ADD pcg-gazebo

.gitignore

@@ -4,3 +4,4 @@ ref
 *.vscode
 **/tensorboard_logs/**
 **/logs/**
+result

behaviortree-ros2.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, behaviortree-cpp, boost, btcpp-ros2-interfaces, fmt, generate-parameter-library, rclcpp, rclcpp-action }:
+buildRosPackage rec {
+  pname = "ros-jazzy-behaviortree-ros2";
+  version = "0.2.0";
+
+  src = fetchFromGitHub {
+    owner = "BehaviorTree";
+    repo = "BehaviorTree.ROS2";
+    rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9";
+    sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/behaviortree_ros2/";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ behaviortree-cpp boost btcpp-ros2-interfaces fmt generate-parameter-library rclcpp rclcpp-action ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "This package provides a ROS2 wrapper, on top of BehaviorTree.CPP.";
+    license = with lib.licenses; [ mit ];
+  };
+}

btcpp-ros2-interfaces.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, action-msgs, ament-cmake, rosidl-default-generators, rosidl-default-runtime }:
+buildRosPackage rec {
+  pname = "ros-jazzy-btcpp-ros2-interfaces";
+  version = "0.2.0";
+
+  src = fetchFromGitHub {
+    owner = "BehaviorTree";
+    repo = "BehaviorTree.ROS2";
+    rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9";
+    sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/btcpp_ros2_interfaces/";
+  buildInputs = [ ament-cmake rosidl-default-generators ];
+  propagatedBuildInputs = [ action-msgs rosidl-default-runtime ];
+  nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
+
+  meta = {
+    description = "ROS2 interfaces, mostly used to demonstrate behaviortree_ros2";
+    license = with lib.licenses; [ mit ];
+  };
+}

btcpp-ros2-samples.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, behaviortree-ros2, btcpp-ros2-interfaces, std-msgs, std-srvs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-btcpp-ros2-samples";
+  version = "0.2.0";
+
+  src = fetchFromGitHub {
+    owner = "BehaviorTree";
+    repo = "BehaviorTree.ROS2";
+    rev = "cc31ea7b97947f1aac6e8c37df6cec379c84a7d9";
+    sha256 = "0m0n85jab14rfssyjf9sf05rq1rdzs6kqwb467953f26bvcnckkh";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/btcpp_ros2_samples/";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ behaviortree-ros2 btcpp-ros2-interfaces std-msgs std-srvs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Examples related to behaviortree_ros2";
+    license = with lib.licenses; [ mit ];
+  };
+}

cartesian-compliance-controller.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-common, cartesian-controller-base, cartesian-force-controller, cartesian-motion-controller, controller-interface, hardware-interface, pluginlib, rclcpp }:
+buildRosPackage rec {
+  pname = "ros-jazzy-cartesian-compliance-controller";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
+    rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
+    sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/cartesian_compliance_controller/";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-common ];
+  propagatedBuildInputs = [ cartesian-controller-base cartesian-force-controller cartesian-motion-controller controller-interface hardware-interface pluginlib rclcpp ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Control your robot through Cartesian target poses and target wrenches";
+    license = with lib.licenses; [ bsd3 ];
+  };
+}

cartesian-controller-base.nix

@@ -0,0 +1,23 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, controller-interface, kdl-parser, pluginlib, rclcpp, realtime-tools, trajectory-msgs, ros-environment }:
+buildRosPackage rec {
+  pname = "ros-jazzy-cartesian-controller-base";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
+    rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
+    sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/cartesian_controller_base/";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ controller-interface kdl-parser pluginlib rclcpp realtime-tools trajectory-msgs ros-environment ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "The cartesian_controller_base package";
+    license = with lib.licenses; [ bsd3 ];
+  };
+}

cartesian-controller-handles.nix

@@ -0,0 +1,23 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, cartesian-controller-base, controller-interface, geometry-msgs, interactive-markers, kdl-parser, pluginlib, rclcpp, urdf }:
+buildRosPackage rec {
+  pname = "ros-jazzy-cartesian-controller-handles";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
+    rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
+    sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/cartesian_controller_handles/";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ cartesian-controller-base controller-interface geometry-msgs interactive-markers kdl-parser pluginlib rclcpp urdf ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "The cartesian_controller_handles package";
+    license = with lib.licenses; [ bsd3 ];
+  };
+}

cartesian-controller-utilities.nix

@@ -0,0 +1,23 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, geometry-msgs, launch, launch-ros, rclcpp, sensor-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-cartesian-controller-utilities";
+  version = "0.1.0";
+
+  src = fetchgit {
+    url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
+    rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
+    sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/cartesian_controller_utilities/";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ geometry-msgs launch launch-ros rclcpp sensor-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Make the spacemouse a teach device for contact-based teleoperation";
+    license = with lib.licenses; [ bsd3 ];
+  };
+}

cartesian-force-controller.nix

@@ -0,0 +1,23 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, cartesian-controller-base, controller-interface, rclcpp }:
+buildRosPackage rec {
+  pname = "ros-jazzy-cartesian-force-controller";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
+    rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
+    sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/cartesian_force_controller/";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "The cartesian_force_controller package";
+    license = with lib.licenses; [ bsd3 ];
+  };
+}

cartesian-motion-controller.nix

@@ -0,0 +1,21 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, cartesian-controller-base, controller-interface, rclcpp }:
+buildRosPackage rec {
+  pname = "ros-jazzy-cartesian-motion-controller";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
+    rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
+    sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/cartesian_motion_controller/";
+  propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ];
+
+  meta = {
+    description = "The cartesian_motion_controller package";
+    license = with lib.licenses; [ bsd3 ];
+  };
+}

cartesian-twist-controller.nix

@@ -0,0 +1,21 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, cartesian-controller-base, controller-interface, rclcpp }:
+buildRosPackage rec {
+  pname = "ros-jazzy-cartesian-twist-controller";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://seed.solid-sinusoid.com/z4HmBYurXbXCtDwaHeizszqTMJT7R.git";
+    rev = "350b722a7f0d9f3431cdf8cd5704618895741edc";
+    sha256 = "sha256-AoAno/VKbvBwfOfYiv9umJohL9y87aN6Fq3F5aha970=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/cartesian_twist_controller/";
+  propagatedBuildInputs = [ cartesian-controller-base controller-interface rclcpp ];
+
+  meta = {
+    description = "The cartesian_twist_controller package";
+    license = with lib.licenses; [ bsd3 ];
+  };
+}

dynmsg-demo.nix

@@ -0,0 +1,25 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, dynmsg-msgs, example-interfaces, geometry-msgs, rcl, rcl-action, std-msgs, test-msgs, yaml-cpp-vendor }:
+buildRosPackage rec {
+  pname = "ros-jazzy-dynmsg-demo";
+  version = "1.0.0";
+
+  src = fetchFromGitHub {
+    owner = "osrf";
+    repo = "dynamic_message_introspection";
+    rev = "50277e341f61455c42a6015b5718804a4f8588f6";
+    sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/dynmsg_demo/";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common dynmsg-msgs example-interfaces geometry-msgs std-msgs test-msgs ];
+  propagatedBuildInputs = [ dynmsg rcl rcl-action yaml-cpp-vendor ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Demo of dynamic message type loading";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

dynmsg-msgs.nix

@@ -0,0 +1,25 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, rosidl-default-generators, rosidl-default-runtime }:
+buildRosPackage rec {
+  pname = "ros-jazzy-dynmsg-msgs";
+  version = "1.0.0";
+
+  src = fetchFromGitHub {
+    owner = "osrf";
+    repo = "dynamic_message_introspection";
+    rev = "50277e341f61455c42a6015b5718804a4f8588f6";
+    sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/dynmsg_msgs/";
+  buildInputs = [ ament-cmake rosidl-default-generators ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ rosidl-default-runtime ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Test messages for dynamic message type loading";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

dynmsg.nix

@@ -0,0 +1,25 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, rcutils, rosidl-runtime-c, rosidl-runtime-cpp, rosidl-typesupport-introspection-c, rosidl-typesupport-introspection-cpp, std-msgs, yaml-cpp-vendor }:
+buildRosPackage rec {
+  pname = "ros-jazzy-dynmsg";
+  version = "1.0.0";
+
+  src = fetchFromGitHub {
+    owner = "osrf";
+    repo = "dynamic_message_introspection";
+    rev = "50277e341f61455c42a6015b5718804a4f8588f6";
+    sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/dynmsg/";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common std-msgs ];
+  propagatedBuildInputs = [ rcutils rosidl-runtime-c rosidl-runtime-cpp rosidl-typesupport-introspection-c rosidl-typesupport-introspection-cpp yaml-cpp-vendor ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Introspection tools for message to/from YAML conversions";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

env-manager-interfaces.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime }:
+buildRosPackage rec {
+  pname = "ros-jazzy-env-manager-interfaces";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/env_manager/env_manager_interfaces/";
+  buildInputs = [ ament-cmake rosidl-default-generators ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ builtin-interfaces lifecycle-msgs rosidl-default-runtime ];
+  nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

env-manager.nix

@@ -0,0 +1,21 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
+buildRosPackage rec {
+  pname = "ros-jazzy-env-manager";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_python";
+  sourceRoot = "${src.name}/env_manager/env_manager/";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

flake.lock

@@ -0,0 +1,84 @@
+{
+  "nodes": {
+    "flake-utils": {
+      "inputs": {
+        "systems": "systems"
+      },
+      "locked": {
+        "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "nix-ros-overlay": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs"
+      },
+      "locked": {
+        "lastModified": 1736986092,
+        "narHash": "sha256-HdVJ5cCIORyy7m57VnunC8kBd6r5B680M8sUhAr7mzo=",
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "rev": "503be406769b14b7907c52000d41a3e6a3531f08",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "develop",
+        "repo": "nix-ros-overlay",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1733581040,
+        "narHash": "sha256-Qn3nPMSopRQJgmvHzVqPcE3I03zJyl8cSbgnnltfFDY=",
+        "owner": "lopsided98",
+        "repo": "nixpkgs",
+        "rev": "22c3f2cf41a0e70184334a958e6b124fb0ce3e01",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "nix-ros",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "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"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}

flake.nix

@@ -0,0 +1,124 @@
+
+{
+  inputs = {
+    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
+    # nix-ros-overlay.url = "/home/movefasta/Documents/nix-ros-overlay";
+    nixpkgs.follows = "nix-ros-overlay/nixpkgs";  # IMPORTANT!!!
+  };
+  outputs = { self, nix-ros-overlay, nixpkgs }:
+    nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (system:
+      let
+        applyDistroOverlay =
+          rosOverlay: rosPackages:
+          rosPackages
+          // builtins.mapAttrs (
+            rosDistro: rosPkgs: if rosPkgs ? overrideScope then rosPkgs.overrideScope rosOverlay else rosPkgs
+          ) rosPackages;
+        rosDistroOverlays = self: super: {
+          # Apply the overlay to multiple ROS distributions
+          rosPackages = applyDistroOverlay (import ./overlay.nix) super.rosPackages;
+        };
+        pythonOverlay = self: super: {
+          pythonPackagesExtensions = super.pythonPackagesExtensions ++ [
+            (
+              python-final: python-prev: {
+                rbs-assets-library = self.python3Packages.callPackage ./rbs-assets-library.nix { };
+                pcg-gazebo = self.python3Packages.callPackage ./pcg-gazebo.nix { };
+              }
+            )
+          ];
+        };
+        pkgs = import nixpkgs {
+          inherit system;
+          overlays = [
+            nix-ros-overlay.overlays.default
+            rosDistroOverlays
+            pythonOverlay
+          ];
+          config.permittedInsecurePackages = [
+            "freeimage-unstable-2021-11-01"
+          ];
+        };
+
+        rosDistro = "jazzy";
+
+      in {
+        legacyPackages = pkgs.rosPackages;
+        packages = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro};
+        checks = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro};
+        devShells.default = pkgs.mkShell {
+          name = "Robossembler ROS 2 Runtime";
+          shellHook = ''
+            unset QT_QPA_PLATFORM
+          '';
+          packages = [
+            pkgs.colcon
+            (pkgs.python3.withPackages (p: with p; [ dacite scipy loguru rbs-assets-library mujoco ]))
+            # ... other non-ROS packages
+            (with pkgs.rosPackages.${rosDistro}; buildEnv {
+              paths = [
+                ros-core
+                behaviortree-ros2
+                btcpp-ros2-interfaces
+                btcpp-ros2-samples
+                dynmsg
+                dynmsg-msgs
+                env-manager
+                env-manager-interfaces
+                rbs-arm
+                rbs-bringup
+                rbs-bt-executor
+                rbs-gripper
+                rbs-gym
+                rbs-perception
+                rbs-runtime
+                rbs-simulation
+                rbs-skill-interfaces
+                rbs-skill-servers
+                # rbs-task-planner
+                rbs-utils
+                rbs-utils-interfaces
+                rbss-movetopose
+                rbss-objectdetection
+                rbss-poseestimation
+                robonomics
+                robot-builder
+                rviz2
+                # ... other ROS packages
+                cartesian-compliance-controller
+                cartesian-controller-handles
+                cartesian-force-controller
+                cartesian-controller-base
+                cartesian-controller-utilities
+                cartesian-motion-controller
+              ] ++ [
+                ament-cmake-core
+                python-cmake-module
+
+                gz-cmake-vendor
+                gz-common-vendor
+                gz-dartsim-vendor
+                gz-fuel-tools-vendor
+                gz-gui-vendor
+                gz-launch-vendor
+                gz-math-vendor
+                gz-msgs-vendor
+                gz-ogre-next-vendor
+                gz-physics-vendor
+                gz-plugin-vendor
+                gz-rendering-vendor
+                gz-sensors-vendor
+                gz-sim-vendor
+                gz-tools-vendor
+                gz-transport-vendor
+                gz-utils-vendor
+              ];
+            })
+          ];
+        };
+      });
+  nixConfig = {
+    extra-substituters = [ "https://ros.cachix.org" ];
+    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
+  };
+}

overlay.nix

@@ -0,0 +1,37 @@
+self: super:
+{
+  behaviortree-ros2 = super.callPackage ./behaviortree-ros2.nix {};
+  btcpp-ros2-interfaces = super.callPackage ./btcpp-ros2-interfaces.nix {};
+  btcpp-ros2-samples = super.callPackage ./btcpp-ros2-samples.nix {};
+  dynmsg = super.callPackage ./dynmsg.nix {};
+  # dynmsg-demo = super.callPackage ./dynmsg-demo.nix {};
+  dynmsg-msgs = super.callPackage ./dynmsg-msgs.nix {};
+  env-manager = super.callPackage ./env-manager.nix {};
+  env-manager-interfaces = super.callPackage ./env-manager-interfaces.nix {};
+  rbs-arm = super.callPackage ./rbs-arm.nix {};
+  rbs-bringup = super.callPackage ./rbs-bringup.nix {};
+  rbs-bt-executor = super.callPackage ./rbs-bt-executor.nix {};
+  rbs-gripper = super.callPackage ./rbs-gripper.nix {};
+  rbs-gym = super.callPackage ./rbs-gym.nix {};
+  rbs-perception = super.callPackage ./rbs-perception.nix {};
+  rbs-runtime = super.callPackage ./rbs-runtime.nix {};
+  rbs-simulation = super.callPackage ./rbs-simulation.nix {};
+  rbs-skill-interfaces = super.callPackage ./rbs-skill-interfaces.nix {};
+  rbs-skill-servers = super.callPackage ./rbs-skill-servers.nix {};
+  rbs-task-planner = super.callPackage ./rbs-task-planner.nix {};
+  rbs-utils = super.callPackage ./rbs-utils.nix {};
+  rbs-utils-interfaces = super.callPackage ./rbs-utils-interfaces.nix {};
+  rbss-movetopose = super.callPackage ./rbss-movetopose.nix {};
+  rbss-objectdetection = super.callPackage ./rbss-objectdetection.nix {};
+  rbss-poseestimation = super.callPackage ./rbss-poseestimation.nix {};
+  robonomics = super.callPackage ./robonomics.nix {};
+  robot-builder = super.callPackage ./robot-builder.nix {};
+  test-dynmsg = super.callPackage ./test-dynmsg.nix {};
+  cartesian-compliance-controller = super.callPackage ./cartesian-compliance-controller.nix {};
+  cartesian-controller-handles = super.callPackage ./cartesian-controller-handles.nix {};
+  cartesian-force-controller = super.callPackage ./cartesian-force-controller.nix {};
+  cartesian-controller-base = super.callPackage ./cartesian-controller-base.nix {};
+  cartesian-controller-utilities = super.callPackage ./cartesian-controller-utilities.nix {};
+  cartesian-motion-controller = super.callPackage ./cartesian-motion-controller.nix {};
+
+}

pcg-gazebo.nix

@@ -0,0 +1,82 @@
+{
+  lib,
+  buildPythonPackage,
+  fetchFromGitHub,
+  setuptools,
+  wheel,
+  rospkg, 
+  #descartes, 
+  pyyaml, 
+  networkx, 
+  noise, 
+  #yasha, 
+  lxml, 
+  shapely, 
+  psutil, 
+  tabulate, 
+  bokeh, 
+  numpy, 
+  jinja2, 
+  pycollada, 
+  matplotlib, 
+  xmltodict, 
+  progress, 
+  jsonschema, 
+  trimesh, 
+  #triangle, 
+  scikit-image
+}:
+
+buildPythonPackage rec {
+  pname = "pcg-gazebo";
+  version = "0.7.12";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "boschresearch";
+    repo = "pcg_gazebo";
+    rev = version;
+    hash = "sha256-uJwqB+gMLdTsWFWCfiKVBE+ast8NuPqcA/lB5NQQ+ys=";
+  };
+
+  build-system = [
+    setuptools
+    wheel
+  ];
+
+  dependencies = [
+    rospkg
+    #descartes
+    pyyaml
+    networkx
+    noise
+    #yasha
+    lxml
+    shapely
+    psutil
+    tabulate
+    bokeh
+    numpy
+    jinja2
+    #python-fcl
+    pycollada
+    matplotlib
+    xmltodict
+    progress
+    jsonschema
+    trimesh
+    #triangle
+    scikit-image
+  ];
+
+  pythonImportsCheck = [
+    "pcg_gazebo"
+  ];
+
+  meta = {
+    description = "Procedural Generation for Gazebo";
+    homepage = "https://github.com/boschresearch/pcg_gazebo";
+    license = lib.licenses.asl20;
+    maintainers = with lib.maintainers; [ ];
+  };
+}

rbs-arm.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common, joint-trajectory-controller, ros-gz, ros2-control, ros2-controllers }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-arm";
+  version = "0.0.0";
+
+  src = fetchFromGitHub {
+    owner = "solid-sinusoid";
+    repo = "rbs-arm";
+    rev = "a39c474dcdef2a13af3056165a3ed29be9f4e173";
+    hash = "sha256-c/umjcDzXd63tZ0mttPMmhQFSXPPkmEIDe6SF4E9Fag=";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ joint-trajectory-controller ros-gz ros2-control ros2-controllers ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs-assets-library.nix

@@ -0,0 +1,36 @@
+{
+  lib,
+  buildPythonPackage,
+  fetchgit,
+  poetry-core,
+  trimesh,
+}:
+
+buildPythonPackage rec {
+  pname = "rbs-assets-library";
+  version = "unstable-2024-12-01";
+  pyproject = true;
+
+  src = fetchgit {
+    url = "https://gitlab.com/solid-sinusoid/rbs-assets-library";
+    rev = "16d3f6d750a8c903532f4bde22bbe41ebd35ec5c";
+    hash = "sha256-p0f3hRVxVilFPUoqGAzjcffoUw1KWz1L5JaEydmfPHo=";
+    fetchLFS = true;
+  };
+
+  build-system = [
+    poetry-core
+    trimesh
+  ];
+
+  pythonImportsCheck = [
+    "rbs_assets_library"
+  ];
+
+  meta = {
+    description = "";
+    homepage = "https://github.com/solid-sinusoid/rbs_assets_library";
+    license = lib.licenses.asl20;
+    maintainers = with lib.maintainers; [ ];
+  };
+}

rbs-bringup.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, nav2-common }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-bringup";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbs_bringup/";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ nav2-common ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ "TODO-License-declaration" ];
+  };
+}

rbs-bt-executor.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, behaviortree-cpp, behaviortree-ros2, env-manager-interfaces, rbs-skill-interfaces, rbs-utils, rclpy, moveit-core, moveit-ros-planning, moveit-ros-planning-interface, control-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-bt-executor";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbs_bt_executor/";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ behaviortree-cpp behaviortree-ros2 env-manager-interfaces rbs-skill-interfaces rbs-utils rclpy moveit-core moveit-ros-planning moveit-ros-planning-interface control-msgs ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ "TODO-License-declaration" ];
+  };
+}

rbs-gripper.nix

@@ -0,0 +1,23 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-lint-auto, ament-lint-common }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-gripper";
+  version = "0.0.0";
+
+  src = fetchFromGitHub {
+    owner = "solid-sinusoid";
+    repo = "rbs-gripper";
+    rev = "d34d28ab88f04bfd981f7f36293d501212795c47";
+    sha256 = "0kyjm3q10w55hibypknx9rz69brkp10kdcpl79wwkz2d0fya6d5j";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs-gym.nix

@@ -0,0 +1,21 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-gym";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_python";
+  sourceRoot = "${src.name}/env_manager/rbs_gym/";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs-perception.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, perception-pcl, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs, tf2-eigen, visualization-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-perception";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbs_perception/";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ cv-bridge image-transport perception-pcl rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs tf2-eigen visualization-msgs ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
+
+  meta = {
+    description = "An node for robot perception";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs-runtime.nix

@@ -0,0 +1,21 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-runtime";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_python";
+  sourceRoot = "${src.name}/env_manager/rbs_runtime/";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs-simulation.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, rclcpp, std-msgs, tf2, tf2-ros }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-simulation";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbs_simulation/";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ geometry-msgs rclcpp std-msgs tf2 tf2-ros ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ "TODO-License-declaration" ];
+  };
+}

rbs-skill-interfaces.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, shape-msgs, std-msgs, test-msgs, moveit-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-skill-interfaces";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbs_skill_interfaces/";
+  buildInputs = [ ament-cmake rosidl-default-generators ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ];
+  propagatedBuildInputs = [ geometry-msgs rosidl-default-runtime shape-msgs std-msgs moveit-msgs ];
+  nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs-skill-servers.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, geometric-shapes, geometry-msgs, gz-ros2-control, moveit-core, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, rbs-skill-interfaces, rbs-utils, rclcpp, rclcpp-action, tf2-eigen, tf2-ros, yaml-cpp-vendor, sdformat }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-skill-servers";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbs_skill_servers/";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ action-msgs geometric-shapes geometry-msgs gz-ros2-control moveit-core moveit-msgs moveit-ros-planning moveit-ros-planning-interface rbs-skill-interfaces rbs-utils rclcpp rclcpp-action tf2-eigen tf2-ros yaml-cpp-vendor sdformat ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs-task-planner.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, behaviortree-ros2, behaviortree-cpp-v3, test-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-task-planner";
+  version = "0.0.1";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbs_task_planner/";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common test-msgs ];
+  propagatedBuildInputs = [ ament-index-cpp behaviortree-ros2 behaviortree-cpp-v3 ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "ROS2 task planner for manipulator";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs-utils-interfaces.nix

@@ -0,0 +1,23 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, rosidl-default-generators, rosidl-default-runtime, geometry-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-utils-interfaces";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbs_utils/rbs_utils_interfaces/";
+  buildInputs = [ ament-cmake rosidl-default-generators geometry-msgs ];
+  propagatedBuildInputs = [ rosidl-default-runtime ];
+  nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
+
+  meta = {
+    description = "Interfaces for read robossembler_db config";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs-utils.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-lint-auto, ament-lint-common, dynmsg, geometry-msgs, rbs-utils-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rosidl-default-generators, rviz-visual-tools, sensor-msgs, std-msgs, tf2-eigen, tf2-ros, rosbag2-cpp, nlohmann_json }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbs-utils";
+  version = "0.0.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbs_utils/rbs_utils/";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ dynmsg geometry-msgs rbs-utils-interfaces rclcpp rclcpp-lifecycle rclpy rosidl-default-generators rviz-visual-tools sensor-msgs std-msgs tf2-eigen tf2-ros rosbag2-cpp nlohmann_json ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbs_skill_servers/src/mtp_moveit.cpp

@@ -50,7 +50,7 @@ private:
     } else {
       RCLCPP_WARN_STREAM(this->get_logger(),
                          "Failed to generate plan because "
-                             << error_code_to_string(plan_err_code));
+                             << moveit::core::errorCodeToString(plan_err_code));
       m_current_goal_handle->abort(m_current_result);
     }
 

rbs_skill_servers/src/mtp_moveit_cart.cpp

@@ -61,7 +61,7 @@ private:
     rt.getRobotTrajectoryMsg(trajectory);
 
     moveit::planning_interface::MoveGroupInterface::Plan plan;
-    plan.trajectory_ = trajectory;
+    plan.trajectory = trajectory;
 
     if (fraction > 0) {
       RCLCPP_INFO(this->get_logger(), "Planning success");

rbs_utils/rbs_utils/src/bagfile_recorder.cpp

@@ -69,7 +69,7 @@ protected:
     topics_ = get_list_topics();
 
     for (const auto &topic_name : topics_) {
-      writer_->create_topic({topic_name, "sensor_msgs/msg/Image", "cdr", ""});
+      writer_->create_topic({0u, topic_name, "sensor_msgs/msg/Image", "cdr", {}, ""});
       RCLCPP_INFO(this->get_logger(), "Configuring topic: %s",
                   topic_name.c_str());
     }

rbss-movetopose.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, rbs-skill-interfaces, rclcpp, rclpy, std-msgs, pcl-ros, pcl-conversions }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbss-movetopose";
+  version = "0.0.1";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbss_movetopose/";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ rbs-skill-interfaces rclcpp rclpy std-msgs pcl-ros pcl-conversions ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
+
+  meta = {
+    description = "The Move to pose skill";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbss-objectdetection.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclcpp, rclpy, sensor-msgs, std-msgs, pcl-ros, pcl-conversions, visualization-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbss-objectdetection";
+  version = "0.0.1";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbss_objectdetection/";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclcpp rclpy sensor-msgs std-msgs pcl-ros pcl-conversions visualization-msgs ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
+
+  meta = {
+    description = "The Object Detection skill";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

rbss-poseestimation.nix

@@ -0,0 +1,24 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, rbs-skill-interfaces, rclpy, sensor-msgs, std-msgs, pcl-ros, pcl-conversions, visualization-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-rbss-poseestimation";
+  version = "0.0.1";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/rbss_poseestimation/";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ cv-bridge image-transport rbs-skill-interfaces rclpy sensor-msgs std-msgs pcl-ros pcl-conversions visualization-msgs ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
+
+  meta = {
+    description = "The Pose Estimation skill";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

repos/cartesian_controllers.repos

@@ -1,13 +0,0 @@
-repositories:
-  cartesian_controllers:
-    type: git
-    url: https://github.com/solid-sinusoid/cartesian_controllers.git
-    version: gazebo-simulation
-  ros2_control:
-    type: git
-    url: https://github.com/solid-sinusoid/ros2_control.git
-    version: gz-ros2-cartesian-controllers
-  gz_ros2_control:
-    type: git
-    url: https://github.com/solid-sinusoid/gz_ros2_control.git
-    version: fts-sensor

repos/real.repos

@@ -1,21 +0,0 @@
-repositories:
-  ur_description:
-    type: git
-    url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Description.git
-    version: cartesian-controllers
-  ur_driver:
-    type: git
-    url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Driver.git
-    version: configure-with-gripper
-  behavior_tree:
-    type: git
-    url: https://github.com/solid-sinusoid/behavior_tree.git
-    version: master
-  rbs_schunk_40_n_n_b:
-    type: git
-    url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git
-    version: 2-add-ros2-control
-  dynamic_message_introspection:
-    type: git
-    url: https://github.com/osrf/dynamic_message_introspection.git
-    version: main

repos/sim.rbs.repos

@@ -19,7 +19,7 @@ repositories:
     type: git
     url: https://github.com/osrf/dynamic_message_introspection.git
     version: main
-  robot_builder:
-    type: git
-    url: https://github.com/solid-sinusoid/robot-builder.git
-    version: main
+  # gz_ros2_control:
+  #   type: git
+  #   url: https://github.com/solid-sinusoid/gz_ros2_control.git
+  #   version: fts-sensor

repos/sim.ur.repos

@@ -1,21 +0,0 @@
-repositories:
-  ur_description:
-    type: git
-    url: https://github.com/solid-sinusoid/Universal_Robots_ROS2_Description.git
-    version: cartesian-controllers
-  ur_moveit_config:
-    type: git
-    url: https://github.com/solid-sinusoid/ur_moveit_config.git
-    version: dev
-  behavior_tree:
-    type: git
-    url: https://github.com/solid-sinusoid/behavior_tree.git
-    version: master
-  rbs_schunk_40_n_n_b:
-    type: git
-    url: https://gitlab.com/robossembler/arm-tools/urdf-model-shrunk-gripper-egp-40-n-n-b.git
-    version: 2-add-ros2-control
-  dynamic_message_introspection:
-    type: git
-    url: https://github.com/osrf/dynamic_message_introspection.git
-    version: main

robonomics.nix

@@ -0,0 +1,22 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchgit, ament-copyright, ament-flake8, ament-pep257, pythonPackages, rclpy }:
+buildRosPackage rec {
+  pname = "ros-jazzy-robonomics";
+  version = "0.1.0";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/robossembler-ros2";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
+  };
+
+  buildType = "ament_python";
+  sourceRoot = "${src.name}/robonomics/";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ];
+  propagatedBuildInputs = [ rclpy ];
+
+  meta = {
+    description = "Package for Robossember-Robonomics interoperability";
+    license = with lib.licenses; [ "Apache-license-2.0" ];
+  };
+}

robot-builder.nix

@@ -0,0 +1,21 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
+buildRosPackage rec {
+  pname = "ros-jazzy-robot-builder";
+  version = "0.0.0";
+
+  src = fetchFromGitHub {
+    owner = "solid-sinusoid";
+    repo = "robot-builder";
+    rev = "4995d978e9702e6c344ee214aa93caba6fcbb730";
+    hash = "sha256-qhBD8ee+cotL/J4Q4I9lOgaecnCBVxoUobKGsyeMFiU=";
+  };
+
+  buildType = "ament_python";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ];
+
+  meta = {
+    description = "TODO: Package description";
+    license = with lib.licenses; [ asl20 ];
+  };
+}

test-dynmsg.nix

@@ -0,0 +1,25 @@
+# Automatically generated by: ros2nix --output-as-nix-pkg-name --fetch --distro jazzy
+{ lib, buildRosPackage, fetchFromGitHub, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, builtin-interfaces, dynmsg, rcl-interfaces, std-msgs, test-msgs }:
+buildRosPackage rec {
+  pname = "ros-jazzy-test-dynmsg";
+  version = "1.0.0";
+
+  src = fetchFromGitHub {
+    owner = "osrf";
+    repo = "dynamic_message_introspection";
+    rev = "50277e341f61455c42a6015b5718804a4f8588f6";
+    sha256 = "1kayqlmgpzz6lg4sfv6hlm1ak0jhmgqlarbj9wk3206as5iwhbhd";
+  };
+
+  buildType = "ament_cmake";
+  sourceRoot = "${src.name}/test_dynmsg/";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common builtin-interfaces rcl-interfaces test-msgs ];
+  propagatedBuildInputs = [ dynmsg std-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Tests for the dynmsg package";
+    license = with lib.licenses; [ asl20 ];
+  };
+}