Update win install backport PR

harmonic/install_windows.md

@@ -2,69 +2,88 @@
 WARNING: Current Windows support is experimental.
 </div>
 
-# Binary Installation on Windows 10
-
-Most Gazebo packages are available in Windows 10 using the [conda-forge package manager](https://conda-forge.org/),
-and the Gazebo feedstock recipes can be found [here](https://github.com/search?q=org:conda-forge+libgz&type=code).
-
-
-In order to use `conda-forge`, you will need to
-1. Install a [Conda package management system](https://docs.conda.io/projects/conda/en/latest/user-guide/install/download.html).
-   Miniconda suffices. You will likely want to check the box to add `conda` to your `PATH`
-   during the installation process so that you won't have to do this step manually.
-
-2. Open a Windows command prompt, being sure to have `conda` added to your
-   Windows `PATH` system environment variable (you may also need to open
-   a new command prompt to see any `PATH` changes reflected).
-
-  If you did not add Conda to your `PATH` environment variable
-  during Conda installation, you may need to navigate to the
-  location of `condabin` in order to use the `conda` command.
-  To find `condabin`, search for "Anaconda Prompt" in the
-  Windows search field near the Windows button, open it, run
-  `where conda`, and look for a line containing the directory `condabin`.
-
-3. Create and activate a new Conda environment:
-  ```bash
-  conda create -n gz-env
-  conda activate gz-env
-  ```
-4. Install desired Gazebo packages you want to install based on your application. Packages with the prefix `libgz-`
-   contain only the C++ libraries while the Python bindings are available separately as `gz-<package_name><#>-python`.
-   To install both with a single command use `gz-<package_name><#>`.
-   Thus you can use `gz-sim<#>` to fully install the latest version of Gazebo.
-  ```bash
-  conda install libgz-<package_name><#> --channel conda-forge
-  ```
-  Be sure to replace `<package_name>` with your desired package name (ie, common, msgs, etc.)
-  and `<#>` with the release version.  If left unspecified, `conda-forge` will install the
-  most recently stable release packages.  Be sure to check the
-  [high level install instructions](install) for corresponding version numbers.
-
-**Note**
-
-You can view all available versions of a specific package with:
-```bash
-conda search libgz-<package_name>* --channel conda-forge
-```
-and view their dependencies with
+# Binary Installation on Windows 10/11
+
+Binaries for all the dependencies used by Gazebo can be found in the [conda-forge](https://conda-forge.org/)
+package repository. The Gazebo buildfarm and these instructions use the [Pixi](https://pixi.sh/) package manager.
+
+## Install dependencies
+
+1. Follow the Pixi installer instructions from https://pixi.sh/latest/ to install pixi.
+   Once pixi has been installed, close the terminal session and start it again,
+   which will ensure pixi is on the PATH.
+
+2. Make a folder to initialize the Pixi project. 
+  Just make sure that the directory does not contain any spaces.
+ Open up a command prompt and type the following
+   ```bash
+      cd C:\Users\%USERNAME%\ 
+      mkdir gz-ws
+      cd gz-ws
+      pixi init
+   ```
+   You should see this:
+
+   ```bash
+      ✔ Created C:\Users\USER\ws_gz\pixi.toml
+   ```
+
+3. Prepare the pixi.toml file
+   Now that the Pixi environment has been installed, you can add the packaged gazebo binary to it and some necessary environment variables for the QT library.
+
+   Open up the pixi.toml file in your editor of choice or simple notepad.
+
+   ```bash
+   notepad pixi.toml
+   ```
+
+   Replace `[dependencies]` with the following in the pixi.toml file
+
+   ```
+   [dependencies]
+   gz-sim = "8.*"
+   ```
+
+   Save and close the pixi.toml file, and then let Pixi pull all the dependencies and install Gazebo
+
+   ```bash
+   pixi install
+   ```
+   You should be seeing this
+
+   ```
+   ✔ The default environment has been installed.
+   ```
+
+You should now be able to launch gazebo normally within a pixi shell:
+
 ```bash
-conda search libgz-<package_name>* --channel conda-forge --info
+pixi shell
+gz sim -v4 -s shapes.sdf
 ```
-and install a specific minor version with
+
+And in a second terminal
+
 ```bash
-conda install libgz-<package_name>=<major>.<minor>.<patch> --channel conda-forge
+pixi shell
+gz sim -g
 ```
-where `<major>` is the major release number, `<minor>` is the minor release number, and `<patch` is the patch release number.
 
-## Uninstalling binary install
+> Note, Gazebo Harmonic has a bug that it can not run the simulator in one session, it needs to be launched with the server and gui separately. This bug has been fixed in later versions of Gazebo (Jetty and up)
 
-If you need to uninstall Gazebo or switch to a source-based install once you
-have already installed the library from binaries, run the following command:
+This is the end of the binary install instructions; head back to the [Getting started](getstarted)
+page to start using Gazebo!
 
-```bash
-conda uninstall libgz-<package_name> --channel conda-forge
-```
+## Uninstalling binary-based gazebo install
+
+Uninstalling the Gazebo binary is as simple as removing the full folder that was created with the Pixi environment. 
+
+In a command prompt, navigate to the root directory of where the folder is (depending on the location you chose at the first step), and remove it.
+
+   ```bash
+      cd C:\Users\%USERNAME%\ 
+      rmdir /s /q gz-ws
+   ```
 
 ## Troubleshooting
 

ionic/install_windows.md

@@ -2,69 +2,91 @@
 WARNING: Current Windows support is experimental.
 </div>
 
-# Binary Installation on Windows 10
-
-Most Gazebo packages are available in Windows 10 using the [conda-forge package manager](https://conda-forge.org/),
-and the Gazebo feedstock recipes can be found [here](https://github.com/search?q=org:conda-forge+libgz&type=code).
-
-
-In order to use `conda-forge`, you will need to
-1. Install a [Conda package management system](https://docs.conda.io/projects/conda/en/latest/user-guide/install/download.html).
-   Miniconda suffices. You will likely want to check the box to add `conda` to your `PATH`
-   during the installation process so that you won't have to do this step manually.
-
-2. Open a Windows command prompt, being sure to have `conda` added to your
-   Windows `PATH` system environment variable (you may also need to open
-   a new command prompt to see any `PATH` changes reflected).
-
-  If you did not add Conda to your `PATH` environment variable
-  during Conda installation, you may need to navigate to the
-  location of `condabin` in order to use the `conda` command.
-  To find `condabin`, search for "Anaconda Prompt" in the
-  Windows search field near the Windows button, open it, run
-  `where conda`, and look for a line containing the directory `condabin`.
-
-3. Create and activate a new Conda environment:
-  ```bash
-  conda create -n gz-env
-  conda activate gz-env
-  ```
-4. Install desired Gazebo packages you want to install based on your application. Packages with the prefix `libgz-`
-   contain only the C++ libraries while the Python bindings are available separately as `gz-<package_name><#>-python`.
-   To install both with a single command use `gz-<package_name><#>`.
-   Thus you can use `gz-sim<#>` to fully install the latest version of Gazebo.
-  ```bash
-  conda install libgz-<package_name><#> --channel conda-forge
-  ```
-  Be sure to replace `<package_name>` with your desired package name (ie, common, msgs, etc.)
-  and `<#>` with the release version.  If left unspecified, `conda-forge` will install the
-  most recently stable release packages.  Be sure to check the
-  [high level install instructions](install) for corresponding version numbers.
-
-**Note**
-
-You can view all available versions of a specific package with:
-```bash
-conda search libgz-<package_name>* --channel conda-forge
-```
-and view their dependencies with
+# Binary Installation on Windows 10/11
+
+Binaries for all the dependencies used by Gazebo can be found in the [conda-forge](https://conda-forge.org/)
+package repository. The Gazebo buildfarm and these instructions use the [Pixi](https://pixi.sh/) package manager.
+
+## Install dependencies
+
+1. Follow the Pixi installer instructions from https://pixi.sh/latest/ to install pixi.
+   Once pixi has been installed, close the terminal session and start it again,
+   which will ensure pixi is on the PATH.
+
+2. Make a folder to initialize the Pixi project. 
+  Just make sure that the directory does not contain any spaces.
+ Open up a command prompt and type the following
+   ```bash
+      cd C:\Users\%USERNAME%\ 
+      mkdir gz-ws
+      cd gz-ws
+      pixi init
+   ```
+   You should see this:
+
+   ```bash
+      ✔ Created C:\Users\USER\ws_gz\pixi.toml
+   ```
+
+3. Prepare the pixi.toml file
+   Now that the Pixi environment has been installed, you can add the packaged gazebo binary to it and some necessary environment variables for the QT library.
+
+   Open up the pixi.toml file in your editor of choice or simple notepad.
+
+   ```bash
+   notepad pixi.toml
+   ```
+
+   Replace `[dependencies]` with the following in the pixi.toml file
+
+   ```
+   [target.win-64.activation.env]
+   QT_QPA_PLATFORM_PLUGIN_PATH="%CONDA_PREFIX%\\Library\\lib\\qt6\\plugins\\platforms"
+   QML2_IMPORT_PATH="%CONDA_PREFIX%\\Library\\lib\\qt6\\qml"
+
+   [dependencies]
+   gz-sim = "9.*"
+   ```
+
+   Save and close the pixi.toml file, and then let Pixi pull all the dependencies and install Gazebo.
+
+   ```bash
+   pixi install
+   ```
+   You should be seeing this
+
+   ```
+   ✔ The default environment has been installed.
+   ```
+
+You should now be able to launch gazebo normally within a pixi shell:
+
 ```bash
-conda search libgz-<package_name>* --channel conda-forge --info
+pixi shell
+gz sim -v4 -s shapes.sdf
 ```
-and install a specific minor version with
+
+And in a second terminal
+
 ```bash
-conda install libgz-<package_name>=<major>.<minor>.<patch> --channel conda-forge
+pixi shell
+gz sim -g
 ```
-where `<major>` is the major release number, `<minor>` is the minor release number, and `<patch` is the patch release number.
 
-## Uninstalling binary install
+> Note, Gazebo Harmonic has a bug that it can not run the simulator in one session, it needs to be launched with the server and gui separately. This bug has been fixed in later versions of Gazebo (Jetty and up)
 
-If you need to uninstall Gazebo or switch to a source-based install once you
-have already installed the library from binaries, run the following command:
+This is the end of the binary install instructions; head back to the [Getting started](getstarted)
+page to start using Gazebo!
+## Uninstalling binary-based gazebo install
 
-```bash
-conda uninstall libgz-<package_name> --channel conda-forge
-```
+Uninstalling the Gazebo binary is as simple as removing the full folder that was created with the Pixi environment. 
+
+In a command prompt, navigate to the root directory of where the folder is (depending on the location you chose at the first step), and remove it.
+
+   ```bash
+      cd C:\Users\%USERNAME%\ 
+      rmdir /s /q gz-ws
+   ```
 
 ## Troubleshooting
 

jetty/install_windows.md

@@ -23,7 +23,7 @@ package repository. The Gazebo buildfarm and these instructions use the [Pixi](h
       pixi init
    ```
 
-  You should see this:
+   You should see this:
 
    ```bash
       ✔ Created C:\Users\USER\ws_gz\pixi.toml
@@ -55,27 +55,28 @@ package repository. The Gazebo buildfarm and these instructions use the [Pixi](h
    pixi install
    ```
 
+   You should be seeing this
+
+   ```
+   ✔ The default environment has been installed.
+   ```
 
 You should now be able to launch gazebo normally within a pixi shell:
 
 ```bash
 pixi shell
 gz sim -v4 shapes.sdf
 ```
-
 or do a pixi run which is the same thing but just one line:
 
 ```bash
 pixi run gz sim -v4 empty.sdf
 ```
-
 > Note, currently just running `gz sim` directly doesn't work due to [this issue](https://github.com/gazebosim/gz-sim/issues/3859), so make sure to to always assign a world sdf file until this has been solved. 
 
-
 This is the end of the binary install instructions; head back to the [Getting started](getstarted)
 page to start using Gazebo!
 
-
 ## Uninstalling binary-based gazebo install
 
 Uninstalling the Gazebo binary is as simple as removing the full folder that was created with the Pixi environment.