112 lines
3.6 KiB
Nix
112 lines
3.6 KiB
Nix
{
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description = "Robossembler Development Environments on Nix";
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inputs = {
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nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
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flake-utils.follows = "ros-overlay/flake-utils";
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ros-overlay.url = "github:lopsided98/nix-ros-overlay?ref=develop";
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ros-nixpkgs.follows = "ros-overlay/nixpkgs";
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gazebo-overlay = {
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url = "github:movefasta/gazebo-sim-overlay";
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inputs.flake-utils.follows = "ros-overlay/flake-utils";
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inputs.nixpkgs.follows = "ros-overlay/nixpkgs";
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# Transitive inputs "not in registry" https://github.com/NixOS/nix/issues/5790
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# inputs.nixgl.inputs.nixpkgs.follows = "ros-overlay/nixpkgs";
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# inputs.nixgl.inputs.flake-utils.follows = "ros-overlay/flake-utils";
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};
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};
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outputs = { self, nixpkgs, ros-overlay, ros-nixpkgs, gazebo-overlay, flake-utils }:
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flake-utils.lib.eachDefaultSystem
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(system:
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let
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pkgs = import nixpkgs { inherit system;
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overlays = [
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(import ./overlay.nix)
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gazebo-overlay.overlays.default
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];
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config.allowUnfree = true; # for cuda
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};
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ros = import ros-nixpkgs { inherit system;
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overlays = [
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ros-overlay.overlays.default
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(import ./ros)
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];
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};
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in
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{
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rlib = import ./. {
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inherit pkgs;
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inherit (pkgs) lib mayo rbs-workbench cad-gen cg-gen;
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inherit (pkgs.stdenv) mkDerivation;
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inherit (pkgs.libsForQt5) wrapQtAppsHook;
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};
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packages = {
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inherit (pkgs) cad-gen cg-gen blender dataset-gen pddl-spec-gen;
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};
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inherit ros pkgs;
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devShells = {
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default =
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let
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my-python-packages = p: with p; [
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unified-planning
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pybullet
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scipy
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spatialmath
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rcg-pipeline
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rbs-workbench
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];
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in
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pkgs.mkShell {
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packages = (with pkgs; [ freecad mayo ]) ++ [ (pkgs.python3.withPackages my-python-packages) ];
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};
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ros = pkgs.mkShell {
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name = "ROS environment";
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packages = [
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ros.colcon
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(with ros.rosPackages.humble; buildEnv {
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paths = [
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ros-core
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rmw-fastrtps-dynamic-cpp
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];
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})
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];
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# ROS 2 middleware variants, for Cyclone DDS replace with "rmw_cyclonedds_cpp" and add rmw-cyclonedds-cpp to paths
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RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
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};
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all = pkgs.mkShell { packages = with pkgs; [ fstl mayo cad-gen cg-gen ]; };
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ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
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gazebo = gazebo-overlay.devShells.${system}.default;
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perception =
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let
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perception-packages = p: with p; [
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torch
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torchvision
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torchaudio
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detectron2
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];
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in
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pkgs.mkShell {
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packages = [ (pkgs.python3.withPackages perception-packages) ];
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};
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};
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}
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);
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nixConfig = {
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extra-substituters = [ "https://ros.cachix.org" "https://robossembler.cachix.org" ];
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extra-trusted-public-keys = [
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"ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo="
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"robossembler.cachix.org-1:56jBJHroRQSGpZFkW8XMquuzQTjAF/XTo6MogmBM7SQ="
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];
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};
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}
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