{
  description = "Robossembler Development Environments on Nix";
  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 }:
    flake-utils.lib.eachDefaultSystem
      (system:
        let
          pkgs = nixpkgs.legacyPackages.${system};
          ros = ros-flake.legacyPackages.${system}.rolling;
        in
        {
          devShells.ros = 
            pkgs.mkShell {
              buildInputs = (with ros; [ ros2run rmw-fastrtps-dynamic-cpp ]);
              RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
              shellHook = ''
                export LD_LIBRARY_PATH=${(with pkgs; lib.makeLibraryPath [ libsodium ])}
              '';
            };
          devShells.blender = 
            let
              bpy = pkgs.callPackage ./pkgs/bpy.nix { };
              LD_LIBRARY_PATH = with pkgs;
                lib.makeLibraryPath ([ libxkbcommon ] ++ 
                  (with xorg; [ libX11 libXrender libXxf86vm libXfixes libXi ])
                );
            in
            pkgs.mkShell {
              packages = [ bpy ];
              shellHook = ''
                export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${pkgs.stdenv.cc.cc.lib}/lib/:/run/opengl-driver/lib/
              '';
            };
        }
      );
}