From 1415d16a128192605f03df0fea2bc4b90f4da462 Mon Sep 17 00:00:00 2001
From: Igor Brylyov <movefasta@dezcom.org>
Date: Tue, 10 Jan 2023 15:42:12 +0300
Subject: [PATCH] Flake for ROS xacro

---
 flake.lock | 69 +++++++++++++++++++++++++++++++++++++++++++++++++++++-
 flake.nix  | 43 +++++++++++++++++++++++-----------
 2 files changed, 97 insertions(+), 15 deletions(-)

diff --git a/flake.lock b/flake.lock
index 5a28b7d..0d2ccc8 100644
--- a/flake.lock
+++ b/flake.lock
@@ -1,5 +1,35 @@
 {
   "nodes": {
+    "flake-utils": {
+      "locked": {
+        "lastModified": 1667395993,
+        "narHash": "sha256-nuEHfE/LcWyuSWnS8t12N1wc105Qtau+/OdUAjtQ0rA=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "5aed5285a952e0b949eb3ba02c12fa4fcfef535f",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "flake-utils_2": {
+      "locked": {
+        "lastModified": 1667395993,
+        "narHash": "sha256-nuEHfE/LcWyuSWnS8t12N1wc105Qtau+/OdUAjtQ0rA=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "5aed5285a952e0b949eb3ba02c12fa4fcfef535f",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
     "nixpkgs": {
       "locked": {
         "lastModified": 1670498129,
@@ -16,9 +46,46 @@
         "type": "github"
       }
     },
+    "nixpkgs_2": {
+      "locked": {
+        "lastModified": 1668192777,
+        "narHash": "sha256-C/koqhRmkV2hRCENfDUAK6HP7HTDwLAmhyP5QOy1jtI=",
+        "owner": "lopsided98",
+        "repo": "nixpkgs",
+        "rev": "cb892295b6674f6d942ce78df3a27f2f219972e0",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "nix-ros",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
     "root": {
       "inputs": {
-        "nixpkgs": "nixpkgs"
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs",
+        "ros-flake": "ros-flake"
+      }
+    },
+    "ros-flake": {
+      "inputs": {
+        "flake-utils": "flake-utils_2",
+        "nixpkgs": "nixpkgs_2"
+      },
+      "locked": {
+        "lastModified": 1670693373,
+        "narHash": "sha256-bN57G4pVApAVIZqCtflto8v7vArnMwLEAger2N8FCG0=",
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "rev": "795e67fe0e19118cef94209e4470edc64f13df93",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "type": "github"
       }
     }
   },
diff --git a/flake.nix b/flake.nix
index cb7200a..f0c19d4 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,19 +1,34 @@
 {
-  description = " Computer Graphics Overlay";
-  inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixpkgs-unstable";
-  outputs = { self, nixpkgs }: let
+  description = "Nix Robossembler Overlay";
+  inputs = {
+    nixpkgs.url = "github:NixOS/nixpkgs/nixpkgs-unstable";
+    flake-utils.url = "github:numtide/flake-utils";
+    ros-flake.url = "github:lopsided98/nix-ros-overlay";
+  };
+
+  outputs = { self, nixpkgs, ros-flake, flake-utils }: let
     systems = [
       "x86_64-linux"
-      "i686-linux"
-      "x86_64-darwin"
-      "aarch64-linux"
-      "armv6l-linux"
-      "armv7l-linux"
     ];
     forAllSystems = f: nixpkgs.lib.genAttrs systems (system: f system);
-  in {
-    packages = forAllSystems (system: import ./default.nix {
-      pkgs = import nixpkgs { inherit system; };
-    });
-  };
-}
+    nixpkgsFor = forAllSystems (system:
+      import nixpkgs {
+        inherit system;
+        overlays = [ self.overlay ];
+      });
+  in 
+    flake-utils.lib.eachDefaultSystem
+      (system:
+        let pkgs = nixpkgs.legacyPackages.${system}; in
+        {
+          devShells.default = 
+            let
+              pkgs = import nixpkgs { inherit system; };
+              ros = ros-flake.legacyPackages.${system}.rolling;
+            in pkgs.mkShell {
+                  buildInputs = with ros; [ ros2run rmw-fastrtps-dynamic-cpp xacro ];
+                  RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
+                };
+        }
+      );
+}
\ No newline at end of file