mirror of
https://github.com/SHC-ASTRA/rover-ros2.git
synced 2026-04-20 11:51:16 -05:00
101 lines
2.8 KiB
Nix
101 lines
2.8 KiB
Nix
{
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description = "Development environment for ASTRA Anchor";
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inputs = {
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nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
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nixpkgs.follows = "nix-ros-overlay/nixpkgs";
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astra-msgs.url =
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"github:SHC-ASTRA/astra_msgs/2a90e7712424d8f44093334f7a359696d9398216";
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};
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outputs =
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{ self, nix-ros-overlay, nixpkgs, astra-msgs }:
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nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
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system:
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let
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pkgs = import nixpkgs {
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inherit system;
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overlays = [ nix-ros-overlay.overlays.default ];
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};
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astra_msgs_pkgs = astra-msgs.packages.${system};
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rosDistro = "humble";
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in
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{
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devShells.default = pkgs.mkShell {
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name = "ASTRA Anchor";
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packages = with pkgs; [
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colcon
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astra_msgs_pkgs.astra-msgs
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(pkgs.rosPackages.${rosDistro}.python3.withPackages (p: with p; [
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pyserial
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pygame
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scipy
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crccheck
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black
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]))
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(with rosPackages.${rosDistro};
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buildEnv {
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paths = [
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ros-core
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rqt-graph
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ros2cli
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ros2run
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ros2bag
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rviz2
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xacro
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ament-cmake-core
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python-cmake-module
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diff-drive-controller
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parameter-traits
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generate-parameter-library
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joint-state-publisher-gui
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robot-state-publisher
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ros2-control
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controller-manager
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control-msgs
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control-toolbox
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moveit-core
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moveit-planners
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moveit-common
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moveit-msgs
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moveit-ros-planning
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moveit-ros-planning-interface
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moveit-ros-visualization
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moveit-configs-utils
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moveit-ros-move-group
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moveit-servo
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moveit-simple-controller-manager
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topic-based-ros2-control
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pilz-industrial-motion-planner
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pick-ik
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ompl
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joy
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ros2-controllers
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chomp-motion-planner
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];
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})
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];
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env = {
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ASTRAMSGS = "${astra-msgs.outPath}";
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};
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shellHook = ''
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export DISPLAY=''${DISPLAY:-:0}
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export QT_X11_NO_MITSHM=1
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'';
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};
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}
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);
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nixConfig = {
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extra-substituters = [ "https://ros.cachix.org" ];
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extra-trusted-public-keys =
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[ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
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};
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}
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