lucy.sh
+          python3 install.py --skip-build
 
       - name: Build workspace (colcon)
         shell: bash
@@ -79,7 +79,7 @@ jobs:
 
       - name: Launch smoke test (headless)
         shell: bash
-        run: ./launch_lucy.sh --headless ros2 doctor --report
+        run: ./launch_lucy.sh --headless python scripts/ros_doctor.py
 
       - name: Launcher tmux smoke (Linux)
         if: matrix.pixi_platform == 'linux-64'

.gitignore

@@ -1,7 +1,7 @@
 # Pixi
 .pixi/
 
-# Workspace (filled by install.sh)
+# Workspace (filled by install.py)
 src/
 
 # Colcon

Lucy.py

@@ -202,7 +202,7 @@ def main_tui(stdscr):
                 set_dev_mode(is_dev_mode)
             elif selected_option == "Update":
                 return {
-                    "cmd": ["./install.sh"],
+                    "cmd": [sys.executable, "install.py"],
                     "interactive": False,
                     "name": "Install",
                     "extra_env": INSTALL_ENV,
@@ -249,7 +249,7 @@ def check_initial_size():
             sys.exit(1)
         if not wants_install:
             sys.exit(0)
-        rc = run_command(["./install.sh"], extra_env=INSTALL_ENV)
+        rc = run_command([sys.executable, "install.py"], extra_env=INSTALL_ENV)
         if rc != 0:
             print(f"\n--- Install finished with exit code {rc} ---")
             print("Press Enter to exit.")

README.md

@@ -35,10 +35,10 @@ Run `Lucy.py` and the install scripts **from the repository root** — they read
 ### Linux / macOS
 
 ```bash
-./install.sh          # thin wrapper around install.py
+python3 install.py
 ```
 
-**NixOS:** enable [nix-ld](https://github.com/nix-community/nix-ld) so Pixi/RoboStack conda binaries can load the host dynamic linker (required before `./install.sh`):
+**NixOS:** enable [nix-ld](https://github.com/nix-community/nix-ld) so Pixi/RoboStack conda binaries can load the host dynamic linker (required before `install.py`):
 
 ```nix
 programs.nix-ld.enable = true;
@@ -80,7 +80,7 @@ pixi run control-panel   # http://localhost:4004
 pixi run rviz            # optional viewer
 ```
 
-`pixi run core` also starts a `/joint_states` stand-in, because ros2_control's controller_manager currently crashes on Windows. The robot renders and follows the panel's sliders, but is not driveable. See the [developer guide](docs/developer_lucy_packages.md).
+`pixi run core` also starts a `/joint_states` stand-in, because ros2_control's controller_manager currently crashes on Windows. The model follows the panel's sliders, but nothing reaches the hardware. See the [developer guide](docs/developer_lucy_packages.md).
 
 ## Using the Lucy launcher
 
@@ -117,5 +117,5 @@ For developer mode, Pixi component tasks (`pixi run core`, `sim-headless`, …),
 
 ## More
 
-- [`docs/developer_lucy_packages.md`](docs/developer_lucy_packages.md) — developer guide: per-repo docs, all `install.sh` / `launch_lucy.sh` flags, dev mode, ports, environment overrides, packages overview.
+- [`docs/developer_lucy_packages.md`](docs/developer_lucy_packages.md) — developer guide: per-repo docs, all `install.py` / `launch_lucy.sh` flags, dev mode, ports, environment overrides, packages overview.
 - [`docs/launcher_packages.md`](docs/launcher_packages.md) — launcher guide: how to add new packages to the launcher UI and understand the configuration fields.

config/repos.json

@@ -8,13 +8,13 @@
     },
     {
       "name": "lucy_ros_packages",
-      "branch": "feat-pixi",
+      "branch": "aes/fix-supervisor-orphaned-children",
       "url_https": "https://github.com/Sentience-Robotics/lucy_ros_packages.git",
       "url_ssh": "git@github.com:Sentience-Robotics/lucy_ros_packages.git"
     },
     {
       "name": "lucy_control_panel",
-      "branch": "dev",
+      "branch": "aes/shorten-service-comment",
       "url_https": "https://github.com/Sentience-Robotics/lucy_control_panel.git",
       "url_ssh": "git@github.com:Sentience-Robotics/lucy_control_panel.git"
     }

docs/developer_lucy_packages.md

@@ -10,10 +10,10 @@ When enabled:
 
 | Behavior | Effect |
 |----------|--------|
-| **SSH clones** | `install.sh` uses `url_ssh` from [`config/repos.json`](../config/repos.json) instead of HTTPS |
+| **SSH clones** | `install.py` uses `url_ssh` from [`config/repos.json`](../config/repos.json) instead of HTTPS |
 | **No auto-launch** | Core and Control Panel are not started automatically on Launch |
 
-SSH keys must be configured for GitHub on your host before running `./install.sh` with `DEV=true`.
+SSH keys must be configured for GitHub on your host before running `install.py` with `DEV=true`.
 
 ### Local overrides (gitignored)
 
@@ -44,7 +44,7 @@ For a multi-robot dev setup, copy [`config/launcher_config.json.local.example`](
 
 ### Linux
 
-Standard path: `./install.sh` then `python3 Lucy.py`.
+Standard path: `python3 install.py` then `python3 Lucy.py`.
 
 **Wayland:** RViz/Gazebo may need `xhost +local:` or an X11 session.
 
@@ -66,28 +66,28 @@ Developer CLI equivalents:
 
 | Windows | Linux/macOS |
 |---------|-------------|
-| `Lucy-Setup.exe` → Fresh install | `./install.sh` |
-| `Lucy-Setup.exe` → Update | `./install.sh` |
-| `Lucy-Setup.exe` → Repair | `./install.sh --repair` |
+| `Lucy-Setup.exe` → Fresh install | `python3 install.py` |
+| `Lucy-Setup.exe` → Update | `python3 install.py` |
+| `Lucy-Setup.exe` → Repair | `python3 install.py --repair` |
 | `Lucy.exe` | `./launch_lucy.sh` |
-| `Lucy.exe --cli build-only` | `./install.sh --build-only` |
+| `Lucy.exe --cli build-only` | `python3 install.py --build-only` |
 
 Launch runs via Git Bash (`bash launch_lucy.sh`). Without tmux, the Control Center runs directly (`pixi run -- python -m launcher`).
 
-### Workspace install (`install.sh`)
+### Workspace install (`install.py`)
 
 Pixi installs RoboStack Jazzy; `colcon build --symlink-install` builds `src/`; `yarn install` sets up the control panel.
 
 | Command | What it does |
 |---------|--------------|
-| `./install.sh` | Clone missing repos, pull existing ones, `pixi install`, colcon build |
-| `./install.sh --repair` | Wipe each repo under `src/` then re-clone and rebuild |
-| `./install.sh --build-only` | Skip git; `pixi install` + colcon + panel yarn |
-| `./install.sh --skip-build` | Clone/pull only (CI) |
+| `python3 install.py` | Clone missing repos, pull existing ones, `pixi install`, colcon build |
+| `python3 install.py --repair` | Wipe each repo under `src/` then re-clone and rebuild |
+| `python3 install.py --build-only` | Skip git; `pixi install` + colcon + panel yarn |
+| `python3 install.py --skip-build` | Clone/pull only (CI) |
 
 **Do not use `rosdep`** — it bypasses Pixi/RoboStack. Add deps via `pixi.toml` or clone into `src/`. See [`docs/pixi_setup.md`](pixi_setup.md).
 
-**RealSense** (optional, not in Pixi): after a normal build, run `./scripts/build_local_realsense.sh` or `LUCY_BUILD_REALSENSE=1 ./install.sh`. Primary target is Linux; see script for aarch64 notes.
+**RealSense** (optional, not in Pixi): after a normal build, run `./scripts/build_local_realsense.sh` or `LUCY_BUILD_REALSENSE=1 python3 install.py`. Primary target is Linux; see script for aarch64 notes.
 
 **Packages under `src/`** (from [`config/repos.json`](../config/repos.json)):
 
@@ -174,7 +174,7 @@ ros2 launch lucy_bringup lucy.launch.py gazebo:=true
 
 | Action | Command |
 |--------|---------|
-| Install / update | `./install.sh` |
+| Install / update | `python3 install.py` |
 | Rebuild | `pixi run build` then `pixi run panel-install` |
 | Launch | `./launch_lucy.sh` |
 | Dev shell | `pixi run shell` |
@@ -205,7 +205,7 @@ From **Configuration → ACTIVATE**, enable **SIMULATION ONLY** to run **VALIDAT
 
 | Env var | Default | Purpose |
 |---------|---------|---------|
-| `DEV` | unset | `true` → SSH clones during `install.sh` |
+| `DEV` | unset | `true` → SSH clones during `install.py` |
 | `PORT_CONTROL_PANEL` | auto | Host port for control panel URL |
 | `PORT_CONTROL_PANEL_CONTAINER` | `VITE_PORT` from `src/lucy_control_panel/.env`, else `4004` | Port the Vite dev server listens on inside the container |
 | `PORT_ROSBRIDGE` | `9090` | rosbridge WebSocket |

docs/pixi_setup.md

@@ -25,7 +25,7 @@ When adding or changing workspace packages:
 pixi install          # updates pixi.lock for every platform in pixi.toml
 ```
 
-`install.sh` runs `pixi lock` automatically if `pixi.lock` is missing, then `pixi install`.
+`install.py` runs `pixi lock` automatically if `pixi.lock` is missing, then `pixi install`.
 
 **Pixi ≥ 0.78** is recommended for multi-platform lock resolution (`curl -fsSL https://pixi.sh/install.sh | bash`).
 

install.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 """Lucy workspace setup: clone sub-repos, install RoboStack deps via Pixi, colcon build.
 
-Single cross-platform implementation behind ./install.sh (Linux, macOS) and the
+Single cross-platform implementation behind the Windows launcher and the
 Windows flows in windows/install_ops.py. Keep behaviour changes here so no
 platform drifts from the others.
 
@@ -443,7 +443,7 @@ def confirm_install(req_id: str, prompt: str, auto_env: str) -> None:
         fail(req_id, f"{prompt} needs confirmation in non-interactive mode. "
                      f"Set {auto_env}=1 or run from an interactive terminal.")
     if input(f"{prompt} [y/N] ").strip().lower() not in ("y", "yes"):
-        fail(req_id, f"Aborted — install it manually or set {auto_env}=1.")
+        fail(req_id, f"Aborted - install it manually or set {auto_env}=1.")
 
 
 def confirm_pixi_install() -> None:
@@ -461,8 +461,8 @@ def ensure_pixi(run_command: Callable = default_run_command, log: Log = print) -
     if env_flag("LUCY_SKIP_PIXI_UPGRADE"):
         fail("pixi", f"pixi {current} is older than required {minimum}" if current else "pixi not found")
 
-    log(f"install: pixi {current} is older than {minimum} — installing latest ..." if current
-        else "install: pixi not found — installing via pixi.sh ...")
+    log(f"install: pixi {current} is older than {minimum} - installing latest ..." if current
+        else "install: pixi not found - installing via pixi.sh ...")
     log("install: (LUCY_SKIP_PIXI_UPGRADE=1 to abort; LUCY_PIXI_AUTO_UPGRADE=1 to skip prompt)")
 
     confirm_pixi_install()
@@ -502,7 +502,7 @@ def ensure_msvc(run_command: Callable = default_run_command, log: Log = print) -
     if shutil.which("winget") is None:
         fail("msvc", "winget not found, so the build tools cannot be installed automatically.")
 
-    log("install: MSVC build tools not found — installing via winget (roughly 1.5 GB) ...")
+    log("install: MSVC build tools not found - installing via winget (roughly 1.5 GB) ...")
     log("install: (LUCY_SKIP_MSVC_INSTALL=1 to abort; LUCY_MSVC_AUTO_INSTALL=1 to skip prompt)")
     confirm_install("msvc", "Install the Visual Studio Build Tools C++ compiler?", "LUCY_MSVC_AUTO_INSTALL")
     run_command(msvc_install_command())
@@ -645,7 +645,7 @@ def install_repos(
             effective = "zip"
 
     if effective == "zip" and mode == "update":
-        log("NOTE: ZIP-based install — local changes under src/ were replaced.")
+        log("NOTE: ZIP-based install - local changes under src/ were replaced.")
 
     mark_optional_colcon_ignore(root, repos, log)
     return effective
@@ -739,7 +739,7 @@ def pixi_install(
     project_root: Path | str, run_command: Callable = default_run_command, log: Log = print
 ) -> None:
     if not (Path(project_root) / "pixi.lock").is_file():
-        log("No pixi.lock — running pixi lock (solves every platform in pixi.toml) ...")
+        log("No pixi.lock - running pixi lock (solves every platform in pixi.toml) ...")
         pixi_run(project_root, ["lock"], run_command)
     log("Pixi install (RoboStack Jazzy, all workspace platforms) ...")
     pixi_run(project_root, ["install"], run_command)
@@ -752,12 +752,12 @@ def build_local_realsense_optional(
 ) -> None:
     """Optional local librealsense build (Linux-targeted shell script)."""
     if not env_flag("LUCY_BUILD_REALSENSE"):
-        log("RealSense: local build when needed — scripts/build_local_realsense.sh")
+        log("RealSense: local build when needed: scripts/build_local_realsense.sh")
         return
     if sys.platform == "win32":
         log("RealSense: LUCY_BUILD_REALSENSE set but the local build is Linux-only; skipping.")
         return
-    log("LUCY_BUILD_REALSENSE enabled — building librealsense locally ...")
+    log("LUCY_BUILD_REALSENSE enabled - building librealsense locally ...")
     script = Path(project_root) / "scripts" / "build_local_realsense.sh"
     run_command(["bash", str(script)], cwd=str(project_root))
 
@@ -870,8 +870,12 @@ def main(argv: Optional[list[str]] = None) -> int:
         print(f"Install failed: {exc}", file=sys.stderr)
         return 1
 
-    print("Repos ready. Run 'pixi run build' or re-run without --skip-build." if args.skip_build
-          else "Install complete. Run './launch_lucy.sh' or Launch in Lucy.py")
+    if args.skip_build:
+        print("Repos ready. Run 'pixi run build' or re-run without --skip-build.")
+    elif sys.platform == "win32":
+        print("Install complete. Run 'pixi run core', then 'pixi run control-panel'.")
+    else:
+        print("Install complete. Run './launch_lucy.sh' or Launch in Lucy.py")
     return 0
 
 

launch_lucy.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 # Start the Lucy stack (ROS 2 Jazzy + Control Center launcher) via Pixi.
 #
-# Prerequisite: ./install.sh
+# Prerequisite: python3 install.py
 #
 # Usage:
 #   ./launch_lucy.sh                tmux + Control Center launcher (default)
@@ -14,8 +14,6 @@
 # Ports published on the host: rosbridge 9090, control panel PORT_CONTROL_PANEL (defaults to
 # VITE_PORT from src/lucy_control_panel/.env, else 4004). Vite proxies /rosbridge to the bridge.
 #
-# Docker platform follows the last ./install.sh run (.lucy-docker-platform; override with LUCY_DOCKER_PLATFORM).
-# GPU mode is auto-detected via docker/gpu_detect.sh (jetson / nvidia / dri / software).
 
 set -e
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
@@ -99,7 +97,7 @@ vite_scheme_from_envfile() {
 check_cmd pixi
 
 if [[ ! -f "$SCRIPT_DIR/install/setup.bash" && ! -f "$SCRIPT_DIR/install/setup.bat" ]]; then
-  echo "Workspace not built. Run ./install.sh or Install in Lucy.py" >&2
+  echo "Workspace not built. Run python3 install.py or Install in Lucy.py" >&2
   exit 1
 fi
 

pixi.toml

@@ -48,7 +48,7 @@ ros-jazzy-simulation-interfaces = "*"
 ros-jazzy-backward-ros = "*"
 
 # RealSense is not a Pixi dependency — build locally when needed:
-#   ./scripts/build_local_realsense.sh  (or LUCY_BUILD_REALSENSE=1 ./install.sh)
+#   ./scripts/build_local_realsense.sh  (or LUCY_BUILD_REALSENSE=1 python3 install.py)
 
 [feature.ros.target.osx-arm64.dependencies]
 pygraphviz = "*"
@@ -108,7 +108,7 @@ panel-dev = { cmd = "yarn dev", cwd = "src/lucy_control_panel" }
 panel-build = { cmd = "yarn build", cwd = "src/lucy_control_panel" }
 
 [feature.dev.tasks]
-doctor = "ros2 doctor --report"
+doctor = "python scripts/ros_doctor.py"
 workspace-test = { cmd = "PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 pytest tests -q -p pytester -p python -p terminal" }
 shell = "bash scripts/pixi_dev_shell.sh"
 

scripts/build_local_realsense.sh

@@ -11,7 +11,7 @@
 #
 # Run after a normal workspace build (install/setup.bash must exist). Does not
 # replace pixi run build — it adds librealsense + realsense-ros to install/.
-# install.sh runs this when LUCY_BUILD_REALSENSE=1 (after colcon + panel-install).
+# install.py runs this when LUCY_BUILD_REALSENSE=1 (after colcon + panel-install).
 #
 # Uses a portable CPU count for cmake -j (nproc on Linux, sysctl on macOS).