rclcpp VS nix

I think there's an overload of rclcpp::action::create_client that will accept an rcl_action_client_options_t (see here https://github.com/ros2/rclcpp/pull/1133/files) but it looks like MoveGroupInterface doesn't pass anything in when it creates the action clients:

So one of the bigger issues I've encountered is that re-entrant services can break with the multi-threaded executor https://github.com/ros2/rclcpp/issues/1212 Services in ROS2 by default are not reentrant meaning they need to be called asynchronously. Since my team was porting ROS1 nodes over we wanted to keep the old blocking service call behavior in ROS2 to avoid changing decision logic. Unfortunately, we found out that this can cause the node to crash per the issue above. The fix for that issue was implemented in Humble irc, but can't be ported back to foxy. That's one specific example, but we've seen a few other issues like that as well.

Alternatively, you can use the default client libraries like rclpy or rclcpp for writing custom code that reads and writes ROS2 messages.

Thanks for the response!

> This is difficult to answer without knowing more details.

The situation specifically is the ROS ecosystem, where metadata is managed in these package.xml files:

https://github.com/ros2/rclcpp/blob/master/rclcpp/package.xm...

The federated nature of the ecosystem has led to a culture where it's very normal to be building dozens of these at once, in the same workspace together, often from multiple repos (the repo above has four in it). So there are several build tools which automate the work of examining a source workspace and building all the packages within it in the correct topological order, respecting build_depend tags. The newest of these tools (colcon) has actually made the package.xml optional in many cases, as it can examine CMakelists, setup.py, BUILD, etc, and discover for itself what the dependencies are.

Your "distribution" of ROS is formed by listing all the packages and repos in this big file, for which there is other tooling to manage pulling dependency sources, whatever: https://github.com/ros/rosdistro/blob/master/foxy/distributi...

Anyway, so the existing ROS/nix efforts (1) seem to basically consume all of this package/distribution metadata at once and generate a giant parallel structure of nix definitions (eg https://github.com/lopsided98/nix-ros-overlay/blob/master/di...), which I fear would be completely opaque to users and any system which required everyone to leave behind these existing workflows would be an immediate non-starter.

I think the ideal scenario (and what it would look like if I built this myself based on debs) would be that you could source the "base" workspace as usual (enter the nix-shell?), and check out source, build packages as usual with colcon, the usual workspace-building tool, but there'd be an extra plugin/verb/flag for it, which would make it build each package as a nix package instead of into the usual installspace. The verb would generate the nix definitions on the fly, and probably handle the invocation and build-parallelism side of it as well.

[1]: https://github.com/acowley/ros2nix, https://github.com/lopsided98/nix-ros-overlay

> https://github.com/NixOS/nix/pull/9911#issuecomment-19252073...

As we covered in my last post, NixOS is a amazing Linux distribution for creating stable and declared environments. Now while this is amazing for a desktop setup, it is also perfect for a home-server or home-lab.

(Nix itself is slowly chugging along with Windows via MinGW - https://discourse.nixos.org/t/nix-on-windows/1113/108 and https://github.com/NixOS/nix/issues/1320 , for example.)

Nix is a cross-platform package manager. It uses the nix programming language. Nix and NixOs are often used in the same context, but while the first is a package manager, the latter is a linux distribution based on nix.

Today I want to talk to you about Nixos. What is it? Nixos is a declarative and reproducible OS, partly taking the words used on their own page. What does that mean?

Software developers often want to customize:

1. their home environments: for packages (some reach for brew on MacOS) and configurations (dotfiles, and some reach for stow).

2. their development shells: for build dependencies (compilers, SDKs, libraries), tools (LSP, linters, formatters, debuggers), and services (runtime, database). Some reach for devcontainers here.

3. or even their operating systems: for development, for CI, for deployment, or for personal use.

Nix provision all of the above in the same language, with Nixpkgs, NixOS, home-manager, and devShells such as https://devenv.sh/. What's more, Nix is (https://nixos.org/):

- reproducible: what works on your dev machine also works in CI in prod,

- declarative: you version control and review your configurations and infrastructure as code, at a reasonable level of abstraction,

- reliable: all changes are atomic with easy roll back.

Hopping from one distro to another with a different package manager might require some time to adapt. Using a package manager that can be installed on most distro is one way to help you get to work faster. Flatpak is one of them; other alternative are Snap, Nix or Homebrew. Flatpak is a good starter, and if you have a bunch of free time, I suggest trying Nix.

- it reduces bloat, because you can generate an environment or OS image with only the software needed to run a specific program or service

My guess is that a big efficiency gain would come from the second point, because you don't waste CPU on code that you don't use.

Does this make sense? Has anyone explored this?

[0]: https://nixos.org

1) Setting up the development environment - I currently use devcontainers for most things, but may also dig into nix -> isolated, portable, repeatable development environment 2) Exploring Echo - understand routing, requests, response, etc. 3) Incorporate Templ - integration with Echo, template composition, etc. 4) Integrating TailwindCSS - config for use with Echo/Templ, development cycle, deployment, etc. 5) Add in HTMX - endpoints, template structure, concepts, etc. 6) hyperscript for interactivity - client side interactivity