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{
"nodes": {
"flake-utils": {
"inputs": {
"systems": "systems"
},
"locked": {
"lastModified": 1710146030,
"narHash": "sha256-SZ5L6eA7HJ/nmkzGG7/ISclqe6oZdOZTNoesiInkXPQ=",
"owner": "numtide",
"repo": "flake-utils",
"rev": "b1d9ab70662946ef0850d488da1c9019f3a9752a",
"type": "github"
},
"original": {
"owner": "numtide",
"repo": "flake-utils",
"type": "github"
}
},
"flake-utils_2": {
"inputs": {
"systems": "systems_2"
},
"locked": {
"lastModified": 1705309234,
"narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
"owner": "numtide",
"repo": "flake-utils",
"rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
"type": "github"
},
"original": {
"owner": "numtide",
"repo": "flake-utils",
"type": "github"
}
},
"nix-ros-overlay": {
"inputs": {
"flake-utils": "flake-utils_2",
"nixpkgs": "nixpkgs"
},
"locked": {
"lastModified": 1712797796,
"narHash": "sha256-SkCWsnJ6H+LbXt7PLroXCPlb0k52+EG7WKEXtWjuNbI=",
"owner": "lopsided98",
"repo": "nix-ros-overlay",
"rev": "e239e71fd2ce40ce1f7499328a4c92e9473fec88",
"type": "github"
},
"original": {
"owner": "lopsided98",
"ref": "master",
"repo": "nix-ros-overlay",
"type": "github"
}
},
"nixpkgs": {
"locked": {
"lastModified": 1707268954,
"narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=",
"owner": "lopsided98",
"repo": "nixpkgs",
"rev": "f8e2ebd66d097614d51a56a755450d4ae1632df1",
"type": "github"
},
"original": {
"owner": "lopsided98",
"ref": "nix-ros",
"repo": "nixpkgs",
"type": "github"
}
},
"root": {
"inputs": {
"flake-utils": "flake-utils",
"nix-ros-overlay": "nix-ros-overlay",
"nixpkgs": [
"nix-ros-overlay",
"nixpkgs"
]
}
},
"systems": {
"locked": {
"lastModified": 1681028828,
"narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
"owner": "nix-systems",
"repo": "default",
"rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
"type": "github"
},
"original": {
"owner": "nix-systems",
"repo": "default",
"type": "github"
}
},
"systems_2": {
"locked": {
"lastModified": 1681028828,
"narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
"owner": "nix-systems",
"repo": "default",
"rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
"type": "github"
},
"original": {
"owner": "nix-systems",
"repo": "default",
"type": "github"
}
}
},
"root": "root",
"version": 7
}

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{
description = "A basic flake with a shell";
inputs.flake-utils.url = "github:numtide/flake-utils";
inputs.nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
inputs.nixpkgs.follows = "nix-ros-overlay/nixpkgs";
outputs =
{ nixpkgs, flake-utils, nix-ros-overlay, ... }:
flake-utils.lib.eachDefaultSystem (
system:
let
pkgs = import nixpkgs {
inherit system;
overlays = [ nix-ros-overlay.overlays.default ];
};
in
{
devShells.default = pkgs.mkShell {
inputsFrom = [
];
packages = [
pkgs.bashInteractive
pkgs.superflore
pkgs.python3Packages.rosdep
];
};
}
);
}

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ros2nix/__init__.py Normal file
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#!/usr/bin/env python3
# Copyright 2019-2024 Ben Wolsieffer <benwolsieffer@gmail.com>
# Copyright 2024 Michal Sojka <michal.sojka@cvut.cz>
import argparse
import itertools
from catkin_pkg.package import parse_package_string
from rosinstall_generator.distro import get_distro
from superflore.PackageMetadata import PackageMetadata
from superflore.exceptions import UnresolvedDependency
from superflore.generators.nix.nix_package import NixPackage
from superflore.generators.nix.nix_expression import NixExpression, NixLicense
from superflore.utils import (download_file, get_distro_condition_context,
get_distros, get_pkg_version, info, resolve_dep,
retry_on_exception, warn)
from typing import Dict, Iterable, Set
from superflore.utils import err
from superflore.utils import ok
from superflore.utils import warn
org = "Open Source Robotics Foundation" # TODO change
org_license = "BSD" # TODO change
def resolve_dependencies(deps: Iterable[str]) -> Set[str]:
return set(itertools.chain.from_iterable(
map(resolve_dependency, deps)))
def resolve_dependency(d: str) -> Iterable[str]:
try:
# Try resolving as system dependency via rosdep
return resolve_dep(d, 'nix')[0]
except UnresolvedDependency:
# Assume ROS or 3rd-party package
return (NixPackage.normalize_name(d),)
# Adapted from rosdistro.dependency_walker.DependencyWalker._get_dependencies()
def get_dependencies_as_set(pkg, dep_type):
deps = {
'build': pkg.build_depends,
'buildtool': pkg.buildtool_depends,
'build_export': pkg.build_export_depends,
'buildtool_export': pkg.buildtool_export_depends,
'exec': pkg.exec_depends,
'run': pkg.run_depends,
'test': pkg.test_depends,
'doc': pkg.doc_depends,
}
return set([d.name for d in deps[dep_type] if d.evaluated_condition is not False])
def main(args):
parser = argparse.ArgumentParser()
parser.add_argument("xml", help="Path to package.xml")
args = parser.parse_args()
try:
distro_name = "humble"
with open(args.xml, 'r') as f:
package_xml = f.read()
pkg = parse_package_string(package_xml)
pkg.evaluate_conditions(NixPackage._get_condition_context(distro_name))
buildtool_deps = get_dependencies_as_set(pkg, "buildtool")
buildtool_export_deps = get_dependencies_as_set(pkg, "buildtool_export")
build_deps = get_dependencies_as_set(pkg, "build")
build_export_deps = get_dependencies_as_set(pkg, "build_export")
exec_deps = get_dependencies_as_set(pkg, "exec")
test_deps = get_dependencies_as_set(pkg, "test")
# buildtool_depends are added to buildInputs and nativeBuildInputs.
# Some (such as CMake) have binaries that need to run at build time
# (and therefore need to be in nativeBuildInputs. Others (such as
# ament_cmake_*) need to be added to CMAKE_PREFIX_PATH and therefore
# need to be in buildInputs. There is no easy way to distinguish these
# two cases, so they are added to both, which generally works fine.
build_inputs = set(resolve_dependencies(
build_deps | buildtool_deps))
propagated_build_inputs = resolve_dependencies(
exec_deps | build_export_deps | buildtool_export_deps)
build_inputs -= propagated_build_inputs
check_inputs = resolve_dependencies(test_deps)
check_inputs -= build_inputs
native_build_inputs = resolve_dependencies(
buildtool_deps | buildtool_export_deps)
derivation = NixExpression(
name=NixPackage.normalize_name(pkg.name),
version=pkg.version,
src_url="src_uri", # TODO
src_sha256="src_sha256",
description=pkg.description,
licenses=map(NixLicense, pkg.licenses),
distro_name=distro_name,
build_type=pkg.get_build_type(),
build_inputs=build_inputs,
propagated_build_inputs=propagated_build_inputs,
check_inputs=check_inputs,
native_build_inputs=native_build_inputs)
except Exception as e:
err('Failed to generate derivation for package {}!'.format(pkg))
raise e
try:
derivation_text = derivation.get_text(org, org_license)
except UnresolvedDependency:
err("'Failed to resolve required dependencies for package {}!"
.format(pkg))
unresolved = unresolved_dependencies
for dep in unresolved:
err(" unresolved: \"{}\"".format(dep))
return None, unresolved, None
except Exception as e:
err('Failed to generate derivation for package {}!'.format(pkg))
raise e
ok(f"Successfully generated derivation for package '{pkg.name}'.")
try:
with open('package.nix', "w") as recipe_file:
recipe_file.write(derivation_text)
except Exception as e:
err("Failed to write derivation to disk!")
raise e
if __name__ == '__main__':
import sys
main(sys.argv[1:])