diff --git a/flake.nix b/flake.nix
index 52c2c74..d261ede 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,8 +1,11 @@
 {
+  description = "Development environment for ASTRA Anchor";
+
   inputs = {
     nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
     nixpkgs.follows = "nix-ros-overlay/nixpkgs";  # IMPORTANT!!!
   };
+
   outputs = { self, nix-ros-overlay, nixpkgs }:
     nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (system:
       let
@@ -13,18 +16,31 @@
       in {
         devShells.default = pkgs.mkShell {
           name = "ASTRA Anchor";
-          packages = [
-            pkgs.colcon
-            pkgs.python312Packages.pyserial
-            pkgs.python312Packages.pygame
-            (with pkgs.rosPackages.humble; buildEnv {
+          packages = with pkgs; [
+            colcon
+            python312Packages.pyserial
+            python312Packages.pygame
+            (with rosPackages.humble; buildEnv {
               paths = [
-                ros-core ros2cli ros2run ros2bag ament-cmake-core python-cmake-module
+                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" ];
     extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
diff --git a/src/anchor_pkg/package.xml b/src/anchor_pkg/package.xml
index 19dc42a..60964eb 100644
--- a/src/anchor_pkg/package.xml
+++ b/src/anchor_pkg/package.xml
@@ -8,6 +8,8 @@
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
+  <depend>common_interfaces</depend>
+  <depend>python3-serial</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/src/arm_pkg/package.xml b/src/arm_pkg/package.xml
index 8982d81..efcb547 100644
--- a/src/arm_pkg/package.xml
+++ b/src/arm_pkg/package.xml
@@ -8,7 +8,11 @@
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
+  <depend>common_interfaces</depend>
+  <depend>python3-numpy</depend>
   <depend>ros2_interfaces_pkg</depend>
+  <!-- TODO: remove after refactored out -->
+  <exec_depend>python3-ikpy-pip</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/src/astra_descriptions b/src/astra_descriptions
index 9a0b2b2..aaddaef 160000
--- a/src/astra_descriptions
+++ b/src/astra_descriptions
@@ -1 +1 @@
-Subproject commit 9a0b2b2ea1dbdc2b3a78ab5f045bdc356093f241
+Subproject commit aaddaef90c3561475f46ed857b1428b7c334f638
diff --git a/src/bio_pkg/package.xml b/src/bio_pkg/package.xml
index d4a8515..d87859f 100644
--- a/src/bio_pkg/package.xml
+++ b/src/bio_pkg/package.xml
@@ -8,6 +8,7 @@
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
+  <depend>common_interfaces</depend>
   <depend>ros2_interfaces_pkg</depend>
 
   <test_depend>ament_copyright</test_depend>
diff --git a/src/core_pkg/package.xml b/src/core_pkg/package.xml
index f97b13e..667ee58 100644
--- a/src/core_pkg/package.xml
+++ b/src/core_pkg/package.xml
@@ -8,6 +8,9 @@
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
+  <depend>common_interfaces</depend>
+  <depend>python3-scipy</depend>
+  <depend>python-crccheck-pip</depend>
   <depend>ros2_interfaces_pkg</depend>
 
   <test_depend>ament_copyright</test_depend>
diff --git a/src/headless_pkg/package.xml b/src/headless_pkg/package.xml
index b5f3b52..bc06dde 100644
--- a/src/headless_pkg/package.xml
+++ b/src/headless_pkg/package.xml
@@ -8,6 +8,8 @@
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
+  <depend>common_interfaces</depend>
+  <depend>python3-pygame</depend>
   <depend>ros2_interfaces_pkg</depend>
 
   <test_depend>ament_copyright</test_depend>
diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py
index fd23a8c..b0131f2 100755
--- a/src/headless_pkg/src/headless_node.py
+++ b/src/headless_pkg/src/headless_node.py
@@ -7,7 +7,6 @@ import signal
 import time
 import atexit
 
-import serial
 import os
 import sys
 import threading
diff --git a/src/latency_tester/CMakeLists.txt b/src/latency_tester/CMakeLists.txt
index 6fea0db..6c214e8 100644
--- a/src/latency_tester/CMakeLists.txt
+++ b/src/latency_tester/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.22)
 project(latency_tester)
 
 # Default to C++14
diff --git a/src/latency_tester/package.xml b/src/latency_tester/package.xml
index 23de138..121816d 100644
--- a/src/latency_tester/package.xml
+++ b/src/latency_tester/package.xml
@@ -9,7 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
+  <depend>common_interfaces</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>