From c3f181ba3e85b5a368ddf350e22428ea2a52d25e Mon Sep 17 00:00:00 2001
From: Igor Brylev <movefasta@robossembler.org>
Date: Tue, 17 Jun 2025 21:17:06 +0300
Subject: [PATCH] franka gello state publisher

---
 nix/overlay.nix | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/nix/overlay.nix b/nix/overlay.nix
index 1f45492..071a8c1 100644
--- a/nix/overlay.nix
+++ b/nix/overlay.nix
@@ -17,6 +17,12 @@ final: prev:
   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-joint-trajectory-command-broadcaster = (final.callPackage ./ffw-joint-trajectory-command-broadcaster.nix {}).overrideAttrs ({
+  #     propagatedBuildInputs ? [],...
+  #   }:
+  #   {
+  #     propagatedBuildInputs = propagatedBuildInputs ++ [ prev.controller-manager ];
+  #   });
   ffw-joystick-controller = (final.callPackage ./ffw-joystick-controller.nix {}).overrideAttrs ({
       propagatedBuildInputs ? [],...
     }:
@@ -30,6 +36,25 @@ final: prev:
     {
       propagatedBuildInputs = propagatedBuildInputs ++ [ prev.kdl-parser ];
     });
+  franka-gello-state-publisher = final.callPackage ./franka-gello-state-publisher.nix {};
+  om-gravity-compensation-controller = prev.om-gravity-compensation-controller.overrideAttrs ({
+      propagatedBuildInputs ? [],...
+    }:
+    {
+      propagatedBuildInputs = propagatedBuildInputs ++ [ prev.kdl-parser ];
+    });
+  om-spring-actuator-controller = prev.om-spring-actuator-controller.overrideAttrs ({
+      propagatedBuildInputs ? [],...
+    }:
+    {
+      propagatedBuildInputs = propagatedBuildInputs ++ [ prev.kdl-parser ];
+    });
+  open-manipulator-description = prev.open-manipulator-description.overrideAttrs ({
+      cmakeFlags ? [], patches ? [],...
+    }:
+    {
+      patches = [ ./baudrate_fix.patch ];
+    });
   ffw-teleop = final.callPackage ./ffw-teleop.nix {};
   gym-gz = final.callPackage ./gym-gz.nix {};
   rbs-arm = final.callPackage ./rbs-arm.nix {};