From a63a3b19afe5242967dc40bd117d6f79499c4eb0 Mon Sep 17 00:00:00 2001
From: ryleu <69326171+ryleu@users.noreply.github.com>
Date: Sat, 18 Oct 2025 02:23:33 -0500
Subject: [PATCH] fix python deps

---
 flake.nix | 61 +++++++++++++++++++++++++++++++++++++++----------------
 1 file changed, 44 insertions(+), 17 deletions(-)

diff --git a/flake.nix b/flake.nix
index d261ede..1c63afb 100644
--- a/flake.nix
+++ b/flake.nix
@@ -3,43 +3,70 @@
 
   inputs = {
     nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
-    nixpkgs.follows = "nix-ros-overlay/nixpkgs";  # IMPORTANT!!!
+    nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
   };
 
-  outputs = { self, nix-ros-overlay, nixpkgs }:
-    nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (system:
+  outputs =
+    {
+      self,
+      nix-ros-overlay,
+      nixpkgs,
+    }:
+    nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
+      system:
       let
         pkgs = import nixpkgs {
           inherit system;
           overlays = [ nix-ros-overlay.overlays.default ];
         };
-      in {
+      in
+      {
         devShells.default = pkgs.mkShell {
           name = "ASTRA Anchor";
           packages = with pkgs; [
             colcon
-            python312Packages.pyserial
-            python312Packages.pygame
-            (with rosPackages.humble; buildEnv {
-              paths = [
-                ros-core ros2cli ros2run ros2bag rviz2 xacro ament-cmake-core python-cmake-module
-                diff-drive-controller parameter-traits generate-parameter-library
-                joint-state-publisher-gui robot-state-publisher
-                ros2-control controller-manager
-                # ros2-controllers nixpkg does not build :(
-              ];
-            })
+            (python312.withPackages (
+              p: with p; [
+                pyserial
+                pygame
+                scipy
+              ]
+            ))
+            (
+              with rosPackages.humble;
+              buildEnv {
+                paths = [
+                  ros-core
+                  ros2cli
+                  ros2run
+                  ros2bag
+                  rviz2
+                  xacro
+                  ament-cmake-core
+                  python-cmake-module
+                  diff-drive-controller
+                  parameter-traits
+                  generate-parameter-library
+                  joint-state-publisher-gui
+                  robot-state-publisher
+                  ros2-control
+                  controller-manager
+                  # ros2-controllers nixpkg does not build :(
+                ];
+              }
+            )
           ];
           shellHook = ''
             [ -d install ] || colcon build --symlink-install
             source install/setup.bash
-            
+
             # Display stuff
             export DISPLAY=''${DISPLAY:-:0}
             export QT_X11_NO_MITSHM=1
           '';
         };
-      });
+      }
+    );
 
   nixConfig = {
     extra-substituters = [ "https://ros.cachix.org" ];