{
  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"
    ];
    forAllSystems = f: nixpkgs.lib.genAttrs systems (system: f 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";
                };
        }
      );
}