feat: add depencies to packages.xml files, add packages to flake.nix

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=" ];