{
  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;

          # robossembler custom packages; defined here for share between devShells and packages
          bpy = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy { };
          blender = pkgs.callPackage ./pkgs/misc/blender { };
        in
        {
          packages = {
            blender = blender;
            python3Packages = pkgs.recurseIntoAttrs bpy;
          };

          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.bpy = pkgs.mkShell { packages = [ bpy ]; };
          devShells.blender = pkgs.mkShell { packages = [ blender ]; };
        }
      );
}