diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index b2f55e327e..06152414ea 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -14,6 +14,7 @@ jobs:
           - crystal
           - dashing
           - eloquent
+          - foxy
     steps:
     - uses: actions/checkout@v1
     - uses: cachix/install-nix-action@v8
diff --git a/distros/default.nix b/distros/default.nix
index 16786d6deb..1bea897ae2 100644
--- a/distros/default.nix
+++ b/distros/default.nix
@@ -43,5 +43,10 @@ self: super: {
       distro = "eloquent";
       python = self.python3;
     } self super;
+
+    foxy = import ./distro-overlay.nix {
+      distro = "foxy";
+      python = self.python3;
+    } self super;
   };
 }
diff --git a/distros/foxy/overrides.nix b/distros/foxy/overrides.nix
new file mode 100644
index 0000000000..740be058d1
--- /dev/null
+++ b/distros/foxy/overrides.nix
@@ -0,0 +1,17 @@
+# Top level package set
+self:
+# Distro package set
+rosSelf: rosSuper: with rosSelf.lib; {
+  cyclonedds = rosSuper.cyclonedds.overrideAttrs ({
+    cmakeFlags ? [], ...
+  }: {
+    # This is specified in colcon.pkg. We will probably eventually need to start
+    # using colcon...
+    cmakeFlags = [ "-DBUILD_IDLC=AUTO" ];
+  });
+
+  rviz-ogre-vendor = patchVendorUrl rosSuper.rviz-ogre-vendor {
+    url = "https://github.com/OGRECave/ogre/archive/v1.12.1.zip";
+    sha256 = "1iv6k0dwdzg5nnzw2mcgcl663q4f7p2kj7nhs8afnsikrzxxgsi4";
+  };
+}