Flake for ROS xacro

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";
+                };
+        }
+      );
+}