Dev

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

@@ -98,6 +98,95 @@ jobs:
       - name: Launch smoke test (headless, no TTY)
         run: ./launch_lucy.sh --headless ros2 doctor --report
 
+  # Windows-specific CI. NOTE: GitHub-hosted Windows runners cannot run Linux
+  # containers (no Hyper-V/nested virtualization, no WSL2), so the heavy install
+  # step (docker build of the ROS image + colcon) CANNOT run here — that is
+  # covered for both amd64/arm64 by the Linux `install-and-launch` job above.
+  # This job verifies the Windows-only pieces on real x64 AND arm64 hardware:
+  #   - host CPU -> Docker platform detection (install_ops.host_container_platform)
+  #   - Lucy.exe builds (PyInstaller) and its bundled --cli imports work
+  #   - the NSIS installer compiles
+  windows-build-test:
+    name: Windows build & installer test (${{ matrix.arch }})
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - arch: x64
+            runner: windows-latest
+            expected_platform: linux/amd64
+          - arch: arm64
+            runner: windows-11-arm
+            expected_platform: linux/arm64
+    runs-on: ${{ matrix.runner }}
+    timeout-minutes: 30
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+
+      - name: Generate releases manifest
+        run: python windows/generate_releases.py
+
+      - name: Verify host architecture detection
+        shell: pwsh
+        run: |
+          $expected = "${{ matrix.expected_platform }}"
+          $got = (python -c "import sys; sys.path.insert(0,'windows'); import install_ops; print(install_ops.host_container_platform())").Trim()
+          Write-Host "host_container_platform() -> $got (expected $expected)"
+          if ($got -ne $expected) {
+            Write-Error "Arch detection mismatch: got '$got', expected '$expected'"
+            exit 1
+          }
+
+      - name: Install PyInstaller
+        run: python -m pip install pyinstaller
+
+      - name: Build Lucy.exe
+        shell: pwsh
+        run: |
+          python -m PyInstaller --noconfirm --onefile --name Lucy `
+            --icon windows/assets/lucy-icon.ico `
+            --hidden-import install_ops `
+            --hidden-import install_runner `
+            --paths windows `
+            windows/Lucy.py
+          if (-not (Test-Path "dist/Lucy.exe")) { Write-Error "Lucy.exe not produced"; exit 1 }
+
+      - name: Smoke-test Lucy.exe CLI (bundled imports + prereq report)
+        shell: pwsh
+        run: |
+          dist\Lucy.exe --cli check-prereqs
+          $code = $LASTEXITCODE
+          Write-Host "check-prereqs exit code: $code"
+          # 0 (all present) or 1 (a prereq missing, e.g. no Docker on CI) both mean
+          # the exe ran fine; >1 = crash. Reset the propagated exit code explicitly.
+          if ($code -gt 1) { Write-Error "Lucy.exe --cli check-prereqs crashed (exit $code)"; exit 1 }
+          exit 0
+
+      - name: Install NSIS
+        run: choco install nsis -y --no-progress
+
+      - name: Build Lucy-Setup.exe (NSIS)
+        shell: pwsh
+        run: |
+          $makensis = "${env:ProgramFiles(x86)}\NSIS\makensis.exe"
+          & $makensis "/DMyAppVersion=0.0.0-ci" windows/installer/Lucy.nsi
+          if (-not (Test-Path "dist/Lucy-Setup-0.0.0-ci.exe")) { Write-Error "Installer not produced"; exit 1 }
+
+      - name: Upload Windows artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: lucy-windows-${{ matrix.arch }}
+          path: |
+            dist/Lucy.exe
+            dist/Lucy-Setup-0.0.0-ci.exe
+          if-no-files-found: error
+
   build-and-release-windows-exe:
     name: Build and Release Windows Executable
     # Only run this job when a new tag is pushed
@@ -115,15 +204,37 @@ jobs:
         with:
           python-version: '3.x'
 
+      - name: Generate releases manifest
+        run: python windows/generate_releases.py
+
       - name: Install PyInstaller
-        run: pip install pyinstaller
+        run: python -m pip install pyinstaller
 
-      - name: Build the executable
-        run: pyinstaller --onefile --name Lucy windows/Lucy.py
+      - name: Build Lucy.exe
+        shell: pwsh
+        run: |
+          python -m PyInstaller --noconfirm --onefile --name Lucy `
+            --icon windows/assets/lucy-icon.ico `
+            --hidden-import install_ops `
+            --hidden-import install_runner `
+            --paths windows `
+            windows/Lucy.py
+
+      - name: Install NSIS
+        run: choco install nsis -y
+
+      - name: Build Lucy-Setup.exe
+        shell: pwsh
+        run: |
+          $version = "${{ github.ref_name }}" -replace '^v',''
+          if (-not $version) { $version = "0.0.0" }
+          $makensis = "${env:ProgramFiles(x86)}\NSIS\makensis.exe"
+          & $makensis "/DMyAppVersion=$version" windows/installer/Lucy.nsi
 
-      - name: Create Release and Upload Asset
+      - name: Create Release and Upload Assets
         uses: softprops/action-gh-release@v2
         with:
-          files: dist/Lucy.exe
-          # This creates a draft release. Remove `draft: true` to publish it automatically.
+          files: |
+            dist/Lucy.exe
+            dist/Lucy-Setup-*.exe
           draft: true

.github/workflows/release.yml

@@ -0,0 +1,16 @@
+name: Trigger Release
+
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+        description: 'Version number'
+        required: true
+        type: string
+
+jobs:
+  create-release:
+    uses: Sentience-Robotics/.github/.github/workflows/release.yaml@master
+    with:
+      version: ${{ inputs.version }}
+

.gitignore

@@ -32,3 +32,10 @@ __pycache__/
 
 # Local repo override (forks/branches; takes precedence over config/repos.json)
 config/repos.json.local
+
+# End-user install profile (written by installer / Lucy.exe)
+config/install.profile.json
+
+# Windows executable files
+dist/
+*.spec

Lucy.py

@@ -36,13 +36,13 @@ def set_dev_mode(is_enabled):
 
 def run_command(command, interactive=False):
     """Runs a command.
-    
+
     If interactive is True, runs natively in the terminal.
     """
     print(f"--- Running: {' '.join(command)} ---")
     try:
         if interactive:
-            # Inherit standard IO to maintain terminal size and TTY functionality 
+            # Inherit standard IO to maintain terminal size and TTY functionality
             return subprocess.run(command).returncode
         else:
             # Popen is fine for non-interactive scripts like install/build
@@ -91,7 +91,7 @@ def main_tui(stdscr):
                 continue
 
             prefix = "> " if current_idx == i else "  "
-            
+
             if option == "Developer Mode":
                 checkbox = "[x]" if is_dev_mode else "[ ]"
                 stdscr.addstr(2 + i, 4, f"{prefix}{checkbox} {option}")
@@ -167,7 +167,7 @@ def check_initial_size():
         if task.get("interactive", False):
             print(f"--- Session finished with exit code {rc} ---")
             break
-        
+
         task_name = task.get("name")
         if task_name in ["Install", "Rebuild"] and rc == 0:
             print(f"\n--- Task '{task_name}' finished successfully. ---")

README.md

@@ -10,7 +10,7 @@ Workspace bringup for the Lucy / InMoov humanoid. Everything (ROS 2 Humble, Gaze
 
 <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>
 
-> **Windows users:** see the [Windows README](windows/README.md) for step-by-step install instructions (including the Docker Desktop "uncheck WSL 2" note) and the native `windows/Lucy.py` manager.
+> **Windows users:** see the [Windows README](windows/README.md) — **`Lucy-Setup.exe`** to install/update, **`Lucy.exe`** to launch.
 
 ## Get the repository
 
@@ -48,13 +48,16 @@ python3 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).
+
+**From source (developers):**
+
 ```bash
-python windows/Lucy.py
+python windows/Lucy.py --cli install   # first time
+python windows/Lucy.py                   # launch
 ```
 
-> **Windows** additionally needs a third-party X Server — see the [Windows README](windows/README.md).
-
-> **First run:** in the TUI, choose **`Install / Update`** before anything else. It clones the sub-repositories, builds the Docker image and the workspace (this can take a while). Only once it finishes should you use **`Launch`**.
+> **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.
 
 ### Opening the Control Panel
 

config/launcher_config.json

@@ -130,6 +130,8 @@
             "dependencies": ["core"],
             "conflicts": [],
             "command": "ros2 run lucy_cli tui",
+            "readiness_check": "test -f /tmp/lucy_cli.ready",
+            "nav_hint": "Ctrl-B W",
             "default_on": false
         },
         {

docs/developer_lucy_packages.md

@@ -65,6 +65,18 @@ Use the same structure as `repos.json` — list only the repos you want to overr
 
 Delete the file to fall back to the tracked `repos.json`.
 
+### Windows install profile (`config/install.profile.json`)
+
+On Windows, **`Lucy-Setup.exe`** (or `Lucy.exe --cli …`) writes **`config/install.profile.json`** (gitignored) to record install choices: `lucy_ws` version, `repos_branch` (default `master`), `fetch_method` (`git` or `zip`), and whether **developer install** was selected. The file is created automatically on first install.
+
+| Windows | Linux/macOS equivalent |
+|---------|------------------------|
+| `Lucy-Setup.exe` → Fresh install | `./install.sh` |
+| `Lucy-Setup.exe` → Update | `./install.sh` / `./install.sh --update` |
+| `Lucy-Setup.exe` → Repair | `./install.sh --repair` |
+| `Lucy.exe` (no args) | `./launch_lucy.sh` / **Launch** in `Lucy.py` |
+| `Lucy.exe --cli build-only` | `./install.sh --build-only` |
+
 ## `launch_lucy.sh`
 
 Builds the Docker image if needed, mounts the workspace at `/workspace`, sources the built ROS overlay, then: