From 0f77140e53e71932c530fab51bb461c0307fbc65 Mon Sep 17 00:00:00 2001
From: Igor Brylev <movefasta@robossembler.org>
Date: Fri, 30 May 2025 10:57:35 +0300
Subject: [PATCH] ADD: ffw packages

---
 flake.nix       |  7 +++++++
 nix/overlay.nix | 15 +++++++++++++--
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/flake.nix b/flake.nix
index 0d4ee5b..9be5c16 100644
--- a/flake.nix
+++ b/flake.nix
@@ -83,7 +83,14 @@
                   dynamixel-workbench-msgs
                   dynamixel-workbench-toolbox
 
+                  ffw
+                  ffw-bringup
+                  ffw-description
                   ffw-joint-trajectory-command-broadcaster
+                  ffw-joystick-controller
+                  ffw-moveit-config
+                  ffw-spring-actuator-controller
+                  ffw-teleop
                 ];
               })
           ]
diff --git a/nix/overlay.nix b/nix/overlay.nix
index 538e584..1f45492 100644
--- a/nix/overlay.nix
+++ b/nix/overlay.nix
@@ -10,15 +10,26 @@ final: prev:
   cartesian-force-controller = final.callPackage ./cartesian-force-controller.nix {};
   cartesian-motion-controller = final.callPackage ./cartesian-motion-controller.nix {};
   cartesian-twist-controller = final.callPackage ./cartesian-twist-controller.nix {};
+  dynamixel-sdk = prev.dynamixel-sdk.overrideAttrs ({ propagatedBuildInputs = [ prev.python3Packages.pyserial ]; });
   env-manager = final.callPackage ./env-manager.nix {};
   env-manager-interfaces = final.callPackage ./env-manager-interfaces.nix {};
   ffw = final.callPackage ./ffw.nix {};
   ffw-bringup = final.callPackage ./ffw-bringup.nix {};
   ffw-description = final.callPackage ./ffw-description.nix {};
   ffw-joint-trajectory-command-broadcaster = final.callPackage ./ffw-joint-trajectory-command-broadcaster.nix {};
-  ffw-joystick-controller = final.callPackage ./ffw-joystick-controller.nix {};
+  ffw-joystick-controller = (final.callPackage ./ffw-joystick-controller.nix {}).overrideAttrs ({
+      propagatedBuildInputs ? [],...
+    }:
+    {
+      propagatedBuildInputs = propagatedBuildInputs ++ [ prev.generate-parameter-library ];
+    });
   ffw-moveit-config = final.callPackage ./ffw-moveit-config.nix {};
-  ffw-spring-actuator-controller = final.callPackage ./ffw-spring-actuator-controller.nix {};
+  ffw-spring-actuator-controller = (final.callPackage ./ffw-spring-actuator-controller.nix {}).overrideAttrs ({
+      propagatedBuildInputs ? [],...
+    }:
+    {
+      propagatedBuildInputs = propagatedBuildInputs ++ [ prev.kdl-parser ];
+    });
   ffw-teleop = final.callPackage ./ffw-teleop.nix {};
   gym-gz = final.callPackage ./gym-gz.nix {};
   rbs-arm = final.callPackage ./rbs-arm.nix {};