Trim Some Dependencies

[alberthli]

This PR closes #73.

• Removes uv and nvm as system-level dependencies installed by docker_setup.sh.
• Moves PYRIGHT_PYTHON_FORCE_VERSION, RCUTILS_COLORIZED_OUTPUT, and RMW_IMPLEMENTATION environment variables into the pixi.toml to prevent bashrc pollution.
• Moves obelisk aliases out of the ~/.bashrc and into the ~/.bash_aliases file to reduce pollution
• Removes the source-obelisk task, which didn't do what we wanted to. Now, introduces a new obk-build alias that properly builds and sources the obelisk packages in the correct order. Works both in and out of a pixi shell!
• Removes libyaml-dev as a dep
• Mount ~/.gitconfig and ~/.ssh into Docker containers so end user can develop properly (outside the .devcontainer context)
• Add a Docker compose file specifically for CI (doesn't do ssh stuff)
• Adds the ability to do pixi-free building of the obelisk packages via the install_sys_deps.sh script
• Modifies the setup scripts such that any local changes made to system are always opt-in
• Update README with information on how to set up, build, and use Obelisk
• Added obk-clean alias that cleans out the build/install/log dirs of obelisk_ws
• remove cuda 11.8 dep set from pixi
• Sets up obk command that sets environment variables in the current shell. Also builds Obelisk if it's not already built. MOST IMPORTANT NEW ADDITION!
  • source base ros if not in a conda or a pixi environment and /opt/ros/humble/setup.bash exists when running obk

Unanswered questions:

• Are there issues with building obelisk via pixi and then sourcing it in downstream projects? Need to evaluate in a future example.

TODOs:

• update docs

[Zolkin1]

Looks good to me. All my questions were answered in code. Verified main repo, example repo, and person downstream repo.