evol(windows,docs): update Windows support and documentation

README.md

@@ -1,96 +1,109 @@
 # Lucy ROS 2 workspace (Jazzy)
 
-Workspace bringup for the Lucy / InMoov humanoid. Everything (ROS 2 Jazzy, Gazebo, RViz, the web control panel) runs inside a single Docker container — you only need **Docker**, **Git** and **Python 3** on the host (plus **`xhost`** on Linux for GUI forwarding; on macOS the GUI is viewed over VNC with no extra software — see [GUI: RViz and Gazebo](#gui-rviz-and-gazebo)).
+Workspace bringup for the Lucy / InMoov humanoid. ROS 2 Jazzy, Gazebo, RViz, and the web control panel run **natively** via [Pixi](https://pixi.prefix.dev/) and [RoboStack](https://robostack.github.io/) — no Docker required for day-to-day development.
 
 ## Requirements
 
-- [Python3](https://www.python.org/downloads/)
-- [Docker](https://docs.docker.com/engine/install/)
-- [Git](https://git-scm.com/downloads)
+| Requirement | Linux | macOS | Windows |
+|-------------|-------|-------|---------|
+| [Git](https://git-scm.com/downloads) | ✓ | ✓ | ✓ ([Git for Windows](https://git-scm.com/install/windows)) |
+| [Python 3](https://www.python.org/downloads/) (for `Lucy.py`) | ✓ | ✓ | ✓ |
+| [Pixi](https://pixi.prefix.dev/latest/installation/) **≥ 0.78** | ✓ | ✓ | ✓ |
+| **tmux** (multi-window launcher) | ✓ | ✓ (`brew install tmux`) | — (launcher runs directly) |
 
-<sub>Linux GUI forwarding uses `xhost` (preinstalled). On Wayland run `xhost +local:docker` if windows don't open — see [GUI](#gui-rviz-and-gazebo).</sub>
+ROS packages are installed by Pixi into `.pixi/`; you do not need a system ROS install.
 
-> **Windows users:** see the [Windows README](windows/README.md) — **`Lucy-Setup.exe`** to install/update, **`Lucy.exe`** to launch.
+GUI apps (RViz, Gazebo, rqt) use your **native display**. Platform-specific notes (Wayland, AirPlay port conflicts) are in the [developer guide](docs/developer_lucy_packages.md#platform-setup).
 
 ## Get the repository
 
-Install the [requirements](#requirements) first, then grab the repo. You can clone it with Git (recommended — makes updates a `git pull`) or download a ZIP.
-
-**Option A — Clone with Git (recommended):**
+**Clone (recommended):**
 
 ```bash
 git clone https://github.com/Sentience-Robotics/lucy_ws.git
+cd lucy_ws
 ```
 
-**Option B — Download the ZIP:**
+**Or** download the ZIP from GitHub (**Code → Download ZIP**), extract, and `cd lucy_ws`.
 
-- Open the repository page on GitHub, click the green **Code** button, then **Download ZIP**, and extract it.
+Run `Lucy.py` and the install scripts **from the repository root** — they read `config/` and paths relative to that directory.
 
-Then open a terminal and move into the project folder before running anything:
+## Install
+
+### Linux / macOS
 
 ```bash
-cd lucy_ws
+curl -fsSL https://pixi.sh/install.sh | bash   # if Pixi is not installed
+export PATH="$HOME/.pixi/bin:$PATH"            # if needed
+./install.sh
 ```
 
-> The manager (`Lucy.py`) must be run **from the repository root** — it reads `config/`, `docker/Dockerfile.jazzy` and mounts the workspace relative to that directory.
+### Windows
+
+**End users:** download **`Lucy-Setup.exe`** from [GitHub Releases](https://github.com/Sentience-Robotics/lucy_ws/releases). It installs Lucy, clones sub-repos, runs `pixi install`, and builds the workspace. See the [Windows README](windows/README.md).
+
+**Developers (from source):**
+
+```powershell
+python windows\Lucy.py --cli install --repos-branch master
+```
+
+Or from Git Bash: `./install.sh`
 
 ## Quick start
 
-A Python-based Text User Interface (TUI) manages the whole workspace — installing, rebuilding, and launching the environment. From the repository root, run the manager for your platform:
+After install, launch the **Lucy manager** TUI from the repository root.
 
 ### Linux / macOS
 
 ```bash
 python3 Lucy.py
 ```
 
-> On UNIX systems, if you ever run the scripts by hand, `chmod +x install.sh launch_lucy.sh` first. `./install.sh` is only a fallback to `Lucy.py`.
-
 ### Windows
 
-**Installer (recommended):** download `Lucy-Setup.exe` from [GitHub Releases](https://github.com/Sentience-Robotics/lucy_ws/releases), then see the [Windows README](windows/README.md).
+**End users:** open **Lucy** from the Start Menu (runs `Lucy.exe` → Control Center).
 
-**From source (developers):**
+**Developers:**
 
-```bash
-python windows/Lucy.py --cli install   # first time
-python windows/Lucy.py                   # launch
+```powershell
+python windows\Lucy.py
 ```
 
-> **Windows** additionally needs a third-party X Server for RViz/Gazebo — see the [Windows README](windows/README.md). End users should use **`Lucy-Setup.exe`** instead of manual install.
+Or Git Bash: `./launch_lucy.sh`
 
-### Opening the Control Panel
+## Using the Lucy launcher
 
 After **`Launch`**, enable **Core + Control Panel** in the launcher. Once it is running, the **Lucy Control Panel is accessible in your browser at [http://localhost:4004](http://localhost:4004)** (or the next free port if 4004 is already taken). The launcher also shows the exact URL next to the Control Panel entry once it's up.
 
+| Key | Action |
+|-----|--------|
+| **Up/Down** | Navigate |
+| **Space** | Toggle a package or tool |
+| **Enter** | Apply changes / Start / Restart |
+| **X** | Stop all processes and exit |
 
-## Using the workspace
+**Components you can enable:**
 
-Selecting **Launch** from the manager starts everything inside a single **tmux** session in the Docker container. You first land on the **Lucy Control Center** TUI:
+- **Core** — base robot stack (`lucy_bringup`)
+- **Modifiers** — Simulator (Gazebo), **… headless** (server-only sim, under Simulator), Visualizer (RViz), Real Hardware
+- **Interfaces** — Control Panel (web UI), Lucy CLI
+- **Tools** — Console, rqt
 
-- **Up/Down arrows** — navigate
-- **Space** — toggle a package or tool on/off
-- **Enter** — apply your changes (new tools open in their own background windows)
-- **X** — stop all processes and exit the container
+> **Recommended starting point:** **Core + Control Panel** — the web 3D viewer is enough for most work without heavy GUI apps.
 
-### Launch options
+**Control panel:** after Launch, enable **Core + Control Panel**. Open [http://localhost:5000](http://localhost:5000) (or the URL shown in the launcher if another port was chosen).
 
-What you toggle in the launcher falls into a few groups:
+**tmux windows** (Linux/macOS):
 
-- **Core** — the base robot software stack (*lucy_bringup*), everything else builds on it.
-- **Modifiers** (extend Core):
-  - **Simulator (Gazebo)** — physics simulation
-  - **Visualizer (RViz)** — ROS 3D visualizer
-  - **Real Hardware** — connect to the physical robot
-- **Interfaces:**
-  - **Control Panel** — web UI with a built-in 3D viewer
-  - **Lucy CLI** — terminal control interface
-- **Tools** — Console, rqt, and VNC viewers.
+- **`Ctrl+B` then `W`** — window list
+- **`Ctrl+B` then `N`** / **`P`** — next / previous window
 
-Gazebo, RViz and rqt are native GUI apps and need a display — native X11 or the VNC desktop (see [GUI: RViz and Gazebo](#gui-rviz-and-gazebo)). Each interface/viewer that exposes a URL shows it right in the launcher once it's running.
+On Windows, the Control Center runs without tmux (one process tree). Gazebo, RViz, and rqt still open as native GUI apps when enabled.
 
-> **Recommended starting point:** enable **Core + Control Panel**. The control panel's web 3D viewer is usually enough to get going and avoids the heavier GUI apps (Gazebo/RViz) entirely.
+## Developer setup
 
+<<<<<<< HEAD
 ### Managing tmux windows
 
 Tools (the console, CLI, viewers…) run in background windows, so a few `tmux` basics help you move between them:
@@ -159,3 +172,6 @@ the address it shows. Defaults:
 
 - [`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/launcher_packages.md`](docs/launcher_packages.md) — launcher guide: how to add new packages to the launcher UI and understand the configuration fields.
+=======
+For developer mode, Pixi component tasks (`pixi run core`, `sim-headless`, …), debug shell, SSH clones, local repo overrides, ports, and advanced launch options, see the **[developer guide](docs/developer_lucy_packages.md)**.
+>>>>>>> 41e84e8 (evol(windows,docs): update Windows support and documentation)