diff --git a/README.md b/README.md
index 7517b3a552..e691ab1f54 100644
--- a/README.md
+++ b/README.md
@@ -30,6 +30,19 @@ roslaunch turtlebot3_gazebo turtlebot3_world.launch
 roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
 ```
 
+Turtlebot 3 simulation in Gazebo on humble distro:
+```
+nix-shell \
+  -I nix-ros-overlay=https://github.com/lopsided98/nix-ros-overlay/archive/master.tar.gz \
+  --option extra-substituters 'https://ros.cachix.org' \
+  --option trusted-public-keys 'cache.nixos.org-1:6NCHdD59X431o0gWypbMrAURkbJ16ZPMQFGspcDShjY= ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=' \
+  '<nix-ros-overlay/examples/humble-turtlebot3-gazebo.nix>'
+# If not on NixOS, nixGL (https://github.com/guibou/nixGL) is needed for OpenGL support
+ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+# Spawn a new nix-shell in a new terminal and then:
+ros2 run turtlebot3_teleop teleop_keyboard
+```
+
 ### Flakes
 
 With [Flakes enabled][flake], the equivalent of the above for noetic distro is:
@@ -38,6 +51,12 @@ nix develop github:lopsided98/nix-ros-overlay#example-noetic-turtlebot3-gazebo
 # Then use roslaunch commands as above
 ```
 
+With [Flakes enabled][flake], the equivalent of the above for humble distro is:
+```
+nix develop github:lopsided98/nix-ros-overlay#example-humble-turtlebot3-gazebo
+# Then use ros2 commands as above
+```
+
 Using the overlay in your `flake.nix`-based project could look like this:
 
 <!-- The following comment is for https://github.com/zimbatm/mdsh -->
diff --git a/examples/humble-turtlebot3-gazebo.nix b/examples/humble-turtlebot3-gazebo.nix
new file mode 100755
index 0000000000..a01e5a71de
--- /dev/null
+++ b/examples/humble-turtlebot3-gazebo.nix
@@ -0,0 +1,23 @@
+# Run:
+# ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+# ros2 run turtlebot3_teleop teleop_keyboard
+
+{ pkgs ? import ../. {} }:
+with pkgs;
+with rosPackages.humble;
+with pythonPackages;
+
+mkShell {
+  buildInputs = [
+    glibcLocales
+    (buildEnv { paths = [
+      ros-base
+      turtlebot3-teleop
+      turtlebot3-gazebo
+    ]; })
+  ];
+
+  ROS_HOSTNAME = "localhost";
+  ROS_MASTER_URI = "http://localhost:11311";
+  TURTLEBOT3_MODEL = "burger";
+}