diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 00000000000..887a2c18f01
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,2 @@
+# SCM syntax highlighting & preventing 3-way merges
+pixi.lock merge=binary linguist-language=YAML linguist-generated=true
diff --git a/.gitignore b/.gitignore
index bb346f49ba9..565a37eb666 100644
--- a/.gitignore
+++ b/.gitignore
@@ -55,6 +55,7 @@ cmake-build-debug/
# doxygen docs
doc/html/
+
# Vim Swap
[._]*.s[a-v][a-z]
[._]*.sw[a-p]
@@ -70,3 +71,7 @@ Session.vim
# Vim Temporary
.netrwhist
+
+# pixi environments
+.pixi/*
+!.pixi/config.toml
diff --git a/nav2_amcl/pixi.toml b/nav2_amcl/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_amcl/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_behavior_tree/pixi.toml b/nav2_behavior_tree/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_behavior_tree/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_behaviors/pixi.toml b/nav2_behaviors/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_behaviors/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_bringup/pixi.toml b/nav2_bringup/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_bringup/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_bt_navigator/pixi.toml b/nav2_bt_navigator/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_bt_navigator/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_collision_monitor/package.xml b/nav2_collision_monitor/package.xml
index 6b009f1634b..02d30c03379 100644
--- a/nav2_collision_monitor/package.xml
+++ b/nav2_collision_monitor/package.xml
@@ -26,7 +26,7 @@
visualization_msgs
nav2_ros_common
point_cloud_transport
- point_cloud_transport_plugins
+
ament_cmake_gtest
ament_lint_common
diff --git a/nav2_collision_monitor/pixi.toml b/nav2_collision_monitor/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_collision_monitor/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake
index 5bf034baf9e..2e4512b46b5 100644
--- a/nav2_common/cmake/nav2_package.cmake
+++ b/nav2_common/cmake/nav2_package.cmake
@@ -37,7 +37,7 @@ macro(nav2_package)
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
+ add_compile_options(-Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
add_compile_options("$<$:-Wnon-virtual-dtor>")
endif()
diff --git a/nav2_common/pixi.toml b/nav2_common/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_common/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_constrained_smoother/pixi.toml b/nav2_constrained_smoother/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_constrained_smoother/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_controller/pixi.toml b/nav2_controller/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_controller/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_core/pixi.toml b/nav2_core/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_core/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_costmap_2d/package.xml b/nav2_costmap_2d/package.xml
index 4e4940a59af..089b74ee08b 100644
--- a/nav2_costmap_2d/package.xml
+++ b/nav2_costmap_2d/package.xml
@@ -43,7 +43,7 @@
visualization_msgs
nav2_ros_common
point_cloud_transport
- point_cloud_transport_plugins
+
ament_lint_common
ament_lint_auto
diff --git a/nav2_costmap_2d/pixi.toml b/nav2_costmap_2d/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_costmap_2d/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_docking/opennav_docking/CMakeLists.txt b/nav2_docking/opennav_docking/CMakeLists.txt
index cbb068aa504..963f5a7748a 100644
--- a/nav2_docking/opennav_docking/CMakeLists.txt
+++ b/nav2_docking/opennav_docking/CMakeLists.txt
@@ -22,6 +22,7 @@ find_package(std_srvs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
+find_package(orocos_kdl_vendor REQUIRED)
find_package(yaml_cpp_vendor REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(nav2_ros_common REQUIRED)
@@ -31,7 +32,6 @@ nav2_package()
set(executable_name opennav_docking)
set(library_name ${executable_name}_core)
-
add_library(controller SHARED
src/controller.cpp
)
diff --git a/nav2_docking/opennav_docking/pixi.toml b/nav2_docking/opennav_docking/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_docking/opennav_docking/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_docking/opennav_docking_bt/pixi.toml b/nav2_docking/opennav_docking_bt/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_docking/opennav_docking_bt/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_docking/opennav_docking_core/pixi.toml b/nav2_docking/opennav_docking_core/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_docking/opennav_docking_core/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_dwb_controller/costmap_queue/pixi.toml b/nav2_dwb_controller/costmap_queue/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_dwb_controller/costmap_queue/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_dwb_controller/dwb_core/pixi.toml b/nav2_dwb_controller/dwb_core/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_dwb_controller/dwb_core/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_dwb_controller/dwb_critics/pixi.toml b/nav2_dwb_controller/dwb_critics/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_dwb_controller/dwb_critics/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_dwb_controller/dwb_msgs/pixi.toml b/nav2_dwb_controller/dwb_msgs/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_dwb_controller/dwb_msgs/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_dwb_controller/dwb_plugins/pixi.toml b/nav2_dwb_controller/dwb_plugins/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_dwb_controller/dwb_plugins/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_dwb_controller/nav2_dwb_controller/pixi.toml b/nav2_dwb_controller/nav2_dwb_controller/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_dwb_controller/nav2_dwb_controller/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_dwb_controller/nav_2d_msgs/pixi.toml b/nav2_dwb_controller/nav_2d_msgs/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_dwb_controller/nav_2d_msgs/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_dwb_controller/nav_2d_utils/pixi.toml b/nav2_dwb_controller/nav_2d_utils/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_dwb_controller/nav_2d_utils/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_following/opennav_following/pixi.toml b/nav2_following/opennav_following/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_following/opennav_following/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_graceful_controller/pixi.toml b/nav2_graceful_controller/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_graceful_controller/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_lifecycle_manager/CMakeLists.txt b/nav2_lifecycle_manager/CMakeLists.txt
index 50874482167..a35f2a3b73e 100644
--- a/nav2_lifecycle_manager/CMakeLists.txt
+++ b/nav2_lifecycle_manager/CMakeLists.txt
@@ -14,6 +14,7 @@ find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_srvs REQUIRED)
+find_package(orocos_kdl_vendor REQUIRED)
find_package(nav2_ros_common REQUIRED)
nav2_package()
diff --git a/nav2_lifecycle_manager/pixi.toml b/nav2_lifecycle_manager/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_lifecycle_manager/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_loopback_sim/pixi.toml b/nav2_loopback_sim/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_loopback_sim/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_map_server/pixi.toml b/nav2_map_server/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_map_server/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_mppi_controller/pixi.toml b/nav2_mppi_controller/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_mppi_controller/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_msgs/pixi.toml b/nav2_msgs/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_msgs/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_navfn_planner/pixi.toml b/nav2_navfn_planner/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_navfn_planner/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_planner/pixi.toml b/nav2_planner/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_planner/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_regulated_pure_pursuit_controller/pixi.toml b/nav2_regulated_pure_pursuit_controller/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_regulated_pure_pursuit_controller/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_ros_common/pixi.toml b/nav2_ros_common/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_ros_common/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_rotation_shim_controller/pixi.toml b/nav2_rotation_shim_controller/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_rotation_shim_controller/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_route/pixi.toml b/nav2_route/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_route/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_rviz_plugins/CMakeLists.txt b/nav2_rviz_plugins/CMakeLists.txt
index 5258fef1f7b..cc045f569a4 100644
--- a/nav2_rviz_plugins/CMakeLists.txt
+++ b/nav2_rviz_plugins/CMakeLists.txt
@@ -24,6 +24,7 @@ find_package(visualization_msgs REQUIRED)
find_package(nav2_ros_common REQUIRED)
find_package(yaml_cpp_vendor REQUIRED)
find_package(yaml-cpp REQUIRED)
+find_package(orocos_kdl_vendor REQUIRED)
# In Kilted and older distros, rviz with Qt6 is not supported
if(TARGET Qt5::Core)
diff --git a/nav2_rviz_plugins/pixi.toml b/nav2_rviz_plugins/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_rviz_plugins/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
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diff --git a/nav2_simple_commander/pixi.toml b/nav2_simple_commander/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_simple_commander/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_smac_planner/pixi.toml b/nav2_smac_planner/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_smac_planner/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_smoother/pixi.toml b/nav2_smoother/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_smoother/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_system_tests/pixi.toml b/nav2_system_tests/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_system_tests/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_theta_star_planner/pixi.toml b/nav2_theta_star_planner/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_theta_star_planner/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_util/pixi.toml b/nav2_util/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_util/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_velocity_smoother/pixi.toml b/nav2_velocity_smoother/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_velocity_smoother/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_voxel_grid/pixi.toml b/nav2_voxel_grid/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_voxel_grid/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/nav2_waypoint_follower/pixi.toml b/nav2_waypoint_follower/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/nav2_waypoint_follower/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/navigation2/pixi.toml b/navigation2/pixi.toml
new file mode 100644
index 00000000000..f8a21e7bbb3
--- /dev/null
+++ b/navigation2/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
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+version = "*"
+channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge"]
+
+[package.build.config]
+distro = "kilted"
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 00000000000..7f44b61ff3f
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,23962 @@
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diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 00000000000..98abdbd8e7f
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,65 @@
+[workspace]
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+platforms = ["linux-64", "osx-arm64"]
+preview = ["pixi-build"]
+
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+test = "colcon test"
+
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+ros-kilted-nav2-bt-navigator = {path = "nav2_bt_navigator"}
+ros-kilted-nav2-collision-monitor = {path = "nav2_collision_monitor"}
+ros-kilted-nav2-common = {path = "nav2_common"}
+ros-kilted-nav2-constrained-smoother = {path = "nav2_constrained_smoother"}
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+ros-kilted-opennav-docking-bt = {path = "nav2_docking/opennav_docking_bt"}
+ros-kilted-opennav-docking-core = {path = "nav2_docking/opennav_docking_core"}
+ros-kilted-costmap-queue = {path = "nav2_dwb_controller/costmap_queue"}
+ros-kilted-dwb-core = {path = "nav2_dwb_controller/dwb_core"}
+ros-kilted-dwb-critics = {path = "nav2_dwb_controller/dwb_critics"}
+ros-kilted-dwb-msgs = {path = "nav2_dwb_controller/dwb_msgs"}
+ros-kilted-dwb-plugins = {path = "nav2_dwb_controller/dwb_plugins"}
+ros-kilted-nav2-dwb-controller = {path = "nav2_dwb_controller/nav2_dwb_controller"}
+ros-kilted-nav-2d-msgs = {path = "nav2_dwb_controller/nav_2d_msgs"}
+ros-kilted-nav-2d-utils = {path = "nav2_dwb_controller/nav_2d_utils"}
+ros-kilted-nav2-graceful-controller = {path = "nav2_graceful_controller"}
+ros-kilted-nav2-lifecycle-manager = {path = "nav2_lifecycle_manager"}
+ros-kilted-nav2-loopback-sim = {path = "nav2_loopback_sim"}
+ros-kilted-nav2-map-server = {path = "nav2_map_server"}
+ros-kilted-nav2-mppi-controller = {path = "nav2_mppi_controller"}
+ros-kilted-nav2-msgs = {path = "nav2_msgs"}
+ros-kilted-nav2-navfn-planner = {path = "nav2_navfn_planner"}
+ros-kilted-nav2-planner = {path = "nav2_planner"}
+ros-kilted-nav2-regulated-pure-pursuit-controller = {path = "nav2_regulated_pure_pursuit_controller"}
+ros-kilted-nav2-rotation-shim-controller = {path = "nav2_rotation_shim_controller"}
+ros-kilted-nav2-route = {path = "nav2_route"}
+ros-kilted-nav2-rviz-plugins = {path = "nav2_rviz_plugins"}
+ros-kilted-nav2-simple-commander = {path = "nav2_simple_commander"}
+ros-kilted-nav2-smac-planner = {path = "nav2_smac_planner"}
+ros-kilted-nav2-smoother = {path = "nav2_smoother"}
+ros-kilted-nav2-system-tests = {path = "nav2_system_tests"}
+ros-kilted-nav2-theta-star-planner = {path = "nav2_theta_star_planner"}
+ros-kilted-nav2-util = {path = "nav2_util"}
+ros-kilted-nav2-velocity-smoother = {path = "nav2_velocity_smoother"}
+ros-kilted-nav2-voxel-grid = {path = "nav2_voxel_grid"}
+ros-kilted-nav2-waypoint-follower = {path = "nav2_waypoint_follower"}
+ros-kilted-nav2-ros-common = {path = "nav2_ros_common"}
+ros-kilted-opennav-following = {path = "nav2_following/opennav_following"}
+
+[dependencies]
+colcon-ros = ">=0.5.0,<0.6"
+setuptools = "<72.0.0"
+cmake = "<4"
+nanoflann = ">=1.6.1,<2"
+
+[target.linux-64.dependencies]
+gcc_linux-64 = "<15"