Add test device and camera package, devshell for CI nix-ros-overlay

flake.lock

@@ -53,18 +53,16 @@
         "nixpkgs": "nixpkgs"
       },
       "locked": {
+        "dirtyRev": "9f53d85d2a20447f67048a85e5e79e8753dce327-dirty",
+        "dirtyShortRev": "9f53d85d2-dirty",
         "lastModified": 1707588628,
-        "narHash": "sha256-2suIXkfQrOtPeLanj9IE/LD8gLe8oBwOUXeG8pbJrEA=",
-        "owner": "lopsided98",
-        "repo": "nix-ros-overlay",
-        "rev": "9f53d85d2a20447f67048a85e5e79e8753dce327",
-        "type": "github"
+        "narHash": "sha256-7HJRXlERZhddFtGfXNdbCJyFJxNsrjYNzL+DmHFFZ4I=",
+        "type": "git",
+        "url": "file:///home/movefasta/Documents/nix-ros-overlay"
       },
       "original": {
-        "owner": "lopsided98",
-        "ref": "develop",
-        "repo": "nix-ros-overlay",
-        "type": "github"
+        "type": "git",
+        "url": "file:///home/movefasta/Documents/nix-ros-overlay"
       }
     },
     "systems": {

flake.nix

@@ -99,6 +99,8 @@
           ansitable = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/ansitable { };
           megapose6d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/megapose6d { inherit webdataset; };
           spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { inherit ansitable; };
+
+          test-system = pkgs.callPackage ./pkgs/systems/test { };
         in
         {
           inherit pkgs;
@@ -112,10 +114,30 @@
 
           packages = {
             inherit mayo pysdf fstl unified-planning test-script blender;
-            zoz = pkgs.btop;
           };
 
-          devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
+          devices = {
+            inherit test-system;
+          };
+
+          devShells.camera = 
+            pkgs.mkShell {
+              buildInputs = (with humble-overrided; [
+                ros2run
+                ros2launch
+                realsense2-camera
+                realsense2-description
+              ]);
+            };
+
+          devShells.ci = pkgs.mkShell {
+            buildInputs = 
+              (with pkgs; [ jq ]) ++ 
+              (with humble-overrided; [ 
+                superflore
+                (python3.withPackages (p: with p; [ python3Packages.rosdep python3Packages.rosdistro ]))
+              ]); 
+          };
 
           devShells.ros = 
             pkgs.mkShell {

pkgs/systems/test/default.nix

@@ -0,0 +1,37 @@
+{ lib
+, stdenv
+, fetchgit
+, link
+}:
+
+stdenv.mkDerivation rec {
+  pname = "grip-tool";
+  version = "unstable";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/assets-library";
+    rev = "876ad8c479c6043089e1cf08b2b8a456560a512c";
+    hash = "sha256-3pAbfO0stHTt3drOgVJ44Al/rZc+XQ9/KGUJqxQIhl8=";
+    fetchLFS = true;
+  };
+
+  device = true;
+  
+  outputs = [ "out" "blend" "mass" "stl" "dae" "sch" "doc" ];
+ 
+  installPhase = ''
+    mkdir $doc
+    cp '${src}/README.md' $doc
+    mkdir $blend
+    ln -s ${src}/blender/assets/robossembler-asset.blend $blend
+    mkdir $out
+    cp ${src} $out
+  '';
+
+  meta = with lib; {
+    description = "Robossembler Assets Library";
+    homepage = "https://gitlab.com/robossembler/forks/robossembler-stuff";
+    license = with licenses; [ ];
+    maintainers = with maintainers; [ ];
+  };
+}