From 7ff0339c15a97e12c6e9d978d4db1c2aa3dfe92c Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Fri, 30 Aug 2024 22:51:17 -0500
Subject: [PATCH 01/22] Add Github Action for Windows

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 48 ++++++++++++++++++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 .github/workflows/windows.yaml

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
new file mode 100644
index 000000000..e3ed647a9
--- /dev/null
+++ b/.github/workflows/windows.yaml
@@ -0,0 +1,48 @@
+name: Windows
+on:
+  pull_request:
+
+jobs:
+  build:
+    name: Window CI
+    env:
+      PACKAGE: gz-rendering9
+    runs-on: windows-latest
+    steps:
+    - name: setup-pixi
+      uses: prefix-dev/setup-pixi@v0.8.1
+      with:
+        run-install: false
+
+    - name: Install build tools
+      run: |
+        pixi init
+        pixi add vcstool colcon-common-extensions pkgconfig
+    - name: Setup pixi env variables
+      shell: bash
+      run: |
+        eval "$(pixi shell-hook)"
+        echo CMAKE_PREFIX_PATH=$CONDA_PREFIX/Library >> $GITHUB_ENV
+    - name: Install base dependencies
+      run: |
+        # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22
+        pixi add assimp dlfcn-win32 eigen ffmpeg freeimage gdal gflags ogre ogre-next spdlog tinyxml2
+    - name: Clone source dependencies
+      run: |
+        mkdir src
+        cd src
+        pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/${env:PACKAGE}.yaml
+
+    - uses: actions/checkout@v4
+      with:
+        path: src/gz-rendering
+
+    - name: Build Dependencies
+      run: |
+        pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF  --event-handlers console_direct+ --packages-up-to ${env:PACKAGE}
+
+    - name: Build Package
+      run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DSKIP_ogre=ON --event-handlers console_direct+ --packages-select ${env:PACKAGE}
+
+    - name: Test
+      run: pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From 1a0babacbb6588221f2426b66b2d954ddb909214 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Fri, 30 Aug 2024 23:39:16 -0500
Subject: [PATCH 02/22] Include GL/gl.h in windows

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 ogre2/src/Ogre2Scene.cc | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ogre2/src/Ogre2Scene.cc b/ogre2/src/Ogre2Scene.cc
index d7bc1ff91..2d164e235 100644
--- a/ogre2/src/Ogre2Scene.cc
+++ b/ogre2/src/Ogre2Scene.cc
@@ -20,10 +20,14 @@
   #include <OpenGL/gl.h>
   #include <OpenGL/glext.h>
 #else
-#ifndef _WIN32
+  #ifdef _WIN32
+    // windows.h has to be included *before* GL/gl.h
+    // to avoid redefinition errors.
+    #include <windows.h>
+  #endif
+
   #include <GL/gl.h>
 #endif
-#endif
 
 #include <gz/common/Console.hh>
 

From 1877c9b483073fed11500b1ffadff9ba7a45e6b5 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 00:01:30 -0500
Subject: [PATCH 03/22] Determine version number programmatically

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 19 ++++++++++++++-----
 1 file changed, 14 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index e3ed647a9..aa7c1d6dd 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -6,9 +6,18 @@ jobs:
   build:
     name: Window CI
     env:
-      PACKAGE: gz-rendering9
+      LIBRARY_NAME: gz-rendering
     runs-on: windows-latest
     steps:
+
+    - uses: actions/checkout@v4
+      with:
+        path: tmp/gz-rendering
+    - name: Determine major version
+      shell: bash
+      run: |
+        curl -LO https://raw.githubusercontent.com/gazebo-tooling/release-tools/master/jenkins-scripts/tools/detect_cmake_major_version.py
+        echo PACKAGE="$LIBRARY_NAME$(python3 detect_cmake_major_version tmp/gz-rendering/CMakeLists.txt)"" >> $GITHUB_ENV
     - name: setup-pixi
       uses: prefix-dev/setup-pixi@v0.8.1
       with:
@@ -28,14 +37,14 @@ jobs:
         # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22
         pixi add assimp dlfcn-win32 eigen ffmpeg freeimage gdal gflags ogre ogre-next spdlog tinyxml2
     - name: Clone source dependencies
+      shell: bash
       run: |
         mkdir src
         cd src
         pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/${env:PACKAGE}.yaml
-
-    - uses: actions/checkout@v4
-      with:
-        path: src/gz-rendering
+        rm -rf gz-rendering
+        # Move the gz-rendering we checkout earlier and replace the one cloned by vcs
+        mv ../tmp/gz-rendering .
 
     - name: Build Dependencies
       run: |

From f29867e14d1c427d341c94d41fee2e70e1eee9df Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 00:02:49 -0500
Subject: [PATCH 04/22] Fix typo

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index aa7c1d6dd..b804f7a56 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -17,7 +17,7 @@ jobs:
       shell: bash
       run: |
         curl -LO https://raw.githubusercontent.com/gazebo-tooling/release-tools/master/jenkins-scripts/tools/detect_cmake_major_version.py
-        echo PACKAGE="$LIBRARY_NAME$(python3 detect_cmake_major_version tmp/gz-rendering/CMakeLists.txt)"" >> $GITHUB_ENV
+        echo PACKAGE="$LIBRARY_NAME$(python3 detect_cmake_major_version tmp/gz-rendering/CMakeLists.txt)" >> $GITHUB_ENV
     - name: setup-pixi
       uses: prefix-dev/setup-pixi@v0.8.1
       with:

From 8bb92bd38ac05504835f410e3f2939028609d93a Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 00:03:37 -0500
Subject: [PATCH 05/22] Fix typo

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index b804f7a56..6807aad8c 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -17,7 +17,7 @@ jobs:
       shell: bash
       run: |
         curl -LO https://raw.githubusercontent.com/gazebo-tooling/release-tools/master/jenkins-scripts/tools/detect_cmake_major_version.py
-        echo PACKAGE="$LIBRARY_NAME$(python3 detect_cmake_major_version tmp/gz-rendering/CMakeLists.txt)" >> $GITHUB_ENV
+        echo PACKAGE="$LIBRARY_NAME$(python3 detect_cmake_major_version.py tmp/gz-rendering/CMakeLists.txt)" >> $GITHUB_ENV
     - name: setup-pixi
       uses: prefix-dev/setup-pixi@v0.8.1
       with:

From 18af2a955aa0b3f1242ad7f75f954241207388b0 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 00:06:51 -0500
Subject: [PATCH 06/22] Fix

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 6807aad8c..4980e72ba 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -31,7 +31,7 @@ jobs:
       shell: bash
       run: |
         eval "$(pixi shell-hook)"
-        echo CMAKE_PREFIX_PATH=$CONDA_PREFIX/Library >> $GITHUB_ENV
+        echo CMAKE_PREFIX_PATH=$CONDA_PREFIX\\Library >> $GITHUB_ENV
     - name: Install base dependencies
       run: |
         # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22
@@ -41,7 +41,7 @@ jobs:
       run: |
         mkdir src
         cd src
-        pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/${env:PACKAGE}.yaml
+        pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/$PACKAGE.yaml
         rm -rf gz-rendering
         # Move the gz-rendering we checkout earlier and replace the one cloned by vcs
         mv ../tmp/gz-rendering .

From 2d49ddd8f65d9edd3bdb03f43ea75fd88c16e5fe Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 00:11:03 -0500
Subject: [PATCH 07/22] Pin version

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 4980e72ba..c489c0a6f 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -7,7 +7,7 @@ jobs:
     name: Window CI
     env:
       LIBRARY_NAME: gz-rendering
-    runs-on: windows-latest
+    runs-on: windows-2022
     steps:
 
     - uses: actions/checkout@v4

From 7e4b3f98b52809bb0c1ce2af5a351929357ce8e4 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 00:31:19 -0500
Subject: [PATCH 08/22] Add path

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index c489c0a6f..b5f18a489 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -31,7 +31,8 @@ jobs:
       shell: bash
       run: |
         eval "$(pixi shell-hook)"
-        echo CMAKE_PREFIX_PATH=$CONDA_PREFIX\\Library >> $GITHUB_ENV
+        echo CMAKE_PREFIX_PATH="$CONDA_PREFIX\\Library" >> $GITHUB_ENV
+        echo PATH="$PATH" >> $GITHUB_ENV
     - name: Install base dependencies
       run: |
         # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22

From 3820abfa476c8858298404ba81d97ad2119e932e Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 00:48:08 -0500
Subject: [PATCH 09/22] Env vars

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index b5f18a489..22f2e6e50 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -27,12 +27,11 @@ jobs:
       run: |
         pixi init
         pixi add vcstool colcon-common-extensions pkgconfig
-    - name: Setup pixi env variables
-      shell: bash
+    - name: Set up environment variables
       run: |
-        eval "$(pixi shell-hook)"
-        echo CMAKE_PREFIX_PATH="$CONDA_PREFIX\\Library" >> $GITHUB_ENV
-        echo PATH="$PATH" >> $GITHUB_ENV
+        # Set environment variables globally
+        pixi shell-hook | Out-String | Invoke-Expression
+        ("CMAKE_PREFIX_PATH=${env:CONDA_PREFIX}\Library") >> $env:GITHUB_ENV
     - name: Install base dependencies
       run: |
         # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22
@@ -55,4 +54,7 @@ jobs:
       run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DSKIP_ogre=ON --event-handlers console_direct+ --packages-select ${env:PACKAGE}
 
     - name: Test
-      run: pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}
+      run: |
+
+        eval "$(pixi shell-hook)"
+        pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From 4316c5504b09bdb27fd6952ba3793644bfc7c9f5 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 00:50:21 -0500
Subject: [PATCH 10/22] More env

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 22f2e6e50..bd9aae733 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -32,6 +32,7 @@ jobs:
         # Set environment variables globally
         pixi shell-hook | Out-String | Invoke-Expression
         ("CMAKE_PREFIX_PATH=${env:CONDA_PREFIX}\Library") >> $env:GITHUB_ENV
+        ("PATH=${env:PATH}") >> $env:GITHUB_ENV
     - name: Install base dependencies
       run: |
         # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22
@@ -47,14 +48,10 @@ jobs:
         mv ../tmp/gz-rendering .
 
     - name: Build Dependencies
-      run: |
-        pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF  --event-handlers console_direct+ --packages-up-to ${env:PACKAGE}
+      run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF  --event-handlers console_direct+ --packages-up-to ${env:PACKAGE}
 
     - name: Build Package
       run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DSKIP_ogre=ON --event-handlers console_direct+ --packages-select ${env:PACKAGE}
 
     - name: Test
-      run: |
-
-        eval "$(pixi shell-hook)"
-        pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}
+      run: pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From 1f912908ea2a0dad7790f3fef91375f05fdb8bcf Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 00:55:46 -0500
Subject: [PATCH 11/22] Skip non test build

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index bd9aae733..283909760 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -48,7 +48,7 @@ jobs:
         mv ../tmp/gz-rendering .
 
     - name: Build Dependencies
-      run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF  --event-handlers console_direct+ --packages-up-to ${env:PACKAGE}
+      run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF  --event-handlers console_direct+ --packages-skip ${env:PACKAGE}
 
     - name: Build Package
       run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DSKIP_ogre=ON --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From dcea2c3cdf74b858d3661ea28b2d9ecb8918a314 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 01:07:07 -0500
Subject: [PATCH 12/22] Add install path

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 283909760..44b4fc7bb 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -54,4 +54,6 @@ jobs:
       run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DSKIP_ogre=ON --event-handlers console_direct+ --packages-select ${env:PACKAGE}
 
     - name: Test
-      run: pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}
+      run: 
+        $env:PATH=${env:GITHUB_WORKSPACE}\install\bin;$env:PATH
+        pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From 233711f1753a22dd93d43a37d32a1a693e8977da Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 01:17:18 -0500
Subject: [PATCH 13/22] Add sscache

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 44b4fc7bb..648b62d31 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -46,6 +46,13 @@ jobs:
         rm -rf gz-rendering
         # Move the gz-rendering we checkout earlier and replace the one cloned by vcs
         mv ../tmp/gz-rendering .
+    - name: Run sccache-cache
+      uses: mozilla-actions/sccache-action@v0.0.5
+    - name: sscache environment
+      shell: bash
+      run: |
+        echo CMAKE_C_COMPILER_LAUNCHER="$SCCACHE_PATH" >> $GITHUB_ENV
+        echo CMAKE_CXX_COMPILER_LAUNCHER="$SCCACHE_PATH" >> $GITHUB_ENV
 
     - name: Build Dependencies
       run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF  --event-handlers console_direct+ --packages-skip ${env:PACKAGE}

From 00d3b5811a9902b2ee2f5d5ac9255b8aca838655 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 01:21:23 -0500
Subject: [PATCH 14/22] quotes

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 648b62d31..67e05240e 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -62,5 +62,5 @@ jobs:
 
     - name: Test
       run: 
-        $env:PATH=${env:GITHUB_WORKSPACE}\install\bin;$env:PATH
+        $env:PATH="${env:GITHUB_WORKSPACE}\install\bin";$env:PATH
         pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From 929c3d58321c82c0157f957dbe4a5bb2da5400cc Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 01:37:10 -0500
Subject: [PATCH 15/22] fix syntax

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 67e05240e..c2d29786f 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -61,6 +61,6 @@ jobs:
       run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DSKIP_ogre=ON --event-handlers console_direct+ --packages-select ${env:PACKAGE}
 
     - name: Test
-      run: 
-        $env:PATH="${env:GITHUB_WORKSPACE}\install\bin";$env:PATH
+      run: |
+        $env:PATH += "${env:GITHUB_WORKSPACE}\install\bin"
         pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From f82c430c741c05ee7476de7e107ac8a1316c5f82 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 01:51:20 -0500
Subject: [PATCH 16/22] Cleanup

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 27 +++++++++++----------------
 1 file changed, 11 insertions(+), 16 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index c2d29786f..16e83ac69 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -7,17 +7,18 @@ jobs:
     name: Window CI
     env:
       LIBRARY_NAME: gz-rendering
+      COLCON_BUILD_CMD: 'colcon build --merge-install --event-handlers console_direct+ --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release'
     runs-on: windows-2022
     steps:
 
     - uses: actions/checkout@v4
       with:
-        path: tmp/gz-rendering
+        path: src/gz-rendering
     - name: Determine major version
       shell: bash
       run: |
         curl -LO https://raw.githubusercontent.com/gazebo-tooling/release-tools/master/jenkins-scripts/tools/detect_cmake_major_version.py
-        echo PACKAGE="$LIBRARY_NAME$(python3 detect_cmake_major_version.py tmp/gz-rendering/CMakeLists.txt)" >> $GITHUB_ENV
+        echo PACKAGE="$LIBRARY_NAME$(python3 detect_cmake_major_version.py src/gz-rendering/CMakeLists.txt)" >> $GITHUB_ENV
     - name: setup-pixi
       uses: prefix-dev/setup-pixi@v0.8.1
       with:
@@ -34,18 +35,9 @@ jobs:
         ("CMAKE_PREFIX_PATH=${env:CONDA_PREFIX}\Library") >> $env:GITHUB_ENV
         ("PATH=${env:PATH}") >> $env:GITHUB_ENV
     - name: Install base dependencies
-      run: |
-        # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22
-        pixi add assimp dlfcn-win32 eigen ffmpeg freeimage gdal gflags ogre ogre-next spdlog tinyxml2
-    - name: Clone source dependencies
-      shell: bash
-      run: |
-        mkdir src
-        cd src
-        pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/$PACKAGE.yaml
-        rm -rf gz-rendering
-        # Move the gz-rendering we checkout earlier and replace the one cloned by vcs
-        mv ../tmp/gz-rendering .
+      # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22
+      run: pixi add assimp dlfcn-win32 eigen ffmpeg freeimage gdal gflags ogre ogre-next spdlog tinyxml2
+
     - name: Run sccache-cache
       uses: mozilla-actions/sccache-action@v0.0.5
     - name: sscache environment
@@ -54,11 +46,14 @@ jobs:
         echo CMAKE_C_COMPILER_LAUNCHER="$SCCACHE_PATH" >> $GITHUB_ENV
         echo CMAKE_CXX_COMPILER_LAUNCHER="$SCCACHE_PATH" >> $GITHUB_ENV
 
+    - name: Clone source dependencies
+      run: pixi run vcs import src --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/$PACKAGE.yaml --skip-existing --repos
+
     - name: Build Dependencies
-      run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF  --event-handlers console_direct+ --packages-skip ${env:PACKAGE}
+      run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=OFF  --packages-skip ${env:PACKAGE}
 
     - name: Build Package
-      run: pixi run colcon build --merge-install --cmake-args -G"Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON -DSKIP_ogre=ON --event-handlers console_direct+ --packages-select ${env:PACKAGE}
+      run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=ON -DSKIP_ogre=ON --packages-select ${env:PACKAGE}
 
     - name: Test
       run: |

From a21e814d0b849cc56a50624147c7bc1d4ddf5a83 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 01:54:01 -0500
Subject: [PATCH 17/22] Path tweaks

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 16e83ac69..7fda433d9 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -33,7 +33,7 @@ jobs:
         # Set environment variables globally
         pixi shell-hook | Out-String | Invoke-Expression
         ("CMAKE_PREFIX_PATH=${env:CONDA_PREFIX}\Library") >> $env:GITHUB_ENV
-        ("PATH=${env:PATH}") >> $env:GITHUB_ENV
+        ("PATH=${env:PATH};${env:GITHUB_WORKSPACE}\install\bin") >> $env:GITHUB_ENV
     - name: Install base dependencies
       # List adapted from https://github.com/gazebo-tooling/release-tools/blob/f89ac8cafc646260598eb8eb6d94be8093bdc9f7/jenkins-scripts/lib/windows_env_vars.bat#L22
       run: pixi add assimp dlfcn-win32 eigen ffmpeg freeimage gdal gflags ogre ogre-next spdlog tinyxml2
@@ -56,6 +56,4 @@ jobs:
       run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=ON -DSKIP_ogre=ON --packages-select ${env:PACKAGE}
 
     - name: Test
-      run: |
-        $env:PATH += "${env:GITHUB_WORKSPACE}\install\bin"
-        pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}
+      run: pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From 709e8e94a77900e4b31de7ea4cba13f8c2b659f9 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 01:54:48 -0500
Subject: [PATCH 18/22] Fix vcs

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 7fda433d9..5e71e23ad 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -47,7 +47,7 @@ jobs:
         echo CMAKE_CXX_COMPILER_LAUNCHER="$SCCACHE_PATH" >> $GITHUB_ENV
 
     - name: Clone source dependencies
-      run: pixi run vcs import src --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/$PACKAGE.yaml --skip-existing --repos
+      run: pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/$PACKAGE.yaml --skip-existing --repos src
 
     - name: Build Dependencies
       run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=OFF  --packages-skip ${env:PACKAGE}

From f60999295fe773feded022cfa0bfa9f8bcd7c7bf Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 01:59:45 -0500
Subject: [PATCH 19/22] Fix vcs

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 5e71e23ad..216190170 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -47,7 +47,7 @@ jobs:
         echo CMAKE_CXX_COMPILER_LAUNCHER="$SCCACHE_PATH" >> $GITHUB_ENV
 
     - name: Clone source dependencies
-      run: pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/$PACKAGE.yaml --skip-existing --repos src
+      run: pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/${env:PACKAGE}.yaml --skip-existing --repos src
 
     - name: Build Dependencies
       run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=OFF  --packages-skip ${env:PACKAGE}
@@ -56,4 +56,6 @@ jobs:
       run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=ON -DSKIP_ogre=ON --packages-select ${env:PACKAGE}
 
     - name: Test
-      run: pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}
+      run: |
+        . install\setup.ps1
+        pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From 472e96d9255206922ceff301ed5446b6d0c8c1a9 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 02:10:29 -0500
Subject: [PATCH 20/22] More cleanup

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index 216190170..dd9cb5b44 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -47,15 +47,15 @@ jobs:
         echo CMAKE_CXX_COMPILER_LAUNCHER="$SCCACHE_PATH" >> $GITHUB_ENV
 
     - name: Clone source dependencies
-      run: pixi run vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/${env:PACKAGE}.yaml --skip-existing --repos src
+      run: vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/${env:PACKAGE}.yaml --skip-existing --repos src
 
     - name: Build Dependencies
-      run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=OFF  --packages-skip ${env:PACKAGE}
+      run: ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=OFF  --packages-skip ${env:PACKAGE}
 
     - name: Build Package
-      run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=ON -DSKIP_ogre=ON --packages-select ${env:PACKAGE}
+      run: ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=ON -DSKIP_ogre=ON --packages-select ${env:PACKAGE}
 
     - name: Test
       run: |
         . install\setup.ps1
-        pixi run colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}
+        colcon test --merge-install --event-handlers console_direct+ --packages-select ${env:PACKAGE}

From f07994ea1608e57a1147a60f468afb9c0b23a329 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 02:26:46 -0500
Subject: [PATCH 21/22] Debug msg

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 src/RenderEngineManager.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/RenderEngineManager.cc b/src/RenderEngineManager.cc
index 8e3a6f0f4..611c1de2d 100644
--- a/src/RenderEngineManager.cc
+++ b/src/RenderEngineManager.cc
@@ -473,6 +473,11 @@ bool RenderEngineManagerPrivate::LoadEnginePlugin(
   {
     gzerr << "Failed to load plugin [" << _filename <<
              "] : couldn't find shared library." << std::endl;
+    gzdbg << "Searched in:\n";
+    for (const auto &path: systemPaths.FilePaths()){
+      gzdbg << path << "\n";
+    }
+
     return false;
   }
 

From b30e42d1b92d69ee71a3b3bbd4b843ac12ec0cb2 Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Sat, 31 Aug 2024 02:27:30 -0500
Subject: [PATCH 22/22] Fix

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 .github/workflows/windows.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows.yaml b/.github/workflows/windows.yaml
index dd9cb5b44..cf7e649fa 100644
--- a/.github/workflows/windows.yaml
+++ b/.github/workflows/windows.yaml
@@ -50,10 +50,10 @@ jobs:
       run: vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/${env:PACKAGE}.yaml --skip-existing --repos src
 
     - name: Build Dependencies
-      run: ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=OFF  --packages-skip ${env:PACKAGE}
+      run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=OFF  --packages-skip ${env:PACKAGE}
 
     - name: Build Package
-      run: ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=ON -DSKIP_ogre=ON --packages-select ${env:PACKAGE}
+      run: pixi run ${env:COLCON_BUILD_CMD} -DBUILD_TESTING=ON -DSKIP_ogre=ON --packages-select ${env:PACKAGE}
 
     - name: Test
       run: |