100 lines
3.7 KiB
Nix
100 lines
3.7 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/22.11";
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flake-utils.url = "github:numtide/flake-utils";
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ros-flake.url = "github:lopsided98/nix-ros-overlay?ref=staging";
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};
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outputs = { self, nixpkgs, ros-flake, 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 = nixpkgs.legacyPackages.${system};
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ros = ros-flake.legacyPackages.${system};
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# overrided packages and attributes for nix-ros-overlay
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humble-overrided = ros.humble.overrideScope (final: prev: {
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moveit-core = prev.moveit-core.overrideAttrs (old: { propagatedBuildInputs = old.propagatedBuildInputs ++ [ prev.tf2-kdl ];});
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moveit-kinematics = prev.moveit-kinematics.overrideAttrs (old: { propagatedBuildInputs = old.propagatedBuildInputs ++ [ final.moveit-ros-planning ];});
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});
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# robossembler custom packages; defined here for share between devShells and packages
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blender = pkgs.callPackage ./pkgs/misc/blender { };
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bpy = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy { };
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pysdf = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pysdf { };
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mayo = pkgs.libsForQt5.callPackage ./pkgs/misc/mayo { };
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darknet = pkgs.callPackage ./pkgs/misc/darknet { };
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fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
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unified-planning = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/unified-planning { };
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in
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{
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inherit pkgs;
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rlib = import ./. {
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inherit (pkgs.stdenv) mkDerivation;
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inherit (pkgs) lib;
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inherit mayo;
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inherit (pkgs.libsForQt5) wrapQtAppsHook;
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};
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packages = {
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inherit mayo blender bpy pysdf fstl darknet;
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gazebo = ros.humble.gazebo;
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};
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devShells.ros =
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pkgs.mkShell {
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buildInputs = (with humble-overrided; [
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ros2run
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rmw-fastrtps-dynamic-cpp
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urdf
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ament-pep257
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ament-lint-auto
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xacro
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ament-cmake
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rclcpp-action
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tf2
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action-msgs
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ament-copyright
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pythonPackages.pytest
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rosidl-default-generators
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behaviortree-cpp-v3
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geometry-msgs
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rosidl-default-runtime
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rclpy
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std-msgs
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ament-lint-common
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ament-flake8
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tf2-ros
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rclcpp
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gazebo-ros2-control
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moveit-core
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moveit-msgs
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moveit-ros-planning
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moveit-ros-planning-interface
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gazebo
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# rbs-skill-interfaces
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]) ++ (with pkgs; [ nlohmann_json ]);
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RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
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};
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devShells.bpy = pkgs.mkShell { packages = [ bpy pysdf pkgs.freecad ]; };
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devShells.mayo = pkgs.mkShell { packages = [ mayo ]; };
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devShells.blender = pkgs.mkShell { packages = [ blender ]; };
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devShells.up =
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let
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my-python-packages = p: with p; [
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# python-gitlab
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# jinja2
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# unified-planning
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# tamer
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blenderproc
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];
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in
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pkgs.mkShell {
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packages = [ (pkgs.python3.withPackages my-python-packages) ];
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};
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}
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);
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}
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