mirror of
https://github.com/lopsided98/nix-ros-overlay.git
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1.9 KiB
Markdown
50 lines
No EOL
1.9 KiB
Markdown
# NixOS Integration
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This repo can be used as a [flake](https://nixos.wiki/wiki/Flakes), and provides `overlay` and `nixosModule` outputs. This functionality can also be used without flakes.
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## Configuring overlay
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If you just want to use ROS packages in your NixOS configuration, you may add this repo as a nixpkgs overlay. If you want more complete integration of ROS with NixOS, you may instead use the provided NixOS module (see next section).
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Note that this overlay applies overrides to the Python package set, and therefore cannot coexist with other overlays that do the same, due to limitations in nixpkgs.
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If using flakes, first add this repo as a flake input and then use the overlay by adding the following config snippet:
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```nix
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nixpkgs.overlays = [ nix-ros-overlay.overlay ];
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```
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If not using flakes, add the following config snippet, filling out the commit and sha256 as needed:
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```nix
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nixpkgs.overlays = let
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nix-ros-overlay = builtins.fetchTarball {
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url = https://github.com/lopsided98/nix-ros-overlay/archive/<commit>.tar.gz;
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sha256 = "<sha256>";
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};
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in [ (import (nix-ros-overlay + "/overlay.nix")) ];
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```
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## Configuring NixOS module
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This repo includes a NixOS module that integrates ROS into NixOS. It adds the package set as a overlay, configures ROS environment variables and may optionally start ROS nodes as systemd services.
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If using flakes, import the `nixosModule` output in your config:
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```nix
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imports = [ nix-ros-overlay.nixosModule ];
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```
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Otherwise, import the `modules` directory:
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```nix
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imports = let
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nix-ros-overlay = builtins.fetchTarball {
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url = https://github.com/lopsided98/nix-ros-overlay/archive/<commit>.tar.gz;
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sha256 = "<sha256>";
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};
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in [ (nix-ros-overlay + "/modules") ];
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```
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Then, enable basic ROS integration:
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```nix
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services.ros.enable = true;
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```
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See the contents of the `modules` directory for the other available options. |