diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
index 407f82e..d89b890 100644
--- a/.github/workflows/CI.yml
+++ b/.github/workflows/CI.yml
@@ -40,14 +40,8 @@ jobs:
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Setup binary permissions
-        run: chmod a+x artifacts/pixi*
-
       - name: Run integration tests
         run: pixi run --locked test-slow
-        env:
-          PIXI_BIN_DIR: ${{ github.workspace }}/artifacts
-          BUILD_BACKENDS_BIN_DIR: ${{ github.workspace }}/artifacts
 
   test-windows-x86_64:
     timeout-minutes: 10
@@ -78,9 +72,6 @@ jobs:
       - name: Run integration tests
         run: pixi run --locked test-slow
         working-directory: ${{ env.PIXI_WORKSPACE }}
-        env:
-          PIXI_BIN_DIR: ${{ env.PIXI_WORKSPACE }}/artifacts
-          BUILD_BACKENDS_BIN_DIR: ${{ env.PIXI_WORKSPACE }}/artifacts
 
   test-macos-aarch64:
     timeout-minutes: 10
@@ -100,11 +91,5 @@ jobs:
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
-      - name: Setup binary permissions
-        run: chmod a+x artifacts/pixi*
-
       - name: Run integration tests
         run: pixi run --locked test-slow
-        env:
-          PIXI_BIN_DIR: ${{ github.workspace }}/artifacts
-          BUILD_BACKENDS_BIN_DIR: ${{ github.workspace }}/artifacts
diff --git a/README.md b/README.md
index c9a8919..2c4a1de 100644
--- a/README.md
+++ b/README.md
@@ -25,10 +25,9 @@ If you prefer to use local checkouts, create a `.env` file with the paths to you
 
 ```shell
 PIXI_REPO="/path/to/pixi-repository"
-BUILD_BACKENDS_REPO="/path/to/pixi-build-backends-repository"
-
 PIXI_BIN_DIR="${PIXI_REPO}/target/pixi/release"
-BUILD_BACKENDS_BIN_DIR="${BUILD_BACKENDS_REPO}/target/pixi/release"
+
+BUILD_BACKENDS_REPO="/path/to/pixi-build-backends-repository"
 ```
 
 Then build the binaries with:
diff --git a/mypy.ini b/mypy.ini
index bc205ee..8e5bf47 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -1,4 +1,4 @@
 [mypy]
 strict = True
-exclude = tests/data/pypi-indexes
+exclude = tests/data/pypi-indexes|.*setup\.py
 files = tests,scripts
diff --git a/scripts/build-repos.py b/scripts/build-repos.py
index b133157..3268bc6 100755
--- a/scripts/build-repos.py
+++ b/scripts/build-repos.py
@@ -35,14 +35,28 @@ class PixiBuildError(Exception):
     pass
 
 
+class PixiChannelError(Exception):
+    """Raised when creating the testsuite channel fails."""
+
+    pass
+
+
 def run_command(
-    cmd: list[str], cwd: Path | None = None, capture_output: bool = True
+    cmd: list[str],
+    cwd: Path | None = None,
+    capture_output: bool = True,
+    env: dict[str, str] | None = None,
 ) -> tuple[int, str, str]:
     """Run a command and return exit code, stdout, and stderr."""
-    result = subprocess.run(cmd, cwd=cwd, capture_output=capture_output, text=True)
+    result = subprocess.run(cmd, cwd=cwd, capture_output=capture_output, text=True, env=env)
     return result.returncode, result.stdout, result.stderr
 
 
+def executable_name(base: str) -> str:
+    """Return the platform specific executable name."""
+    return f"{base}.exe" if sys.platform.startswith("win") else base
+
+
 def is_git_worktree(path: Path) -> bool:
     """Check if the given path is inside a git work tree (repo or worktree)."""
     if not path.exists() or not path.is_dir():
@@ -89,6 +103,30 @@ def build_executables(repo_path: Path) -> None:
         raise PixiBuildError(error_msg)
 
 
+def create_channel(repo_path: Path, project_root: Path) -> None:
+    """Create the local testsuite channel and move it into this repository."""
+    channel_source = repo_path / "artifacts-channel"
+
+    print("📦 Creating channel")
+    returncode, stdout, stderr = run_command(["pixi", "run", "create-channel"], cwd=repo_path)
+
+    if returncode != 0:
+        error_msg = "Failed to create testsuite channel"
+        if stderr:
+            error_msg += f": {stderr}"
+        if stdout:
+            error_msg += f" (Output: {stdout})"
+        raise PixiChannelError(error_msg)
+
+    if not channel_source.exists():
+        raise PixiChannelError(
+            f"Expected channel directory '{channel_source}' was not created. "
+            "Verify that 'pixi run create-channel' completed successfully."
+        )
+
+    print("✅ Testsuite channel ready at source repo")
+
+
 def process_repository(repo_path: Path, repo_name: str) -> None:
     """Process a single repository: verify, pull if on main, and build."""
     print(f"\n{'=' * 60}")
@@ -112,14 +150,12 @@ def process_repository(repo_path: Path, repo_name: str) -> None:
     else:
         print("⚠️  Could not determine current branch")
 
-    # Run pixi build
-    build_executables(repo_path)
-
 
 def main() -> None:
     """Main function to process repositories."""
     # Load environment variables from .env file
-    env_file = Path(__file__).parent.parent / ".env"
+    project_root = Path(__file__).parent.parent
+    env_file = project_root / ".env"
     if env_file.exists():
         load_dotenv(env_file, override=True)
         print(f"✅ Loaded environment variables from {env_file}")
@@ -150,12 +186,14 @@ def main() -> None:
 
     try:
         process_repository(pixi_repo_path, "PIXI_REPO")
+        build_executables(pixi_repo_path)
     except Exception as e:
         print(f"❌ Error processing PIXI_REPO: {e}")
         success = False
 
     try:
         process_repository(build_backends_repo_path, "BUILD_BACKENDS_REPO")
+        create_channel(build_backends_repo_path, project_root)
     except Exception as e:
         print(f"❌ Error processing BUILD_BACKENDS_REPO: {e}")
         success = False
diff --git a/scripts/download-artifacts.py b/scripts/download-artifacts.py
index d9b14ea..d1761d8 100644
--- a/scripts/download-artifacts.py
+++ b/scripts/download-artifacts.py
@@ -139,48 +139,27 @@ def download_and_extract_artifact(
             console.print(f"[green]Successfully downloaded pixi binary to: {final_path}")
 
         elif repo == "prefix-dev/pixi-build-backends":
-            # Extract all pixi-build-* executables
-            backend_executables = []
-            is_windows = sys.platform.startswith("win")
-
+            # Find the pixi binary
+            is_channel = None
             for file_name in file_list:
-                base_name = Path(file_name).name
-                if base_name.startswith("pixi-build-"):
-                    # On Windows, expect .exe extension; on others, no extension
-                    if is_windows and base_name.endswith(".exe"):
-                        backend_executables.append(file_name)
-                    elif not is_windows and not base_name.endswith(".exe") and "." not in base_name:
-                        backend_executables.append(file_name)
-
-            if not backend_executables:
-                console.print("[red]Could not find any pixi-build-* executables in archive")
-                raise FileNotFoundError(
-                    f"Could not find any pixi-build-* executables in archive. Archive contents: {file_list}"
-                )
-
-            console.print(f"[blue]Found {len(backend_executables)} backend executable(s)")
-
-            # Extract all executables
-            for executable in backend_executables:
-                final_path = output_dir / Path(executable).name
-                if final_path.exists():
-                    if final_path.is_dir():
-                        shutil.rmtree(final_path)
-                    else:
-                        final_path.unlink()
-
-                zip_ref.extract(executable, output_dir)
-                extracted_path = output_dir / executable
+                if file_name.endswith("repodata.json"):
+                    is_channel = True
+                    break
 
-                if extracted_path != final_path:
-                    extracted_path.rename(final_path)
+            if not is_channel:
+                console.print("[red]Could not locate a channel directory inside the artifact.")
+                raise FileNotFoundError("Could not locate a channel directory inside the artifact.")
 
-                # Make executable on Unix systems
-                if not sys.platform.startswith("win"):
-                    final_path.chmod(0o755)
+            console.print("[blue]Detected backend channel artifact")
+            final_channel_path = output_dir / "pixi-build-backends"
+            if final_channel_path.exists():
+                console.print(f"[yellow]Removing existing channel at {final_channel_path}")
+                shutil.rmtree(final_channel_path)
 
-                console.print(f"[green]Extracted executable: {final_path}")
+            final_channel_path.parent.mkdir(parents=True, exist_ok=True)
+            zip_ref.extractall(final_channel_path)
 
+            console.print(f"[green]Channel is ready at: {final_channel_path}")
         else:
             raise ValueError(f"Unsupported repository: {repo}")
 
diff --git a/tests/data/pixi_build/ros-workspace/pixi.lock b/tests/data/pixi_build/ros-workspace/pixi.lock
new file mode 100644
index 0000000..643afc5
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/pixi.lock
@@ -0,0 +1,41203 @@
+version: 6
+environments:
+  default:
+    channels:
+    - url: https://prefix.dev/pixi-build-backends/
+    - url: https://prefix.dev/conda-forge/
+    - url: https://prefix.dev/robostack-staging/
+    packages:
+      linux-64:
+      - conda: https://prefix.dev/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
+      - conda: https://prefix.dev/conda-forge/noarch/adwaita-icon-theme-48.1-unix_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/aiohappyeyeballs-2.6.1-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/aiohttp-3.12.15-py311h3778330_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/aiosignal-1.4.0-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/alsa-lib-1.2.14-hb9d3cd8_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/argcomplete-3.6.2-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/at-spi2-atk-2.38.0-h0630a04_3.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2
+      - conda: https://prefix.dev/conda-forge/noarch/attrs-25.3.0-pyh71513ae_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/brotli-1.1.0-hb9d3cd8_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/brotli-bin-1.1.0-hb9d3cd8_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/bullet-3.25-hbd00459_4.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/bullet-cpp-3.25-h7db5c69_4.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/c-ares-1.34.5-hb9d3cd8_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/ca-certificates-2025.8.3-hbd8a1cb_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/cairo-1.18.4-h3394656_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/catkin_pkg-1.0.0-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/cffi-1.17.1-py311hf29c0ef_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/cmake-4.1.0-hc85cc9f_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/contourpy-1.3.3-py311hdf67eae_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/cppcheck-2.18.1-py311hdb66536_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/cryptography-45.0.6-py311h8488d03_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/cycler-0.12.1-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/cyrus-sasl-2.1.28-hd9c7081_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/dbus-1.16.2-h3c4dab8_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/distro-1.9.0-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/noarch/docutils-0.22-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/double-conversion-3.3.1-h5888daf_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/empy-3.3.4-pyh9f0ad1d_1.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/epoxy-1.5.10-h166bdaf_1.tar.bz2
+      - conda: https://prefix.dev/conda-forge/noarch/exceptiongroup-1.3.0-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/expat-2.7.1-hecca717_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/ffmpeg-7.1.1-gpl_h127656b_906.conda
+      - conda: https://prefix.dev/conda-forge/noarch/flake8-7.3.0-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/flann-1.9.2-hc299af7_5.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/fmt-11.2.0-h07f6e7f_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
+      - conda: https://prefix.dev/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
+      - conda: https://prefix.dev/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
+      - conda: https://prefix.dev/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/fontconfig-2.15.0-h7e30c49_1.conda
+      - conda: https://prefix.dev/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
+      - conda: https://prefix.dev/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/fonttools-4.59.1-py311h3778330_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/foonathan-memory-0.7.3-h5888daf_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/freeglut-3.2.2-ha6d2627_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/freeimage-3.18.0-h3a85593_22.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/freetype-2.13.3-ha770c72_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/fribidi-1.0.10-h36c2ea0_0.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/frozenlist-1.7.0-py311h52bc045_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gdk-pixbuf-2.42.12-h2b0a6b4_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gettext-0.25.1-h3f43e3d_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gettext-tools-0.25.1-h3f43e3d_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gl2ps-1.4.2-hae5d5c5_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/glew-2.1.0-h9c3ff4c_2.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/glib-2.84.3-h89d24bf_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/glib-tools-2.84.3-hf516916_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gmock-1.17.0-ha770c72_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gmp-6.3.0-hac33072_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/graphite2-1.3.14-hecca717_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/graphviz-12.2.1-h5ae0cbf_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gst-plugins-base-1.24.11-h651a532_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gstreamer-1.24.11-hc37bda9_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gtest-1.17.0-h84d6215_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gtk3-3.24.43-h0c6a113_5.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/gts-0.7.6-h977cf35_4.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/harfbuzz-11.4.2-h15599e2_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/hdf4-4.2.15-h2a13503_7.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/hdf5-1.14.6-nompi_h6e4c0c1_103.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/hicolor-icon-theme-0.17-ha770c72_2.tar.bz2
+      - conda: https://prefix.dev/conda-forge/linux-64/icu-75.1-he02047a_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/idna-3.10-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/imath-3.1.12-h7955e40_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/importlib-metadata-8.7.0-pyhe01879c_1.conda
+      - conda: https://prefix.dev/conda-forge/noarch/importlib_resources-6.5.2-pyhd8ed1ab_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/iniconfig-2.0.0-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/jasper-4.2.8-he3c4edf_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/jsoncpp-1.9.6-hf42df4d_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/jxrlib-1.1-hd590300_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/keyutils-1.6.3-hb9d3cd8_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/kiwisolver-1.4.9-py311h724c32c_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/lame-3.100-h166bdaf_1003.tar.bz2
+      - conda: https://prefix.dev/conda-forge/noarch/lark-parser-0.12.0-pyhd8ed1ab_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/lcms2-2.17-h717163a_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/ld_impl_linux-64-2.44-h1423503_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/lerc-4.0.0-h0aef613_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/level-zero-1.24.1-hb700be7_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libabseil-20250127.1-cxx17_hbbce691_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libacl-2.3.2-h0f662aa_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libaec-1.1.4-h3f801dc_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libasprintf-0.25.1-h3f43e3d_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libasprintf-devel-0.25.1-h3f43e3d_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libass-0.17.3-h52826cd_2.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libavif16-1.3.0-h766b0b6_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libblas-3.9.0-34_h59b9bed_openblas.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libboost-1.86.0-h6c02f8c_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libboost-devel-1.86.0-h1a2810e_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libboost-headers-1.86.0-ha770c72_3.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libboost-python-1.86.0-py311h5b7b71f_3.conda
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diff --git a/tests/data/pixi_build/ros-workspace/pixi.toml b/tests/data/pixi_build/ros-workspace/pixi.toml
new file mode 100644
index 0000000..2d60bce
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/pixi.toml
@@ -0,0 +1,20 @@
+[workspace]
+channels = [
+  "https://prefix.dev/pixi-build-backends",
+  "https://prefix.dev/conda-forge",
+  "https://prefix.dev/robostack-staging",
+]
+platforms = ["osx-arm64", "linux-64", "win-64", "linux-aarch64"]
+preview = ["pixi-build"]
+
+[tasks]
+navigator = "ros2 run navigator navigator"
+navigator_py = "ros2 run navigator_py navigator"
+sim = "ros2 run turtlesim turtlesim_node"
+talker = "ros2 run talker_py talker"
+
+[dependencies]
+ros-humble-desktop = ">=0.10.0,<0.11"
+ros-humble-navigator = { path = "src/navigator" }
+ros-humble-navigator-py = { path = "src/navigator_py" }
+ros-humble-talker-py = { path = "src/talker-py" }
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator/CMakeLists.txt b/tests/data/pixi_build/ros-workspace/src/navigator/CMakeLists.txt
new file mode 100644
index 0000000..567da95
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.8)
+project(navigator)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(turtlesim REQUIRED)
+
+add_executable(navigator src/navigator.cpp)
+target_include_directories(navigator PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(navigator PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(
+  navigator
+  "rclcpp"
+  "geometry_msgs"
+  "turtlesim"
+)
+
+install(TARGETS navigator
+  DESTINATION lib/${PROJECT_NAME})
+
+# if(BUILD_TESTING)
+#   find_package(ament_lint_auto REQUIRED)
+#   # the following line skips the linter which checks for copyrights
+#   # comment the line when a copyright and license is added to all source files
+#   set(ament_cmake_copyright_FOUND TRUE)
+#   # the following line skips cpplint (only works in a git repo)
+#   # comment the line when this package is in a git repo and when
+#   # a copyright and license is added to all source files
+#   set(ament_cmake_cpplint_FOUND TRUE)
+#   ament_lint_auto_find_test_dependencies()
+# endif()
+
+ament_package()
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator/package.xml b/tests/data/pixi_build/ros-workspace/src/navigator/package.xml
new file mode 100644
index 0000000..65ab958
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>navigator</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ruben.arts@hotmail.com">rarts</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>geometry_msgs</depend>
+  <depend>turtlesim</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator/pixi.toml b/tests/data/pixi_build/ros-workspace/src/navigator/pixi.toml
new file mode 100644
index 0000000..fd07c45
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator/pixi.toml
@@ -0,0 +1,6 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+
+[package.build.config]
+distro = "humble"
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator/src/navigator.cpp b/tests/data/pixi_build/ros-workspace/src/navigator/src/navigator.cpp
new file mode 100644
index 0000000..7fcd732
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator/src/navigator.cpp
@@ -0,0 +1,94 @@
+#define _USE_MATH_DEFINES
+
+#include <cmath>
+
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/point.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include "turtlesim/msg/pose.hpp"
+
+class TurtleNavigator : public rclcpp::Node
+{
+public:
+    TurtleNavigator()
+        : Node("turtle_navigator"), x_goal_(4.0), y_goal_(5.0), kp_(1.0), ki_(0.0), kd_(0.05), prev_error_(0.0), integral_(0.0)
+    {
+        subscription_ = this->create_subscription<geometry_msgs::msg::Point>(
+            "coordinates", 10, std::bind(&TurtleNavigator::goal_callback, this, std::placeholders::_1));
+        pose_subscription_ = this->create_subscription<turtlesim::msg::Pose>(
+            "turtle1/pose", 10, std::bind(&TurtleNavigator::pose_callback, this, std::placeholders::_1));
+        publisher_ = this->create_publisher<geometry_msgs::msg::Twist>("turtle1/cmd_vel", 10);
+
+        timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(100), std::bind(&TurtleNavigator::control_loop, this));
+
+        RCLCPP_INFO(this->get_logger(), "Turtle Navigator has been started!");
+        RCLCPP_INFO(this->get_logger(), "Initial goal: x=%f, y=%f", x_goal_, y_goal_);
+    }
+
+private:
+    void goal_callback(const geometry_msgs::msg::Point::SharedPtr msg)
+    {
+        x_goal_ = msg->x;
+        y_goal_ = msg->y;
+        RCLCPP_INFO(this->get_logger(), "Received goal: x=%f, y=%f", x_goal_, y_goal_);
+    }
+
+    void pose_callback(const turtlesim::msg::Pose::SharedPtr msg)
+    {
+        x_current_ = msg->x;
+        y_current_ = msg->y;
+        theta_current_ = msg->theta;
+    }
+
+    void control_loop()
+    {
+//        RCLCPP_INFO(this->get_logger(), "Hello Ruben!");
+        double error_x = x_goal_ - x_current_;
+        double error_y = y_goal_ - y_current_;
+        double distance_error = std::sqrt(error_x * error_x + error_y * error_y);
+
+        double angle_to_goal = std::atan2(error_y, error_x);
+        double angle_error = angle_to_goal - theta_current_;
+
+        // Normalize angle error to the range [-pi, pi]
+        while (angle_error > M_PI) angle_error -= 2 * M_PI;
+        while (angle_error < -M_PI) angle_error += 2 * M_PI;
+
+        // PID control
+        double control_signal = kp_ * distance_error + ki_ * integral_ + kd_ * (distance_error - prev_error_);
+        integral_ += distance_error;
+        prev_error_ = distance_error;
+
+        // Limit control signal
+        double max_linear_speed = 2.0; // Max linear speed
+        double max_angular_speed = 2.0; // Max angular speed
+        control_signal = std::clamp(control_signal, -max_linear_speed, max_linear_speed);
+
+        // Publish velocity commands
+        auto msg = geometry_msgs::msg::Twist();
+        msg.linear.x = control_signal;
+        msg.angular.z = 4.0 * angle_error; // simple P controller for angle
+        msg.angular.z = std::clamp(msg.angular.z, -max_angular_speed, max_angular_speed);
+
+        publisher_->publish(msg);
+    }
+
+    rclcpp::Subscription<geometry_msgs::msg::Point>::SharedPtr subscription_;
+    rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr pose_subscription_;
+    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
+    rclcpp::TimerBase::SharedPtr timer_;
+
+    double x_goal_, y_goal_;
+    double x_current_, y_current_, theta_current_;
+    double kp_, ki_, kd_;
+    double prev_error_, integral_;
+};
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<TurtleNavigator>());
+    rclcpp::shutdown();
+    return 0;
+}
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/navigator_py/__init__.py b/tests/data/pixi_build/ros-workspace/src/navigator_py/navigator_py/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/navigator_py/navigator.py b/tests/data/pixi_build/ros-workspace/src/navigator_py/navigator_py/navigator.py
new file mode 100644
index 0000000..2aed04f
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator_py/navigator_py/navigator.py
@@ -0,0 +1,91 @@
+import math
+from typing import Any
+
+import rclpy  # type: ignore[import-not-found]
+from geometry_msgs.msg import Point, Twist  # type: ignore[import-not-found]
+from rclpy.node import Node  # type: ignore[import-not-found]
+from turtlesim.msg import Pose  # type: ignore[import-not-found]
+
+
+class TurtleNavigator(Node):  # type: ignore[misc]
+    def __init__(self) -> None:
+        super().__init__(node_name="turtle_navigator")
+        self.x_goal = 5.0
+        self.y_goal = 5.0
+        self.kp = 1.0
+        self.ki = 0.0
+        self.kd = 0.05
+        self.prev_error = 0.0
+        self.integral = 0.0
+
+        self.subscription = self.create_subscription(Point, "coordinates", self.goal_callback, 10)
+        self.pose_subscription = self.create_subscription(
+            Pose, "turtle1/pose", self.pose_callback, 10
+        )
+        self.publisher = self.create_publisher(Twist, "turtle1/cmd_vel", 10)
+
+        self.timer = self.create_timer(0.1, self.control_loop)
+
+        self.x_current = 0.0
+        self.y_current = 0.0
+        self.theta_current = 0.0
+
+    def goal_callback(self, msg: Any) -> None:
+        self.x_goal = msg.x
+        self.y_goal = msg.y
+        self.get_logger().info(f"Received goal: x={self.x_goal}, y={self.y_goal}")
+
+    def pose_callback(self, msg: Any) -> None:
+        self.x_current = msg.x
+        self.y_current = msg.y
+        self.theta_current = msg.theta
+
+    def control_loop(self) -> None:
+        error_x = self.x_goal - self.x_current
+        error_y = self.y_goal - self.y_current
+        distance_error = math.sqrt(error_x**2 + error_y**2)
+
+        angle_to_goal = math.atan2(error_y, error_x)
+        angle_error = angle_to_goal - self.theta_current
+
+        # Normalize angle error to the range [-pi, pi]
+        while angle_error > math.pi:
+            angle_error -= 2 * math.pi
+        while angle_error < -math.pi:
+            angle_error += 2 * math.pi
+
+        # PID control
+        control_signal = (
+            self.kp * distance_error
+            + self.ki * self.integral
+            + self.kd * (distance_error - self.prev_error)
+        )
+        self.integral += distance_error
+        self.prev_error = distance_error
+
+        # Limit control signal
+        max_linear_speed = 2.0  # Max linear speed
+        max_angular_speed = 2.0  # Max angular speed
+        control_signal = max(min(control_signal, max_linear_speed), -max_linear_speed)
+
+        # Publish velocity commands
+        msg = Twist()
+        msg.linear.x = control_signal
+        msg.angular.z = 4.0 * angle_error  # Simple P controller for angle
+        msg.angular.z = max(min(msg.angular.z, max_angular_speed), -max_angular_speed)
+
+        self.publisher.publish(msg)
+
+
+def main(args: Any = None) -> None:
+    rclpy.init(args=args)
+    print("Turtle Navigator")
+    turtle_navigator = TurtleNavigator()
+    print("Waiting for command..")
+    rclpy.spin(turtle_navigator)
+    turtle_navigator.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/package.xml b/tests/data/pixi_build/ros-workspace/src/navigator_py/package.xml
new file mode 100644
index 0000000..97a27d8
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator_py/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>navigator_py</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ruben.arts@hotmail.com">rubenarts</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/pixi.toml b/tests/data/pixi_build/ros-workspace/src/navigator_py/pixi.toml
new file mode 100644
index 0000000..f851e96
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator_py/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+
+[package.build.config]
+distro = "humble"
+extra-input-globs = ["hi"]
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/resource/navigator_py b/tests/data/pixi_build/ros-workspace/src/navigator_py/resource/navigator_py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/setup.cfg b/tests/data/pixi_build/ros-workspace/src/navigator_py/setup.cfg
new file mode 100644
index 0000000..c9717fc
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator_py/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/navigator_py
+[install]
+install_scripts=$base/lib/navigator_py
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/setup.py b/tests/data/pixi_build/ros-workspace/src/navigator_py/setup.py
new file mode 100644
index 0000000..d4e7d71
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator_py/setup.py
@@ -0,0 +1,22 @@
+from setuptools import find_packages, setup
+
+package_name = "navigator_py"
+
+setup(
+    name=package_name,
+    version="0.0.0",
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="rubenarts",
+    maintainer_email="ruben.arts@hotmail.com",
+    description="TODO: Package description",
+    license="TODO: License declaration",
+    entry_points={
+        "console_scripts": ["navigator = navigator_py.navigator:main"],
+    },
+)
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/test/test_copyright_navigator.py b/tests/data/pixi_build/ros-workspace/src/navigator_py/test/test_copyright_navigator.py
new file mode 100644
index 0000000..5693a04
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator_py/test/test_copyright_navigator.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main  # type: ignore[import-not-found]
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.")
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright() -> None:
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/test/test_flake8_navigator.py b/tests/data/pixi_build/ros-workspace/src/navigator_py/test/test_flake8_navigator.py
new file mode 100644
index 0000000..944c9ea
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator_py/test/test_flake8_navigator.py
@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors  # type: ignore[import-not-found]
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8() -> None:
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)
diff --git a/tests/data/pixi_build/ros-workspace/src/navigator_py/test/test_pep257_navigator.py b/tests/data/pixi_build/ros-workspace/src/navigator_py/test/test_pep257_navigator.py
new file mode 100644
index 0000000..3446c44
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/navigator_py/test/test_pep257_navigator.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main  # type: ignore[import-not-found]
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257() -> None:
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found code style errors / warnings"
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/package.xml b/tests/data/pixi_build/ros-workspace/src/talker-py/package.xml
new file mode 100644
index 0000000..e29ef60
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/talker-py/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>talker_py</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ruben.arts@hotmail.com">rubenarts</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/pixi.toml b/tests/data/pixi_build/ros-workspace/src/talker-py/pixi.toml
new file mode 100644
index 0000000..f851e96
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/talker-py/pixi.toml
@@ -0,0 +1,7 @@
+[package.build.backend]
+name = "pixi-build-ros"
+version = "*"
+
+[package.build.config]
+distro = "humble"
+extra-input-globs = ["hi"]
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/resource/talker_py b/tests/data/pixi_build/ros-workspace/src/talker-py/resource/talker_py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/setup.cfg b/tests/data/pixi_build/ros-workspace/src/talker-py/setup.cfg
new file mode 100644
index 0000000..32f214d
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/talker-py/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/talker_py
+[install]
+install_scripts=$base/lib/talker_py
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/setup.py b/tests/data/pixi_build/ros-workspace/src/talker-py/setup.py
new file mode 100644
index 0000000..2fe74ad
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/talker-py/setup.py
@@ -0,0 +1,24 @@
+from setuptools import find_packages, setup
+
+package_name = "talker_py"
+
+setup(
+    name=package_name,
+    version="0.0.0",
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="rubenarts",
+    maintainer_email="ruben.arts@hotmail.com",
+    description="TODO: Package description",
+    license="TODO: License declaration",
+    entry_points={
+        "console_scripts": [
+            "talker = talker_py.talker:main",
+        ],
+    },
+)
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/talker_py/__init__.py b/tests/data/pixi_build/ros-workspace/src/talker-py/talker_py/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/talker_py/talker.py b/tests/data/pixi_build/ros-workspace/src/talker-py/talker_py/talker.py
new file mode 100644
index 0000000..b907a0e
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/talker-py/talker_py/talker.py
@@ -0,0 +1,45 @@
+import sys
+import argparse
+from typing import Any
+
+import rclpy  # type: ignore[import-not-found]
+from geometry_msgs.msg import Point  # type: ignore[import-not-found]
+from rclpy.node import Node  # type: ignore[import-not-found]
+
+
+class CoordinatePublisher(Node):  # type: ignore[misc]
+    def __init__(self) -> None:
+        super().__init__(node_name="coordinate_publisher")
+        self.publisher_ = self.create_publisher(Point, "coordinates", 10)
+
+    def publish_coordinates(self, x: float, y: float) -> None:
+        msg = Point()
+        msg.x = x
+        msg.y = y
+        msg.z = 0.0  # Assuming z is not used, set to 0
+        self.publisher_.publish(msg)
+        self.get_logger().info(f"Publishing: x={x}, y={y}")
+
+
+def main(args: Any = None) -> None:
+    rclpy.init(args=args)
+    node = CoordinatePublisher()
+
+    parser = argparse.ArgumentParser(description="Send coordinates over a ROS2 topic")
+    parser.add_argument("x", type=float, help="X coordinate")
+    parser.add_argument("y", type=float, help="Y coordinate")
+
+    args = parser.parse_args(args=None if sys.argv[1:] else ["--help"])
+
+    try:
+        node.publish_coordinates(args.x, args.y)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    print("HALLO OUWE")
+    main()
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/test/test_copyright_talker.py b/tests/data/pixi_build/ros-workspace/src/talker-py/test/test_copyright_talker.py
new file mode 100644
index 0000000..5693a04
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/talker-py/test/test_copyright_talker.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main  # type: ignore[import-not-found]
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason="No copyright header has been placed in the generated source file.")
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright() -> None:
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/test/test_flake8_talker.py b/tests/data/pixi_build/ros-workspace/src/talker-py/test/test_flake8_talker.py
new file mode 100644
index 0000000..944c9ea
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/talker-py/test/test_flake8_talker.py
@@ -0,0 +1,23 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors  # type: ignore[import-not-found]
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8() -> None:
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)
diff --git a/tests/data/pixi_build/ros-workspace/src/talker-py/test/test_pep257_talker.py b/tests/data/pixi_build/ros-workspace/src/talker-py/test/test_pep257_talker.py
new file mode 100644
index 0000000..3446c44
--- /dev/null
+++ b/tests/data/pixi_build/ros-workspace/src/talker-py/test/test_pep257_talker.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main  # type: ignore[import-not-found]
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257() -> None:
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found code style errors / warnings"
diff --git a/tests/integration_python/common.py b/tests/integration_python/common.py
index 49c3c25..5e90c0e 100644
--- a/tests/integration_python/common.py
+++ b/tests/integration_python/common.py
@@ -1,8 +1,8 @@
 import os
 import platform
+import re
 import shutil
 import subprocess
-import re
 from contextlib import contextmanager
 from dataclasses import dataclass
 from enum import IntEnum
@@ -10,6 +10,7 @@
 from typing import Any, Generator
 
 import tomli_w
+import tomllib
 import yaml
 from rattler import Platform
 
@@ -28,6 +29,84 @@
 """
 
 
+def get_local_backend_channel() -> str:
+    env_repo = os.environ.get("BUILD_BACKENDS_REPO")
+    if env_repo:
+        repo_path = Path(env_repo).expanduser().joinpath("artifacts-channel")
+        if repo_path.is_dir() and any(repo_path.rglob("repodata.json")):
+            return repo_path.as_uri()
+
+    channel_dir = repo_root().joinpath("artifacts", "pixi-build-backends")
+    if channel_dir.is_dir() and any(channel_dir.rglob("repodata.json")):
+        return channel_dir.as_uri()
+
+    raise Exception("No BUILD_BACKENDS_REPO defined, can't find artifacts-channel dir")
+
+
+def copy_manifest(
+    src: os.PathLike[str],
+    dst: os.PathLike[str],
+) -> Path:
+    """
+    Copy file with special handling for pixi manifest.
+
+    It will override backends channel with local backends channel.
+    """
+    copied_path = Path(shutil.copy(src, dst))
+    local_uri = get_local_backend_channel()
+
+    if copied_path.suffix != ".toml":
+        return copied_path
+
+    content = copied_path.read_text(encoding="utf-8")
+
+    changed = False
+    if copied_path.name == "pixi.toml":
+        data = tomllib.loads(content)
+
+        package = data.get("package")
+        if isinstance(package, dict):
+            build = package.get("build")
+            if isinstance(build, dict):
+                backend = build.get("backend")
+                if isinstance(backend, dict):
+                    channels = backend.get("channels")
+                    new_channels: list[str] = []
+                    if not channels:
+                        new_channels = [local_uri, "https://prefix.dev/conda-forge"]
+                    else:
+                        for channel in channels:
+                            if "pixi-build-backends" in channel:
+                                new_channels.append(local_uri)
+                            else:
+                                new_channels.append(channel)
+                        # Handle case where channels is not defined
+                        if local_uri not in new_channels:
+                            new_channels.append(local_uri)
+
+                    backend["channels"] = new_channels
+                    changed = new_channels != channels
+        if changed:
+            content = tomli_w.dumps(data)
+
+    if changed:
+        copied_path.write_text(content, encoding="utf-8")
+
+    return copied_path
+
+
+def copytree_with_local_backend(
+    src: os.PathLike[str],
+    dst: os.PathLike[str],
+    **kwargs: Any,
+) -> Path:
+    # Remove existing .pixi folders
+    shutil.rmtree(Path(src).joinpath(".pixi"), ignore_errors=True)
+
+    kwargs.setdefault("copy_function", copy_manifest)
+    return Path(shutil.copytree(src, dst, **kwargs))
+
+
 @dataclass
 class Workspace:
     recipe: dict[str, Any]
@@ -203,7 +282,7 @@ def git_test_repo(source_dir: Path, repo_name: str, target_dir: Path) -> str:
     repo_path: Path = target_dir / repo_name
 
     # Copy source directory to temp
-    shutil.copytree(source_dir, repo_path, copy_function=shutil.copy)
+    copytree_with_local_backend(source_dir, repo_path, copy_function=copy_manifest)
 
     # Initialize git repository in the copied source
     subprocess.run(
diff --git a/tests/integration_python/conftest.py b/tests/integration_python/conftest.py
index e9fe060..c6f3d79 100644
--- a/tests/integration_python/conftest.py
+++ b/tests/integration_python/conftest.py
@@ -7,7 +7,58 @@
 import dotenv
 import pytest
 
-from .common import CURRENT_PLATFORM, Workspace, exec_extension, repo_root
+from urllib.parse import urlparse, unquote
+from urllib.request import url2pathname
+
+from .common import (
+    CURRENT_PLATFORM,
+    Workspace,
+    exec_extension,
+    get_local_backend_channel,
+    repo_root,
+)
+
+
+@pytest.fixture(scope="session")
+def local_backend_channel_dir() -> Path:
+    channel_uri = get_local_backend_channel()
+    if channel_uri is None:
+        raise RuntimeError(
+            "Local pixi-build-backends channel not found. Run 'pixi run build-repos' "
+            "or 'pixi run download-artifacts --repo pixi-build-backends' before running tests."
+        )
+    parsed = urlparse(channel_uri)
+    if parsed.scheme != "file":
+        raise RuntimeError(
+            f"Local backend channel must be a file URI, got '{channel_uri}'. "
+            "Update BUILD_BACKENDS_REPO to point to a local channel."
+        )
+
+    path_str = url2pathname(parsed.path)
+    if (
+        len(path_str) >= 3
+        and path_str[0] in {"/", "\\"}
+        and path_str[1].isalpha()
+        and path_str[2] == ":"
+    ):
+        # Drop leading slash that urlparse adds before the drive letter on Windows file URIs.
+        path_str = path_str[1:]
+    if parsed.netloc:
+        # Preserve UNC host if present.
+        path_str = f"//{parsed.netloc}{path_str}"
+
+    channel_dir = Path(unquote(path_str))
+    if not channel_dir.is_dir() or not any(channel_dir.rglob("repodata.json")):
+        raise RuntimeError(
+            f"Local backend channel at '{channel_dir}' is missing repodata.json. "
+            "Recreate it with 'pixi run build-repos' or re-download the artifacts."
+        )
+    return channel_dir
+
+
+@pytest.fixture(scope="session")
+def local_backend_channel_uri(local_backend_channel_dir: Path) -> str:
+    return local_backend_channel_dir.as_uri()
 
 
 @pytest.fixture
@@ -27,7 +78,11 @@ def examples_dir() -> Path:
 
 
 @pytest.fixture
-def simple_workspace(tmp_pixi_workspace: Path, request: pytest.FixtureRequest) -> Workspace:
+def simple_workspace(
+    tmp_pixi_workspace: Path,
+    request: pytest.FixtureRequest,
+    local_backend_channel_uri: str,
+) -> Workspace:
     name = request.node.name
 
     workspace_dir = tmp_pixi_workspace.joinpath("workspace")
@@ -44,7 +99,7 @@ def simple_workspace(tmp_pixi_workspace: Path, request: pytest.FixtureRequest) -
     workspace_manifest = {
         "workspace": {
             "channels": [
-                "https://prefix.dev/pixi-build-backends",
+                local_backend_channel_uri,
                 "https://prefix.dev/conda-forge",
             ],
             "preview": ["pixi-build"],
@@ -58,7 +113,14 @@ def simple_workspace(tmp_pixi_workspace: Path, request: pytest.FixtureRequest) -
             "name": name,
             "version": "1.0.0",
             "build": {
-                "backend": {"name": "pixi-build-rattler-build", "version": "*"},
+                "backend": {
+                    "name": "pixi-build-rattler-build",
+                    "version": "*",
+                    "channels": [
+                        local_backend_channel_uri,
+                        "https://prefix.dev/conda-forge",
+                    ],
+                },
                 "configuration": {"debug-dir": str(debug_dir)},
             },
         },
@@ -216,71 +278,30 @@ def pixi() -> Path:
 
 
 @pytest.fixture(scope="session", autouse=True)
-def build_backends(load_dotenv: None) -> None:
+def build_backends(
+    load_dotenv: None,
+    local_backend_channel_dir: Path | None,
+    local_backend_channel_uri: str | None,
+) -> None:
     """
-    Sets up build backend environment variables for testing.
-
-    Configures PIXI_BUILD_BACKEND_OVERRIDE environment variable with paths
-    to the build backends.
+    Ensure build backend helpers are available for tests.
 
-    Requires the BUILD_BACKENDS_BIN_DIR environment variable to be set.
-    Falls back to binaries downloaded into the artifacts directory.
+    We prefer installing backends from the local channel.
     """
-    build_backends_dir = os.getenv("BUILD_BACKENDS_BIN_DIR")
-
-    backends = [
-        "pixi-build-cmake",
-        "pixi-build-python",
-        "pixi-build-rattler-build",
-        "pixi-build-rust",
-    ]
-
-    if build_backends_dir:
-        build_backends_path = Path(build_backends_dir)
-    else:
-        project_root = repo_root()
-        candidates = [
-            project_root / "artifacts",
-            project_root / "artifacts" / "pixi-build-backends",
-        ]
-        build_backends_path = None
-        for candidate in candidates:
-            if not candidate.is_dir():
-                continue
-            if all((candidate / exec_extension(backend)).is_file() for backend in backends):
-                build_backends_path = candidate
-                break
-
-        if build_backends_path is not None:
-            os.environ["BUILD_BACKENDS_BIN_DIR"] = str(build_backends_path)
-            build_backends_dir = os.environ["BUILD_BACKENDS_BIN_DIR"]
-
-    if build_backends_dir is None and build_backends_path is None:
-        raise ValueError(
-            "Could not determine build backend locations. Set BUILD_BACKENDS_BIN_DIR or run "
-            "'pixi run download-artifacts --repo pixi-build-backends'."
+    if local_backend_channel_dir is not None and not any(
+        local_backend_channel_dir.rglob("repodata.json")
+    ):
+        raise RuntimeError(
+            f"Local backend channel at '{local_backend_channel_dir}' is missing repodata.json. "
+            "Recreate it with 'pixi run build-repos' or re-download the artifacts."
         )
 
-    if build_backends_path is None or not build_backends_path.is_dir():
-        raise ValueError(
-            f"BUILD_BACKENDS_BIN_DIR points to '{build_backends_dir}' which is not a valid directory. "
-            "Please set it to a directory that exists and contains build backend definitions."
+    if os.getenv("BUILD_BACKENDS_BIN_DIR"):
+        raise RuntimeError(
+            "BUILD_BACKENDS_BIN_DIR is no longer supported. Remove it to rely on the packaged channel."
         )
 
-    # Build the override string in the format: tool_name=/path/to/executable::tool_name2=...
-    override_parts = []
-    for backend in backends:
-        backend_path = build_backends_path / exec_extension(backend)
-        if not backend_path.is_file():
-            raise FileNotFoundError(
-                f"'{backend}' not found at '{backend_path}'. Set BUILD_BACKENDS_BIN_DIR "
-                "or run 'pixi run download-artifacts --repo pixi-build-backends'."
-            )
-
-        override_parts.append(f"{backend}={backend_path}")
-
-    override_value = ",".join(override_parts)
-    os.environ["PIXI_BUILD_BACKEND_OVERRIDE"] = override_value
+    os.environ.pop("PIXI_BUILD_BACKEND_OVERRIDE", None)
 
 
 @pytest.fixture
diff --git a/tests/integration_python/test_backends.py b/tests/integration_python/test_backends.py
index 60d96b3..041a991 100644
--- a/tests/integration_python/test_backends.py
+++ b/tests/integration_python/test_backends.py
@@ -1,9 +1,8 @@
-import shutil
 from pathlib import Path
 
 import pytest
 
-from .common import get_manifest, repo_root, verify_cli_command
+from .common import copytree_with_local_backend, get_manifest, repo_root, verify_cli_command
 
 
 @pytest.mark.slow
@@ -18,11 +17,8 @@
     ],
 )
 def test_pixi_minimal_backend(pixi_project: Path, pixi: Path, tmp_pixi_workspace: Path) -> None:
-    # Remove existing .pixi folders
-    shutil.rmtree(pixi_project.joinpath(".pixi"), ignore_errors=True)
-
     # Copy to workspace
-    shutil.copytree(pixi_project, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(pixi_project, tmp_pixi_workspace, dirs_exist_ok=True)
 
     # Get manifest
     manifest = get_manifest(tmp_pixi_workspace)
@@ -38,9 +34,6 @@ def test_pixi_minimal_backend(pixi_project: Path, pixi: Path, tmp_pixi_workspace
 # def test_nameless_versionless(pixi: Path, tmp_pixi_workspace: Path):
 #     project_dir = repo_root().joinpath("tests", "data", "pixi_build", "name-and-version-less-package")
 #
-#     # Remove existing .pixi folders
-#     shutil.rmtree(project_dir.joinpath(".pixi"), ignore_errors=True)
-#
 #     # Copy to workspace
 #     shutil.copytree(project_dir, tmp_pixi_workspace, dirs_exist_ok=True)
 #
diff --git a/tests/integration_python/test_build.py b/tests/integration_python/test_build.py
index 32ba5bc..7531918 100644
--- a/tests/integration_python/test_build.py
+++ b/tests/integration_python/test_build.py
@@ -1,11 +1,17 @@
-import shutil
 from pathlib import Path
 
 import pytest
 import tomli_w
 import tomllib
 
-from .common import CURRENT_PLATFORM, ExitCode, Workspace, verify_cli_command
+from .common import (
+    CURRENT_PLATFORM,
+    ExitCode,
+    Workspace,
+    copy_manifest,
+    copytree_with_local_backend,
+    verify_cli_command,
+)
 
 
 def test_build_conda_package(
@@ -156,7 +162,7 @@ def test_editable_pyproject(pixi: Path, build_data: Path, tmp_pixi_workspace: Pa
     test_data = build_data.joinpath(project)
 
     target_dir = tmp_pixi_workspace.joinpath(project)
-    shutil.copytree(test_data, target_dir)
+    copytree_with_local_backend(test_data, target_dir)
     manifest_path = target_dir.joinpath("pyproject.toml")
 
     verify_cli_command(
@@ -193,7 +199,7 @@ def test_non_editable_pyproject(pixi: Path, build_data: Path, tmp_pixi_workspace
     test_data = build_data.joinpath(project)
 
     target_dir = tmp_pixi_workspace.joinpath(project)
-    shutil.copytree(test_data, target_dir)
+    copytree_with_local_backend(test_data, target_dir)
     manifest_path = target_dir.joinpath("pyproject.toml")
 
     env = {
@@ -234,7 +240,9 @@ def test_build_using_rattler_build_backend(
     build_data: Path,
 ) -> None:
     test_data = build_data.joinpath("rattler-build-backend")
-    shutil.copytree(test_data / "array-api-extra", tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(
+        test_data / "array-api-extra", tmp_pixi_workspace, dirs_exist_ok=True
+    )
 
     manifest_path = tmp_pixi_workspace / "pixi.toml"
 
@@ -267,7 +275,7 @@ def test_incremental_builds(
     non_incremental_evidence: str,
 ) -> None:
     test_workspace = build_data / "minimal-backend-workspaces" / backend
-    shutil.copytree(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
     manifest_path = tmp_pixi_workspace / "pixi.toml"
 
     verify_cli_command(
@@ -287,7 +295,7 @@ def test_incremental_builds(
 def test_error_manifest_deps(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None:
     test_data = build_data.joinpath("rattler-build-backend")
     # copy the whole smokey project to the tmp_pixi_workspace
-    shutil.copytree(test_data / "smokey", tmp_pixi_workspace / "smokey")
+    copytree_with_local_backend(test_data / "smokey", tmp_pixi_workspace / "smokey")
     manifest_path = tmp_pixi_workspace / "smokey" / "pixi.toml"
 
     verify_cli_command(
@@ -308,7 +316,7 @@ def test_error_manifest_deps_no_default(
 ) -> None:
     test_data = build_data.joinpath("rattler-build-backend")
     # copy the whole smokey2 project to the tmp_pixi_workspace
-    shutil.copytree(test_data / "smokey2", tmp_pixi_workspace / "smokey2")
+    copytree_with_local_backend(test_data / "smokey2", tmp_pixi_workspace / "smokey2")
     manifest_path = tmp_pixi_workspace / "smokey2" / "pixi.toml"
 
     verify_cli_command(
@@ -329,7 +337,9 @@ def test_rattler_build_source_dependency(
 ) -> None:
     test_data = build_data.joinpath("rattler-build-backend")
     # copy the whole smokey2 project to the tmp_pixi_workspace
-    shutil.copytree(test_data / "source-dependency", tmp_pixi_workspace / "source-dependency")
+    copytree_with_local_backend(
+        test_data / "source-dependency", tmp_pixi_workspace / "source-dependency"
+    )
     manifest_path = tmp_pixi_workspace / "source-dependency" / "b" / "pixi.toml"
 
     verify_cli_command(
@@ -356,7 +366,7 @@ def test_recursive_source_run_dependencies(
     project = "recursive_source_run_dep"
     test_data = build_data.joinpath(project)
 
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
     manifest_path = tmp_pixi_workspace.joinpath("pixi.toml")
 
     verify_cli_command(
@@ -389,7 +399,7 @@ def test_maturin(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None
     project = "maturin"
     test_data = build_data.joinpath(project)
 
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
     manifest_path = tmp_pixi_workspace.joinpath("pixi.toml")
 
     verify_cli_command(
@@ -415,7 +425,7 @@ def test_recursive_source_build_dependencies(
     project = "recursive_source_build_dep"
     test_data = build_data.joinpath(project)
 
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
     manifest_path = tmp_pixi_workspace.joinpath("pixi.toml")
 
     verify_cli_command(
@@ -450,7 +460,9 @@ def test_source_path(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) ->
     project = "cpp-with-path-to-source"
     test_data = build_data.joinpath(project)
 
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True, copy_function=shutil.copy)
+    copytree_with_local_backend(
+        test_data, tmp_pixi_workspace, dirs_exist_ok=True, copy_function=copy_manifest
+    )
 
     verify_cli_command(
         [
@@ -478,7 +490,7 @@ def test_extra_args(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> N
     test_data = build_data.joinpath(project)
 
     target_dir = tmp_pixi_workspace.joinpath(project)
-    shutil.copytree(test_data, target_dir)
+    copytree_with_local_backend(test_data, target_dir)
     manifest_path = target_dir.joinpath("pixi.toml")
 
     verify_cli_command(
@@ -504,7 +516,7 @@ def test_target_specific_dependency(
     test_data = build_data.joinpath(project)
 
     target_dir = tmp_pixi_workspace.joinpath(project)
-    shutil.copytree(test_data, target_dir)
+    copytree_with_local_backend(test_data, target_dir)
     manifest_path = target_dir.joinpath("pixi.toml")
 
     manifest = tomllib.loads(manifest_path.read_text())
diff --git a/tests/integration_python/test_config.py b/tests/integration_python/test_config.py
index 90a8f1f..9feff5e 100644
--- a/tests/integration_python/test_config.py
+++ b/tests/integration_python/test_config.py
@@ -1,9 +1,9 @@
-import shutil
-from pathlib import Path
 import platform
+from pathlib import Path
+
 import pytest
 
-from .common import ExitCode, get_manifest, verify_cli_command
+from .common import ExitCode, copytree_with_local_backend, get_manifest, verify_cli_command
 
 
 @pytest.mark.slow
@@ -15,11 +15,8 @@ def test_pixi_build_cmake_env_config_without_target(
     # Copy the cmake env config test workspace
     cmake_env_test_project = test_data.joinpath("pixi_build", "env-config-cmake-test")
 
-    # Remove existing .pixi folders
-    shutil.rmtree(cmake_env_test_project.joinpath(".pixi"), ignore_errors=True)
-
     # Copy to workspace
-    shutil.copytree(cmake_env_test_project, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(cmake_env_test_project, tmp_pixi_workspace, dirs_exist_ok=True)
 
     # Get manifest
     manifest = get_manifest(tmp_pixi_workspace)
@@ -44,11 +41,10 @@ def test_pixi_build_cmake_env_config_with_target(
     # Copy the target cmake env config test workspace
     cmake_target_env_test_project = test_data.joinpath("pixi_build", "env-config-target-cmake-test")
 
-    # Remove existing .pixi folders
-    shutil.rmtree(cmake_target_env_test_project.joinpath(".pixi"), ignore_errors=True)
-
     # Copy to workspace
-    shutil.copytree(cmake_target_env_test_project, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(
+        cmake_target_env_test_project, tmp_pixi_workspace, dirs_exist_ok=True
+    )
 
     # Get manifest
     manifest = get_manifest(tmp_pixi_workspace)
@@ -87,11 +83,8 @@ def test_pixi_build_cmake_invalid_config_rejection(
     # Copy the invalid config test workspace
     cmake_invalid_test_project = test_data.joinpath("pixi_build", "env-config-invalid-test")
 
-    # Remove existing .pixi folders
-    shutil.rmtree(cmake_invalid_test_project.joinpath(".pixi"), ignore_errors=True)
-
     # Copy to workspace
-    shutil.copytree(cmake_invalid_test_project, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(cmake_invalid_test_project, tmp_pixi_workspace, dirs_exist_ok=True)
 
     # Get manifest
     manifest = get_manifest(tmp_pixi_workspace)
@@ -118,11 +111,10 @@ def test_pixi_build_cmake_invalid_target_config_rejection(
         "pixi_build", "env-config-target-invalid-test"
     )
 
-    # Remove existing .pixi folders
-    shutil.rmtree(cmake_target_invalid_test_project.joinpath(".pixi"), ignore_errors=True)
-
     # Copy to workspace
-    shutil.copytree(cmake_target_invalid_test_project, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(
+        cmake_target_invalid_test_project, tmp_pixi_workspace, dirs_exist_ok=True
+    )
 
     # Get manifest
     manifest = get_manifest(tmp_pixi_workspace)
diff --git a/tests/integration_python/test_examples.py b/tests/integration_python/test_examples.py
index 083eb49..8139e8f 100644
--- a/tests/integration_python/test_examples.py
+++ b/tests/integration_python/test_examples.py
@@ -1,9 +1,8 @@
-import shutil
 from pathlib import Path
 
 import pytest
 
-from .common import get_manifest, repo_root, verify_cli_command
+from .common import copytree_with_local_backend, get_manifest, repo_root, verify_cli_command
 
 
 @pytest.mark.slow
@@ -22,11 +21,8 @@ def test_pixi_install_examples(pixi_project: Path, pixi: Path, tmp_pixi_workspac
     This test iterates through all folders in the examples directory and verifies
     that `pixi install` completes successfully for each project.
     """
-    # Remove existing .pixi folders
-    shutil.rmtree(pixi_project.joinpath(".pixi"), ignore_errors=True)
-
     # Copy to workspace
-    shutil.copytree(pixi_project, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(pixi_project, tmp_pixi_workspace, dirs_exist_ok=True)
 
     # Get manifest
     manifest = get_manifest(tmp_pixi_workspace)
diff --git a/tests/integration_python/test_git.py b/tests/integration_python/test_git.py
index 397e162..4b5a09f 100644
--- a/tests/integration_python/test_git.py
+++ b/tests/integration_python/test_git.py
@@ -1,8 +1,13 @@
 from pathlib import Path
-import shutil
+
 import pytest
 
-from .common import CURRENT_PLATFORM, verify_cli_command
+from .common import (
+    CURRENT_PLATFORM,
+    copy_manifest,
+    copytree_with_local_backend,
+    verify_cli_command,
+)
 
 
 @pytest.mark.slow
@@ -13,8 +18,7 @@ def test_build_git_source_deps(pixi: Path, tmp_pixi_workspace: Path, build_data:
 
     project = build_data / "rich_example"
     target_git_dir = tmp_pixi_workspace / "git_project"
-    shutil.copytree(project, target_git_dir)
-    shutil.rmtree(target_git_dir.joinpath(".pixi"), ignore_errors=True)
+    copytree_with_local_backend(project, target_git_dir)
 
     # init it as a git repo and commit all files
     verify_cli_command(["git", "init"], cwd=target_git_dir)
@@ -32,9 +36,7 @@ def test_build_git_source_deps(pixi: Path, tmp_pixi_workspace: Path, build_data:
 
     minimal_workspace = tmp_pixi_workspace / "minimal_workspace"
     minimal_workspace.mkdir()
-    shutil.copyfile(
-        build_data / "manifests" / "workspace_git.toml", minimal_workspace / "pixi.toml"
-    )
+    copy_manifest(build_data / "manifests" / "workspace_git.toml", minimal_workspace / "pixi.toml")
 
     # edit the minimal_workspace to include the git_project
     workspace_manifest = minimal_workspace / "pixi.toml"
@@ -98,8 +100,7 @@ def test_build_git_source_deps_from_branch(
 
     project = build_data / "rich_example"
     target_git_dir = tmp_pixi_workspace / "git_project"
-    shutil.rmtree(project.joinpath(".pixi"), ignore_errors=True)
-    shutil.copytree(project, target_git_dir)
+    copytree_with_local_backend(project, target_git_dir)
 
     # init it as a git repo and commit all files to a test-branch
     verify_cli_command(["git", "init"], cwd=target_git_dir)
@@ -119,9 +120,7 @@ def test_build_git_source_deps_from_branch(
 
     minimal_workspace = tmp_pixi_workspace / "minimal_workspace"
     minimal_workspace.mkdir()
-    shutil.copyfile(
-        build_data / "manifests" / "workspace_git.toml", minimal_workspace / "pixi.toml"
-    )
+    copy_manifest(build_data / "manifests" / "workspace_git.toml", minimal_workspace / "pixi.toml")
 
     # edit the minimal_workspace to include the git_project
     workspace_manifest = minimal_workspace / "pixi.toml"
@@ -164,8 +163,7 @@ def test_build_git_source_deps_from_rev(
 
     project = build_data / "rich_example"
     target_git_dir = tmp_pixi_workspace / "git_project"
-    shutil.copytree(project, target_git_dir)
-    shutil.rmtree(target_git_dir.joinpath(".pixi"), ignore_errors=True)
+    copytree_with_local_backend(project, target_git_dir)
 
     # init it as a git repo and commit all files to a test-branch
     verify_cli_command(["git", "init"], cwd=target_git_dir)
@@ -183,9 +181,7 @@ def test_build_git_source_deps_from_rev(
 
     minimal_workspace = tmp_pixi_workspace / "minimal_workspace"
     minimal_workspace.mkdir()
-    shutil.copyfile(
-        build_data / "manifests" / "workspace_git.toml", minimal_workspace / "pixi.toml"
-    )
+    copy_manifest(build_data / "manifests" / "workspace_git.toml", minimal_workspace / "pixi.toml")
 
     # edit the minimal_workspace to include the git_project
     workspace_manifest = minimal_workspace / "pixi.toml"
@@ -231,8 +227,7 @@ def test_build_git_source_deps_from_tag(
 
     project = build_data / "rich_example"
     target_git_dir = tmp_pixi_workspace / "git_project"
-    shutil.rmtree(project.joinpath(".pixi"), ignore_errors=True)
-    shutil.copytree(project, target_git_dir)
+    copytree_with_local_backend(project, target_git_dir)
 
     # init it as a git repo and commit all files to a tag called v1.0.0
     verify_cli_command(["git", "init"], cwd=target_git_dir)
@@ -251,9 +246,7 @@ def test_build_git_source_deps_from_tag(
 
     minimal_workspace = tmp_pixi_workspace / "minimal_workspace"
     minimal_workspace.mkdir()
-    shutil.copyfile(
-        build_data / "manifests" / "workspace_git.toml", minimal_workspace / "pixi.toml"
-    )
+    copy_manifest(build_data / "manifests" / "workspace_git.toml", minimal_workspace / "pixi.toml")
 
     # edit the minimal_workspace to include the git_project
     workspace_manifest = minimal_workspace / "pixi.toml"
diff --git a/tests/integration_python/test_global.py b/tests/integration_python/test_global.py
index a683446..88755f5 100644
--- a/tests/integration_python/test_global.py
+++ b/tests/integration_python/test_global.py
@@ -1,11 +1,17 @@
-import shutil
 from pathlib import Path
 
 import pytest
 import tomli_w
 import tomllib
 
-from .common import ExitCode, exec_extension, git_test_repo, verify_cli_command
+from .common import (
+    ExitCode,
+    copy_manifest,
+    copytree_with_local_backend,
+    exec_extension,
+    git_test_repo,
+    verify_cli_command,
+)
 
 
 @pytest.mark.parametrize(
@@ -181,10 +187,12 @@ def test_update(pixi: Path, tmp_path: Path, build_data: Path) -> None:
     # Create a modifiable copy of simple-package
     source_project = tmp_path / "simple-package-copy"
 
-    # by using shutil.copy, we change the metadata and therefore get a higher timestamp
+    # by using copy_manifest we change the metadata and therefore get a higher timestamp
     # that way we make sure that we don't use old caches
-    shutil.copytree(
-        build_data.joinpath("simple-package"), source_project, copy_function=shutil.copy
+    copytree_with_local_backend(
+        build_data.joinpath("simple-package"),
+        source_project,
+        copy_function=copy_manifest,
     )
 
     # Install the package from the path
diff --git a/tests/integration_python/test_log.py b/tests/integration_python/test_log.py
index 2ff6309..3a3d25d 100644
--- a/tests/integration_python/test_log.py
+++ b/tests/integration_python/test_log.py
@@ -1,13 +1,12 @@
-import shutil
 from pathlib import Path
 
-from .common import ExitCode, verify_cli_command
+from .common import ExitCode, copytree_with_local_backend, verify_cli_command
 
 
 def test_log_working_quiet(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None:
     test_data = build_data.joinpath("log-example", "working")
 
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
 
     verify_cli_command(
         [
@@ -24,7 +23,7 @@ def test_log_working_quiet(pixi: Path, build_data: Path, tmp_pixi_workspace: Pat
 def test_log_working_default(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None:
     test_data = build_data.joinpath("log-example", "working")
 
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
 
     verify_cli_command(
         [
@@ -40,7 +39,7 @@ def test_log_working_default(pixi: Path, build_data: Path, tmp_pixi_workspace: P
 def test_log_failing(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None:
     test_data = build_data.joinpath("log-example", "failing")
 
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
 
     verify_cli_command(
         [
diff --git a/tests/integration_python/test_multi_output.py b/tests/integration_python/test_multi_output.py
index ac2a984..4cc9c68 100644
--- a/tests/integration_python/test_multi_output.py
+++ b/tests/integration_python/test_multi_output.py
@@ -1,14 +1,13 @@
-import shutil
 from pathlib import Path
 
-from .common import CURRENT_PLATFORM, ExitCode, verify_cli_command
+from .common import CURRENT_PLATFORM, ExitCode, copytree_with_local_backend, verify_cli_command
 
 
 def test_build(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None:
     project = "multi-output"
     test_data = build_data.joinpath(project)
     test_data.joinpath("pixi.lock").unlink(missing_ok=True)
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
     package_manifest = tmp_pixi_workspace.joinpath("recipe", "pixi.toml")
 
     verify_cli_command(
@@ -35,7 +34,7 @@ def test_install(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None
     project = "multi-output"
     test_data = build_data.joinpath(project)
     test_data.joinpath("pixi.lock").unlink(missing_ok=True)
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
 
     # Run `install` should work and create a lock file
     verify_cli_command([pixi, "install", "-v", "--manifest-path", tmp_pixi_workspace])
@@ -48,7 +47,7 @@ def test_available_packages(pixi: Path, build_data: Path, tmp_pixi_workspace: Pa
     project = "multi-output"
     test_data = build_data.joinpath(project)
     test_data.joinpath("pixi.lock").unlink(missing_ok=True)
-    shutil.copytree(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_data, tmp_pixi_workspace, dirs_exist_ok=True)
 
     # foobar-desktop is a direct dependency, so it should be properly installed
     verify_cli_command(
diff --git a/tests/integration_python/test_ros.py b/tests/integration_python/test_ros.py
new file mode 100644
index 0000000..3261102
--- /dev/null
+++ b/tests/integration_python/test_ros.py
@@ -0,0 +1,131 @@
+import json
+from pathlib import Path
+from typing import Any
+
+import pytest
+
+from .common import copytree_with_local_backend, verify_cli_command
+
+
+ROS_WORKSPACE_NAME = "ros-workspace"
+ROS_PACKAGE_DIRS = ["navigator", "navigator_py", "talker-py"]
+ROS_PACKAGE_OUTPUT_NAMES = {
+    "navigator": "ros-humble-navigator",
+    "navigator_py": "ros-humble-navigator-py",
+    "talker-py": "ros-humble-talker-py",
+}
+
+
+def _prepare_ros_workspace(build_data: Path, tmp_pixi_workspace: Path) -> Path:
+    workspace_src = build_data.joinpath(ROS_WORKSPACE_NAME)
+    copytree_with_local_backend(workspace_src, tmp_pixi_workspace, dirs_exist_ok=True)
+    return tmp_pixi_workspace
+
+
+def _load_package_metadata(project_root: Path, package_name: str) -> dict[str, Any]:
+    metadata_root = project_root.joinpath(".pixi", "build", "metadata-v0")
+    assert metadata_root.exists(), f"metadata directory missing for {package_name}"
+    selected_metadata: dict[str, Any] | None = None
+    selected_mtime: float = -1.0
+    for metadata_file in metadata_root.rglob("metadata.json"):
+        metadata = json.loads(metadata_file.read_text())
+        outputs = metadata.get("outputs", [])
+        if any(
+            isinstance(output, dict) and output.get("metadata", {}).get("name") == package_name
+            for output in outputs
+        ):
+            mtime = metadata_file.stat().st_mtime
+            if mtime > selected_mtime:
+                selected_metadata = metadata
+                selected_mtime = mtime
+    if selected_metadata is not None:
+        return selected_metadata
+    raise AssertionError(f"metadata for {package_name} not found")
+
+
+@pytest.mark.slow
+@pytest.mark.parametrize("package_dir", ROS_PACKAGE_DIRS, ids=ROS_PACKAGE_DIRS)
+def test_ros_packages_build(
+    package_dir: str, pixi: Path, build_data: Path, tmp_pixi_workspace: Path
+) -> None:
+    workspace = _prepare_ros_workspace(build_data, tmp_pixi_workspace)
+    output_dir = workspace.joinpath("dist")
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    manifest_path = workspace.joinpath("src", package_dir, "pixi.toml")
+
+    verify_cli_command(
+        [
+            pixi,
+            "build",
+            "--manifest-path",
+            manifest_path,
+            "--output-dir",
+            output_dir,
+        ]
+    )
+
+    expected_name = ROS_PACKAGE_OUTPUT_NAMES[package_dir]
+    built_packages = list(output_dir.glob("*.conda"))
+    assert built_packages, f"no package artifacts produced for {expected_name}"
+    assert any(expected_name in artifact.name for artifact in built_packages)
+
+
+def test_ros_input_globs(pixi: Path, build_data: Path, tmp_pixi_workspace: Path) -> None:
+    workspace = _prepare_ros_workspace(build_data, tmp_pixi_workspace)
+    output_dir = workspace.joinpath("dist")
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    manifest_path = workspace.joinpath("src", "navigator_py", "pixi.toml")
+
+    verify_cli_command(
+        [
+            pixi,
+            "build",
+            "--manifest-path",
+            manifest_path,
+            "--output-dir",
+            output_dir,
+        ]
+    )
+
+    metadata = _load_package_metadata(workspace, ROS_PACKAGE_OUTPUT_NAMES["navigator_py"])
+    globs = metadata.get("input_hash", {}).get("globs", [])
+    print(globs)
+    assert {"hi"}.issubset(set(globs))
+
+
+def test_ros_rebuild_on_source_change(
+    pixi: Path, build_data: Path, tmp_pixi_workspace: Path
+) -> None:
+    workspace = _prepare_ros_workspace(build_data, tmp_pixi_workspace)
+    output_dir = workspace.joinpath("dist")
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    manifest_path = workspace.joinpath("src", "talker-py", "pixi.toml")
+    package_name = ROS_PACKAGE_OUTPUT_NAMES["talker-py"]
+
+    def build_and_get_hash() -> str:
+        verify_cli_command(
+            [
+                pixi,
+                "build",
+                "--manifest-path",
+                manifest_path,
+                "--output-dir",
+                output_dir,
+            ]
+        )
+        metadata = _load_package_metadata(workspace, package_name)
+        hash_value = metadata.get("input_hash", {}).get("hash", "")
+        assert isinstance(hash_value, str)
+        return hash_value
+
+    initial_hash = build_and_get_hash()
+
+    source_file = workspace.joinpath("src", "talker-py", "setup.py")
+    source_file.write_text(source_file.read_text() + "\n# trigger rebuild\n")
+
+    rebuilt_hash = build_and_get_hash()
+
+    assert rebuilt_hash and rebuilt_hash != initial_hash
diff --git a/tests/integration_python/test_variants.py b/tests/integration_python/test_variants.py
index 72f473e..baa7e16 100644
--- a/tests/integration_python/test_variants.py
+++ b/tests/integration_python/test_variants.py
@@ -1,4 +1,3 @@
-import shutil
 from pathlib import Path
 
 import pytest
@@ -6,7 +5,7 @@
 import tomli_w
 import tomllib
 
-from .common import CURRENT_PLATFORM, verify_cli_command
+from .common import CURRENT_PLATFORM, copytree_with_local_backend, verify_cli_command
 
 
 @pytest.mark.parametrize(
@@ -21,7 +20,7 @@ def test_inline_variants_produce_multiple_outputs(
     workspace_dirname: str,
 ) -> None:
     test_workspace = build_data.joinpath(workspace_dirname)
-    shutil.copytree(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
 
     manifest_path = tmp_pixi_workspace.joinpath("pixi.toml")
     manifest = tomllib.loads(manifest_path.read_text())
@@ -64,7 +63,7 @@ def test_inline_variants_change_triggers_rebuild(
     workspace_dirname: str,
 ) -> None:
     test_workspace = build_data.joinpath(workspace_dirname)
-    shutil.copytree(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
 
     manifest_path = tmp_pixi_workspace.joinpath("pixi.toml")
     manifest = tomllib.loads(manifest_path.read_text())
@@ -113,7 +112,7 @@ def test_variant_files_produce_multiple_outputs(
     workspace_dirname: str,
 ) -> None:
     test_workspace = build_data.joinpath(workspace_dirname)
-    shutil.copytree(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
 
     manifest_path = tmp_pixi_workspace.joinpath("pixi.toml")
     manifest = tomllib.loads(manifest_path.read_text())
@@ -159,7 +158,7 @@ def test_variant_files_change_triggers_rebuild(
     workspace_dirname: str,
 ) -> None:
     test_workspace = build_data.joinpath(workspace_dirname)
-    shutil.copytree(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
+    copytree_with_local_backend(test_workspace, tmp_pixi_workspace, dirs_exist_ok=True)
 
     manifest_path = tmp_pixi_workspace.joinpath("pixi.toml")
     manifest = tomllib.loads(manifest_path.read_text())