Add missing deps.

base.nix

@@ -1,107 +1,66 @@
-{ lib, stdenv, pkgs, pythonPackages }: 
-  with lib;
-  with pkgs;
-  with pythonPackages;
-let 
-  callPackage = newScope self;
-  callPythonPackage = newScope (pythonPackages // self);
-  
-  self = rec {
-    buildRosPackage = { postFixup ? "", ... }@args: stdenv.mkDerivation args // {
-    
-      postFixup = ''
-        wrapPythonPrograms
-      '' + postFixup;
-    };
+self: super: with super.lib; let
 
-    catkin-pkg = pythonPackages.callPackage ./catkin-pkg { };
-    
-    empy = pythonPackages.callPackage ./empy {};
-
-    rospkg = callPythonPackage ./rospkg {};
-    
-    rosdistro = callPythonPackage ./rosdistro {};
-
-    rosdep = callPythonPackage ./rosdep {};
-    
-    rosinstall-generator = callPythonPackage ./rosinstall-generator {};
-    
-    vcstools = buildPythonPackage rec {
-      pname = "vcstools";
-      version = "0.1.40";
-      name = "${pname}-${version}";
-
-      src = fetchPypi {
-        inherit pname version;
-        sha256 = "1mfasip71ky1g968n1zlramgn3fjxk4c922d0x9cs0nwm2snln4m";
-      };
-
-      propagatedBuildInputs = [ pyyaml python-dateutil ];
-
-      # Tries to download files and lots of other issues
-      doCheck = false;
+  pythonOverridesFor = python: python.override (old: {
+    packageOverrides = pySelf: pySuper: {
+      catkin-pkg = pySelf.callPackage ./catkin-pkg { };
       
-      meta = {
-        description = "Python library for interacting with various VCS systems";
-        homepage = http://wiki.ros.org/vcstools;
-      };
+      empy = pySelf.callPackage ./empy { };
+      
+      rosdep = pySelf.callPackage ./rosdep { };
+
+      rosdistro = pySelf.callPackage ./rosdistro { };
+      
+      rosinstall = pySelf.callPackage ./rosinstall { };
+
+      rosinstall-generator = pySelf.callPackage ./rosinstall-generator { };
+
+      rospkg = pySelf.callPackage ./rospkg { };
     };
+  });
+
+in {
+  python27 = pythonOverridesFor super.python27;
+  python36 = pythonOverridesFor super.python36;
+  python37 = pythonOverridesFor super.python37;
+
+  vcstools = buildPythonPackage rec {
+    pname = "vcstools";
+    version = "0.1.40";
+    name = "${pname}-${version}";
+
+    src = fetchPypi {
+      inherit pname version;
+      sha256 = "1mfasip71ky1g968n1zlramgn3fjxk4c922d0x9cs0nwm2snln4m";
+    };
+
+    propagatedBuildInputs = [ pyyaml python-dateutil ];
+
+    # Tries to download files and lots of other issues
+    doCheck = false;
     
-    wstool = buildPythonPackage rec {
-      pname = "wstool";
-      version = "0.1.17";
-      name = "${pname}-${version}";
-
-      src = fetchPypi {
-        inherit pname version;
-        sha256 = "0dz2gn2qx919s1z5wa94nkvb01pnqp945mvj97108w7i1q8lz6y7";
-      };
-
-      propagatedBuildInputs = [ vcstools pyyaml ];
-
-      meta = {
-        description = "A tool for managing a workspace of multiple heterogenous SCM repositories";
-        homepage = http://wiki.ros.org/wstool;
-      };
+    meta = {
+      description = "Python library for interacting with various VCS systems";
+      homepage = http://wiki.ros.org/vcstools;
     };
-    
-    rosinstall = buildPythonPackage rec {
-      pname = "rosinstall";
-      version = "0.7.8";
-      name = "${pname}-${version}";
+  };
+  
+  wstool = buildPythonPackage rec {
+    pname = "wstool";
+    version = "0.1.17";
+    name = "${pname}-${version}";
 
-      src = fetchPypi {
-        inherit pname version;
-        sha256 = "0h7d8ynv44c68sbfn28xw4k18k3ip6252x7r7bqw6b5cifzhia1b";
-      };
-
-      nativeBuildInputs = [ makeWrapper ];
-      propagatedBuildInputs = [ vcstools pyyaml rosdistro catkinPkg wstool rospkg ];
-
-      meta = {
-        description = "The installer for ROS";
-        homepage = http://wiki.ros.org/rosinstall;
-      };
+    src = fetchPypi {
+      inherit pname version;
+      sha256 = "0dz2gn2qx919s1z5wa94nkvb01pnqp945mvj97108w7i1q8lz6y7";
     };
 
-    consoleBridge = stdenv.mkDerivation rec {
-      name = "console_bridge-0.3.2";
+    propagatedBuildInputs = [ vcstools pyyaml ];
 
-      src = fetchFromGitHub {
-        owner = "ros";
-        repo = "console_bridge";
-        rev = "0.4.0";
-        sha256 = "1sxwabx59znmx99mfskz4wh1fhkwjanqjj6dy33zim55c6x8qnxr";
-      };
-
-      nativeBuildInputs = [ cmake ];
-
-      meta = with lib; {
-        description = "A ROS-independent package for logging that seamlessly pipes into rosconsole/rosout for ROS-dependent packages";
-        homepage = https://github.com/ros/console_bridge;
-        license = licenses.bsd3;
-      };
+    meta = {
+      description = "A tool for managing a workspace of multiple heterogenous SCM repositories";
+      homepage = http://wiki.ros.org/wstool;
     };
   };
 
-in self
+  console-bridge = self.callPackage ./console-bridge { };
+}

build-env/default.nix

@@ -0,0 +1,98 @@
+{ stdenv, runCommand, makeWrapper, catkin }:
+{ packages ? []
+, extraOutputsToInstall ? []
+, postBuild ? ""
+, ignoreCollisions ? false
+# Wrap executables with the given argument.
+, makeWrapperArgs ? [] }:
+
+let
+  env = runCommand "ros-env" {
+    inherit packages;
+  
+    nativeBuildInputs = [ makeWrapper ];
+    
+    passthru.env = stdenv.mkDerivation {
+      name = "interactive-ros-env";
+      nativeBuildInputs = [ env ];
+      buildInputs = [ catkin ];
+
+      buildCommand = ''
+        echo >&2 ""
+        echo >&2 "*** ROS 'env' attributes are intended for interactive nix-shell sessions, not for building! ***"
+        echo >&2 ""
+        exit 1
+      '';
+    };
+  } ''
+    declare -A symlinks
+    declare -A pkgsAdded
+  
+    isCatkinPackage() {
+      local pkg="$1"
+      [ -d "$pkg/share" ] && \
+      [ -n "$(find "$pkg/share" \
+        -maxdepth 2 -mindepth 2 \
+        -name package.xml -print -quit)" ]
+    }
+    
+    isPythonPackage() {
+      [ -d "$1/${python.sitePackages}" ]
+    }
+
+    addPackageCommon() {
+      local pkg="$1"
+      shift
+
+      if [ -n "''${pkgsAdded[$pkg]}" ]; then return; fi
+      pkgsAdded[$pkg]=1
+
+      cd "$pkg"
+
+      local target
+      while IFS= read -r -d $'\0' file; do
+        target=$(realpath "$file")
+        symlinks[$file]="$pkg/$file"
+      done < <(find . \
+        -path ./nix-support -prune -o \
+        "$@" -type f -print0)
+      
+      local prop="$pkg/nix-support/propagated-build-inputs"
+      if [ -e "$prop" ]; then
+          local new_pkg
+          for new_pkg in $(<"$prop"); do
+              addPackage $new_pkg
+          done
+      fi
+    }
+
+    addCatkinPackage() {
+      addPackageCommon "$1"
+    }
+
+    addPythonPackage() {
+      addPackageCommon "$1"
+    }
+
+    addPackage() {
+      local pkg="$1"
+      
+      if isCatkinPackage "$pkg"; then
+        addCatkinPackage "$pkg"
+      elif isPythonPackage "$pkg"; then
+        addPythonPackage "$pkg"
+      fi
+    }
+
+    for p in ''${packages[@]}; do
+      addPackage "$p"
+    done
+
+    for link in "''${!symlinks[@]}"; do
+      mkdir -p "$(dirname "$out/$link")"
+      ln -s "''${symlinks[$link]}" "$out/$link"
+    done
+
+    ${postBuild}
+  '';
+in env

build-ros-package/default.nix

@@ -0,0 +1,20 @@
+{ stdenv, python, cmake }:
+{ postInstall ? ""
+, postFixup ? ""
+, buildInputs ? []
+, nativeBuildInputs ? []
+, propagatedNativeBuildInputs ? []
+, ...
+}@args: stdenv.mkDerivation (args // {
+
+  nativeBuildInputs = [ python.pkgs.wrapPython ] ++ nativeBuildInputs;
+  propagatedNativeBuildInputs = [ cmake ] ++ propagatedNativeBuildInputs;
+
+  postInstall = ''
+    pushd $out
+    rm -f *setup.*sh
+    rm -f _setup_util.py
+    rm -f env.sh
+    popd
+  '' + postInstall;
+})

catkin-setup-hook/default.nix

@@ -0,0 +1,11 @@
+{ runCommand }:
+
+distro:
+
+runCommand "ros-setup-hook.sh" {
+  inherit distro;
+} ''
+  cp ${./setup-hook.sh} setup-hook.sh
+  substituteAllInPlace setup-hook.sh
+  mv setup-hook.sh $out
+''

catkin-setup-hook/setup-hook.sh

@@ -0,0 +1,21 @@
+isCatkinPackage() {
+  local pkg="$1"
+  [ -d "$pkg/share" ] && \
+  [ -n "$(find "$pkg/share" \
+    -maxdepth 2 -mindepth 2 \
+    -name package.xml -print -quit)" ]
+}
+
+_addRosPackagePath() {
+  if isCatkinPackage "$1"; then
+    addToSearchPath ROS_PACKAGE_PATH "$1"
+  fi
+}
+addEnvHooks "$hostOffset" _addRosPackagePath
+
+_catkinPreConfigureHook() {
+    cmakeFlags+=" -DCATKIN_ENABLE_TESTING=${doCheck:-OFF}"
+}
+preConfigureHooks+=(_catkinPreConfigureHook)
+
+export ROS_DISTRO="@distro@"

console-bridge/default.nix

@@ -0,0 +1,20 @@
+{ lib, stdenv, fetchFromGitHub, cmake }:
+stdenv.mkDerivation rec {
+  pname = "console_bridge";
+  version = "0.4.3";
+
+  src = fetchFromGitHub {
+    owner = "ros";
+    repo = pname;
+    rev = version;
+    sha256 = "0vk2ji4q93w3fw4s6p0i9d3x2ppsmhxm3x7qrcl4jfr0pyj96n5x";
+  };
+
+  nativeBuildInputs = [ cmake ];
+
+  meta = with lib; {
+    description = "A ROS-independent package for logging that seamlessly pipes into rosconsole/rosout for ROS-dependent packages";
+    homepage = https://github.com/ros/console_bridge;
+    license = licenses.bsd3;
+  };
+}

default.nix

@@ -0,0 +1,6 @@
+{ overlays ? [] }@args: import <nixpkgs> {
+  overlays = [
+    (import ./base.nix)
+    (import ./melodic)
+  ] ++ overlays;
+} // args

melodic/default.nix

@@ -5,10 +5,7 @@ self: super: let
     
     buildRosPackage = rosSelf.callPackage ../build-ros-package { };
     
-    buildEnv = import ../build-env {
-      inherit (self) stdenv runCommand makeWrapper;
-      inherit (rosSelf) python;
-    };
+    buildEnv = rosSelf.callPackage ../build-env { };
     
     python = self.python3;
     pythonPackages = self.python3Packages;

rosdep/0001-Add-support-for-Nix-NixOS.patch

@@ -0,0 +1,134 @@
+From 062a441c889a870b01493485565554703987ee83 Mon Sep 17 00:00:00 2001
+From: Ben Wolsieffer <benwolsieffer@gmail.com>
+Date: Thu, 14 Mar 2019 17:30:55 -0400
+Subject: [PATCH] Add support for Nix/NixOS
+
+---
+ src/rosdep2/__init__.py       |  3 +-
+ src/rosdep2/platforms/arch.py |  9 ++---
+ src/rosdep2/platforms/nix.py  | 62 +++++++++++++++++++++++++++++++++++
+ 3 files changed, 69 insertions(+), 5 deletions(-)
+ create mode 100644 src/rosdep2/platforms/nix.py
+
+diff --git a/src/rosdep2/__init__.py b/src/rosdep2/__init__.py
+index b7bbbfb..7d844f5 100644
+--- a/src/rosdep2/__init__.py
++++ b/src/rosdep2/__init__.py
+@@ -59,6 +59,7 @@ def create_default_installer_context(verbose=False):
+     from .platforms import cygwin
+     from .platforms import debian
+     from .platforms import gentoo
++    from .platforms import nix
+     from .platforms import opensuse
+     from .platforms import osx
+     from .platforms import pip
+@@ -68,7 +69,7 @@ def create_default_installer_context(verbose=False):
+     from .platforms import slackware
+     from .platforms import source
+ 
+-    platform_mods = [arch, cygwin, debian, gentoo, opensuse, osx, redhat, slackware, freebsd]
++    platform_mods = [arch, cygwin, debian, gentoo, nix, opensuse, osx, redhat, slackware, freebsd]
+     installer_mods = [source, pip, gem] + platform_mods
+ 
+     context = InstallerContext()
+diff --git a/src/rosdep2/platforms/arch.py b/src/rosdep2/platforms/arch.py
+index c03e2f1..6aaf4f4 100644
+--- a/src/rosdep2/platforms/arch.py
++++ b/src/rosdep2/platforms/arch.py
+@@ -29,10 +29,11 @@
+ 
+ import subprocess
+ 
++from rospkg.os_detect import OS_ARCH
++
+ from ..installers import PackageManagerInstaller
+ from .source import SOURCE_INSTALLER
+ 
+-ARCH_OS_NAME = 'arch'
+ PACMAN_INSTALLER = 'pacman'
+ 
+ 
+@@ -41,9 +42,9 @@ def register_installers(context):
+ 
+ 
+ def register_platforms(context):
+-    context.add_os_installer_key(ARCH_OS_NAME, SOURCE_INSTALLER)
+-    context.add_os_installer_key(ARCH_OS_NAME, PACMAN_INSTALLER)
+-    context.set_default_os_installer_key(ARCH_OS_NAME, lambda self: PACMAN_INSTALLER)
++    context.add_os_installer_key(OS_ARCH, SOURCE_INSTALLER)
++    context.add_os_installer_key(OS_ARCH, PACMAN_INSTALLER)
++    context.set_default_os_installer_key(OS_ARCH, lambda self: PACMAN_INSTALLER)
+ 
+ 
+ def pacman_detect_single(p):
+diff --git a/src/rosdep2/platforms/nix.py b/src/rosdep2/platforms/nix.py
+new file mode 100644
+index 0000000..c6c21b9
+--- /dev/null
++++ b/src/rosdep2/platforms/nix.py
+@@ -0,0 +1,62 @@
++# Copyright (c) 2009, Willow Garage, Inc.
++# All rights reserved.
++#
++# Redistribution and use in source and binary forms, with or without
++# modification, are permitted provided that the following conditions are met:
++#
++#     * Redistributions of source code must retain the above copyright
++#       notice, this list of conditions and the following disclaimer.
++#     * Redistributions in binary form must reproduce the above copyright
++#       notice, this list of conditions and the following disclaimer in the
++#       documentation and/or other materials provided with the distribution.
++#     * Neither the name of the Willow Garage, Inc. nor the names of its
++#       contributors may be used to endorse or promote products derived from
++#       this software without specific prior written permission.
++#
++# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
++# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
++# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
++# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
++# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
++# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
++# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
++# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
++# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
++# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
++# POSSIBILITY OF SUCH DAMAGE.
++
++# Author Ben Wolsieffer/benwolsieffer@gmail.com
++import subprocess
++
++from rospkg.os_detect import OS_NIXOS
++
++from ..installers import PackageManagerInstaller
++
++NIX_INSTALLER = 'nix'
++
++
++def register_installers(context):
++    context.set_installer(NIX_INSTALLER, NixInstaller())
++
++
++def register_platforms(context):
++    context.add_os_installer_key(OS_NIXOS, NIX_INSTALLER)
++    context.set_default_os_installer_key(OS_NIXOS, lambda self: NIX_INSTALLER)
++
++
++def nix_detect(packages):
++    # Say that all packages are installed, because Nix handles installation
++    # automatically
++    return packages
++
++
++class NixInstaller(PackageManagerInstaller):
++
++    def __init__(self):
++        super(NixInstaller, self).__init__(nix_detect)
++
++    def get_install_command(self, resolved, interactive=True, reinstall=False, quiet=False):
++        raise NotImplementedError('Nix does not support installing packages through ROS')
++
++    def get_version_strings(self):
++        return subprocess.check_output(('nix', '--version'))
+-- 
+2.21.0
+

rosdep/default.nix

@@ -8,7 +8,9 @@ buildPythonPackage rec {
     inherit pname version;
     sha256 = "0y3hxyd84q7c0091cci3dnsg8pm9yw9i4fxgc09wzzgaiq8y3k40";
   };
-  
+
+  patches = [ ./0001-Add-support-for-Nix-NixOS.patch ];
+
   # Tries to download files
   doCheck = false;
 

rosdistro/default.nix

@@ -1,4 +1,4 @@
-{ buildPythonPackage, fetchPypi, rospkg, catkin-pkg, pyyaml }:
+{ lib, buildPythonPackage, fetchPypi, rospkg, catkin-pkg, pyyaml }:
 
 buildPythonPackage rec {
   pname = "rosdistro";
@@ -11,8 +11,9 @@ buildPythonPackage rec {
 
   propagatedBuildInputs = [ rospkg catkin-pkg pyyaml ];
 
-  meta = {
+  meta = with lib; {
     description = "A tool to work with rosdistro files";
     homepage = http://wiki.ros.org/rosdistro;
+    license = licenses.bsd3;
   };
 }

rosinstall-generator/default.nix

@@ -1,4 +1,4 @@
-{ buildPythonPackage, fetchPypi, catkin-pkg, rosdistro, rospkg, pyyaml }:
+{ lib, buildPythonPackage, fetchPypi, catkin-pkg, rosdistro, rospkg, pyyaml }:
 
 buildPythonPackage rec {
   pname = "rosinstall_generator";
@@ -11,8 +11,9 @@ buildPythonPackage rec {
 
   propagatedBuildInputs = [ catkin-pkg rosdistro rospkg pyyaml ];
 
-  meta = {
+  meta = with lib; {
     description = "A tool to generator rosinstall files";
     homepage = http://wiki.ros.org/rosinstall_generator;
+    license = licenses.bsd3;
   };
 }

rosinstall/default.nix

@@ -0,0 +1,21 @@
+{ lib, buildPythonPackage, fetchPypi, makeWrapper, vcstools, pyyaml, rosdistro
+, catkin-pkg, wstool, rospkg }:
+
+rosinstall = buildPythonPackage rec {
+  pname = "rosinstall";
+  version = "0.7.8";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "0h7d8ynv44c68sbfn28xw4k18k3ip6252x7r7bqw6b5cifzhia1b";
+  };
+
+  nativeBuildInputs = [ makeWrapper ];
+  propagatedBuildInputs = [ vcstools pyyaml rosdistro catkin-pkg wstool rospkg ];
+
+  meta = with lib; {
+    description = "The installer for ROS";
+    homepage = http://wiki.ros.org/rosinstall;
+    license = licenses.bsd3;
+  };
+};

rospkg/0001-os_detect-add-support-for-NixOS.patch

@@ -0,0 +1,41 @@
+From 2f9ca3ff1c81ef8d497cd867a2c2904d579cdc80 Mon Sep 17 00:00:00 2001
+From: Ben Wolsieffer <benwolsieffer@gmail.com>
+Date: Tue, 12 Mar 2019 11:53:25 -0400
+Subject: [PATCH] os_detect: add support for NixOS
+
+Also reorder the OS name declarations to match their usages.
+---
+ src/rospkg/os_detect.py | 4 +++-
+ 1 file changed, 3 insertions(+), 1 deletion(-)
+
+diff --git a/src/rospkg/os_detect.py b/src/rospkg/os_detect.py
+index 42b902e..482a566 100644
+--- a/src/rospkg/os_detect.py
++++ b/src/rospkg/os_detect.py
+@@ -687,13 +687,14 @@ OS_LINARO = 'linaro'
+ OS_MINT = 'mint'
+ OS_NEON = 'neon'
+ OS_OPENSUSE = 'opensuse'
+-OS_TIZEN = 'tizen'
+ OS_OPENSUSE13 = 'opensuse'
++OS_TIZEN = 'tizen'
+ OS_OSX = 'osx'
+ OS_QNX = 'qnx'
+ OS_RHEL = 'rhel'
+ OS_SLACKWARE = 'slackware'
+ OS_UBUNTU = 'ubuntu'
++OS_NIXOS = 'nixos'
+ OS_WINDOWS = 'windows'
+ 
+ OsDetect.register_default(OS_ALPINE, FdoDetect("alpine"))
+@@ -720,6 +721,7 @@ OsDetect.register_default(OS_QNX, QNX())
+ OsDetect.register_default(OS_RHEL, Rhel())
+ OsDetect.register_default(OS_SLACKWARE, Slackware())
+ OsDetect.register_default(OS_UBUNTU, LsbDetect("Ubuntu"))
++OsDetect.register_default(OS_NIXOS, FdoDetect("nixos"))
+ OsDetect.register_default(OS_WINDOWS, Windows())
+ 
+ 
+-- 
+2.21.0
+

rospkg/default.nix

@@ -10,6 +10,8 @@ buildPythonPackage rec {
   };
 
   propagatedBuildInputs = [ catkin-pkg pyyaml ];
+  
+  patches = [ ./0001-os_detect-add-support-for-NixOS.patch ];
 
   meta = {
     description = "Library for retrieving information about ROS packages and stacks";