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 = [
+          packages = with pkgs; [
-            pkgs.colcon
+            colcon
-            pkgs.python312Packages.pyserial
+            python312Packages.pyserial
-            pkgs.python312Packages.pygame
+            python312Packages.pygame
-            (with pkgs.rosPackages.humble; buildEnv {
+            (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=" ];

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>

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>

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>

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>

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>

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

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

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>