From 956be69b1a654a0a8ff3982bcf664aa5e57a7acf Mon Sep 17 00:00:00 2001
From: Maximilien Naveau <maximilien.naveau@gmail.com>
Date: Thu, 9 Jan 2025 14:09:25 +0100
Subject: [PATCH] Add plot-juggler and protobuf with the correct version

---
 .envrc     |  3 ++-
 .gitignore |  1 +
 flake.nix  | 34 +++++++++++++++++++++++++++++++---
 3 files changed, 34 insertions(+), 4 deletions(-)

diff --git a/.envrc b/.envrc
index 6d5f841..5695ca3 100644
--- a/.envrc
+++ b/.envrc
@@ -1,3 +1,4 @@
+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
@@ -5,5 +6,5 @@ if test -f .envrc.local; then
 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
index 159d697..06c6b47 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 .envrc.local
 result*
+.direnv
\ No newline at end of file
diff --git a/flake.nix b/flake.nix
index 37d22dd..f032f34 100644
--- 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
               ];
             };
         };