diff --git a/README.md b/README.md
index c5558d2..b97b286 100644
--- a/README.md
+++ b/README.md
@@ -12,7 +12,11 @@ reasonably well.
 usage: ros2nix [-h]
                [--output OUTPUT | --output-as-ros-pkg-name | --output-as-nix-pkg-name]
                [--output-dir OUTPUT_DIR] [--fetch] [--distro DISTRO]
-               [--src-param SRC_PARAM] [--source-root SOURCE_ROOT] [--flake]
+               [--src-param SRC_PARAM] [--source-root SOURCE_ROOT]
+               [--extra-build-inputs DEP1,DEP2,...]
+               [--extra-propagated-build-inputs DEP1,DEP2,...]
+               [--extra-check-inputs DEP1,DEP2,...]
+               [--extra-native-build-inputs DEP1,DEP2,...] [--flake]
                [--nixfmt] [--copyright-holder COPYRIGHT_HOLDER]
                [--license LICENSE]
                source [source ...]
@@ -53,9 +57,21 @@ options:
                         Set sourceRoot attribute value in the generated Nix
                         expression. Substring '{package_name}' gets replaced
                         with the package name. (default: None)
+  --extra-build-inputs DEP1,DEP2,...
+                        Additional dependencies to add to the generated Nix
+                        expressions (default: [])
+  --extra-propagated-build-inputs DEP1,DEP2,...
+                        Additional dependencies to add to the generated Nix
+                        expressions (default: [])
+  --extra-check-inputs DEP1,DEP2,...
+                        Additional dependencies to add to the generated Nix
+                        expressions (default: [])
+  --extra-native-build-inputs DEP1,DEP2,...
+                        Additional dependencies to add to the generated Nix
+                        expressions (default: [])
   --flake               Generate top-level flake.nix instead of default.nix.
                         Use with --fetch if some package.xml files are outside
-                        of the flake repo. (default: False)
+                        of the flake repo (default: False)
   --nixfmt              Format the resulting expressions with nixfmt (default:
                         False)
   --copyright-holder COPYRIGHT_HOLDER
diff --git a/ros2nix/ros2nix.py b/ros2nix/ros2nix.py
index 324448b..8592b23 100755
--- a/ros2nix/ros2nix.py
+++ b/ros2nix/ros2nix.py
@@ -150,6 +150,10 @@ def generate_flake(args):
 ''')
 
 
+def comma_separated(arg: str) -> list[str]:
+    return [i.strip() for i in arg.split(",")]
+
+
 def ros2nix(args):
     parser = argparse.ArgumentParser(
         prog="ros2nix", formatter_class=argparse.ArgumentDefaultsHelpFormatter
@@ -200,11 +204,28 @@ def ros2nix(args):
         "Substring '{package_name}' gets replaced with the package name.",
     )
 
+    parser.add_argument(
+        "--extra-build-inputs", type=comma_separated, metavar="DEP1,DEP2,...", default=[],
+        help="Additional dependencies to add to the generated Nix expressions",
+    )
+    parser.add_argument(
+        "--extra-propagated-build-inputs", type=comma_separated, metavar="DEP1,DEP2,...", default=[],
+        help="Additional dependencies to add to the generated Nix expressions",
+    )
+    parser.add_argument(
+        "--extra-check-inputs", type=comma_separated, metavar="DEP1,DEP2,...", default=[],
+        help="Additional dependencies to add to the generated Nix expressions",
+    )
+    parser.add_argument(
+        "--extra-native-build-inputs", type=comma_separated, metavar="DEP1,DEP2,...", default=[],
+        help="Additional dependencies to add to the generated Nix expressions",
+    )
+
     parser.add_argument(
         "--flake",
         action="store_true",
         help="Generate top-level flake.nix instead of default.nix. "
-        "Use with --fetch if some package.xml files are outside of the flake repo.",
+        "Use with --fetch if some package.xml files are outside of the flake repo",
     )
     parser.add_argument(
         "--nixfmt",
@@ -326,10 +347,10 @@ def ros2nix(args):
                 licenses=map(NixLicense, pkg.licenses),
                 distro_name=args.distro,
                 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,
+                build_inputs=build_inputs | set(args.extra_build_inputs),
+                propagated_build_inputs=propagated_build_inputs | set(args.extra_propagated_build_inputs),
+                check_inputs=check_inputs | set(args.extra_check_inputs),
+                native_build_inputs=native_build_inputs | set(args.extra_native_build_inputs),
                 **kwargs,
             )