Add plot-juggler and protobuf with the correct version

Gepetto · Jan 9, 2025 · 956be69 · 956be69
1 parent 870fdb5
commit 956be69
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Showing 3 changed files with 34 additions and 4 deletions.
diff --git a/.envrc b/.envrc
@@ -1,9 +1,10 @@
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
 if test -f .envrc.local; then
     # If you don't need nixgl, eg. if you are n NixOS, you can:
     # echo 'use flake .#pure' > .envrc.local
     source_env .envrc.local
 else
     # unfree is only required if you use nvidia
     export NIXPKGS_ALLOW_UNFREE=1
-    use flake . --impure
+    use flake . --impure 
 fi
diff --git a/.gitignore b/.gitignore
@@ -1,2 +1,3 @@
 .envrc.local
 result*
+.direnv
diff --git a/flake.nix b/flake.nix
@@ -14,8 +14,8 @@
     ## NixGL, for people not yet on NixOS
     nixgl.url = "github:nix-community/nixGL";
   };
-  outputs =
-    { nixpkgs, self, ... }@inputs:
+
+  outputs = { nixpkgs, self, ... }@inputs:
     inputs.nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
       system:
       let
@@ -24,6 +24,10 @@
           overlays = [
             inputs.nix-ros-overlay.overlays.default
             inputs.nixgl.overlay
+            (final: prev: {
+              # Override protobuf version to ensure compatibility
+              protobuf = prev.protobuf3_21;
+            })
           ];
           patches = [
             inputs.patch-hpp
@@ -34,6 +38,19 @@
           self.packages.${system}.python
           self.packages.${system}.ros
         ];
+        # Precompute the BASE_DIR path
+        baseDir = pkgs.python3Packages.example-robot-data.outPath;
+        # Define the shared shell hook, referencing the precomputed path
+        sharedShellHook = ''
+          if [ -z "$BASE_DIR" ]; then
+            echo "Error: Could not locate the example-robot-data package." >&2
+          else
+            SHARE_DIR=$BASE_DIR
+            export AMENT_PREFIX_PATH=$SHARE_DIR:$AMENT_PREFIX_PATH
+            export ROS_PACKAGE_PATH=$SHARE_DIR/share:$ROS_PACKAGE_PATH
+            echo "Added $SHARE_DIR to AMENT_PREFIX_PATH and ROS_PACKAGE_PATH"
+          fi
+        '';
       in
       {
         devShells = {
@@ -44,10 +61,18 @@
             packages = pure-packages ++ [
               self.packages.${system}.nixgl-gepetto-gui
             ];
+            shellHook = ''
+              export BASE_DIR='${baseDir}'
+              ${sharedShellHook}
+            '';
           };
           pure = pkgs.mkShell {
             name = "Gepetto Main Dev Shell";
             packages = pure-packages;
+            shellHook = ''
+              export BASE_DIR='${baseDir}'
+              ${sharedShellHook}
+            '';
           };
         };
         packages = {
@@ -67,7 +92,10 @@
             buildEnv {
               paths = [
                 ros-core
-                turtlesim
+                rmw-fastrtps-cpp
+                rmw-cyclonedds-cpp
+                plotjuggler
+                plotjuggler-ros
               ];
             };
         };