diff --git a/flake.lock b/flake.lock
index bb2211e..4e45ef9 100644
--- a/flake.lock
+++ b/flake.lock
@@ -1,12 +1,15 @@
 {
   "nodes": {
     "flake-utils": {
+      "inputs": {
+        "systems": "systems"
+      },
       "locked": {
-        "lastModified": 1678901627,
-        "narHash": "sha256-U02riOqrKKzwjsxc/400XnElV+UtPUQWpANPlyazjH0=",
+        "lastModified": 1681037374,
+        "narHash": "sha256-XL6X3VGbEFJZDUouv2xpKg2Aljzu/etPLv5e1FPt1q0=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "93a2b84fc4b70d9e089d029deacc3583435c2ed6",
+        "rev": "033b9f258ca96a10e543d4442071f614dc3f8412",
         "type": "github"
       },
       "original": {
@@ -17,11 +20,11 @@
     },
     "flake-utils_2": {
       "locked": {
-        "lastModified": 1676283394,
-        "narHash": "sha256-XX2f9c3iySLCw54rJ/CZs+ZK6IQy7GXNY4nSOyu2QG4=",
+        "lastModified": 1680946745,
+        "narHash": "sha256-KqGlwg9UTDsFBZZB8wzXgMnc8XQm95LtSbFvBsnqkPI=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "3db36a8b464d0c4532ba1c7dda728f4576d6d073",
+        "rev": "946da791763db1c306b86a8bd3828bf5814a1247",
         "type": "github"
       },
       "original": {
@@ -32,11 +35,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1679943299,
-        "narHash": "sha256-RsGh4KrY4rnhTI7vTv0eVS6P5/MbakSKkGFXOnuN3q4=",
+        "lastModified": 1681042531,
+        "narHash": "sha256-QkCUIENdtxH3sGdmA2Nu8X2jINtQTd4BHO6YptY8QlQ=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "2749074b2e2960fc97aaeca251f3152d6e6effb7",
+        "rev": "a3d8b7f691c4f1b1e3c62faae9885a356eab3920",
         "type": "github"
       },
       "original": {
@@ -48,11 +51,11 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1678244258,
-        "narHash": "sha256-iecrLqFb1QDgBKmC0h065ZBV6CZsigcz+1aHCv6rvfg=",
+        "lastModified": 1680987285,
+        "narHash": "sha256-H89D9Y0LconKgzW2G9bbeIsbCaDAf15blX1j91oU9tU=",
         "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "61852b7faa8b47aad422adca0fea90fe007e9ead",
+        "rev": "dc92b7ed4a9e006ac7dcf94fe699ff5ad865941b",
         "type": "github"
       },
       "original": {
@@ -75,11 +78,11 @@
         "nixpkgs": "nixpkgs_2"
       },
       "locked": {
-        "lastModified": 1679883731,
-        "narHash": "sha256-s+JOzKRcAOSCkMdjwKNXRX3cCJS99IrzXMb17PRHahU=",
+        "lastModified": 1680987729,
+        "narHash": "sha256-vXhyOMqBx0VxhjQz+JuGrI98xEvTA/AZgY6Sj5aKfUU=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "3ae8887f8c0344d6d926a261c958993887487971",
+        "rev": "09db77c14c1a9bb50ae1cbd7f30ebee4d8aa843a",
         "type": "github"
       },
       "original": {
@@ -88,6 +91,21 @@
         "repo": "nix-ros-overlay",
         "type": "github"
       }
+    },
+    "systems": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
     }
   },
   "root": "root",
diff --git a/flake.nix b/flake.nix
index 76ff8c1..d2b4be7 100644
--- a/flake.nix
+++ b/flake.nix
@@ -15,25 +15,12 @@
 
           # overrided packages and attributes for nix-ros-overlay
           humble-overrided = ros.humble.overrideScope (final: prev: {
-            # remove after update github:lopsided98/nixpkgs/nix-ros for https://github.com/NixOS/nixpkgs/pull/224099
-            behaviortree-cpp-v3 = prev.behaviortree-cpp-v3.overrideAttrs (old: { 
-              propagatedBuildInputs = old.propagatedBuildInputs ++ [ pkgs.zeromq ];
-            });
             moveit-core = prev.moveit-core.overrideAttrs (old: { 
               propagatedBuildInputs = old.propagatedBuildInputs ++ [ prev.tf2-kdl ];
             });
             moveit-kinematics = prev.moveit-kinematics.overrideAttrs (old: { 
               propagatedBuildInputs = old.propagatedBuildInputs ++ [ final.moveit-ros-planning ];
             });
-            # remove after merging https://github.com/lopsided98/nix-ros-overlay/pull/258
-            popf = prev.popf.overrideAttrs ({
-              nativeBuildInputs ? [], ...
-            }: {
-              nativeBuildInputs = nativeBuildInputs ++ [ pkgs.perl ];
-              postPatch = ''
-                patchShebangs --build src/VALfiles/parsing/fixyywrap
-              '';
-            });
           });
           
           # robossembler custom packages; defined here for share between devShells and packages
@@ -93,9 +80,7 @@
                 moveit-msgs
                 moveit-ros-planning
                 moveit-ros-planning-interface
-                # gazebo
-                # gazebo-ros2-control
-                # rbs-skill-interfaces
+                gazebo-ros2-control
                 plansys2-bringup
               ]) ++ (with pkgs; [ nlohmann_json ]);
               RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";