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bresillaesteve
bresilla
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esteve
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chore: add nix flake development shell (#617)
* Add Nix flake development shell * Address Nix flake review feedback * add support for multiple ROS distros --------- Co-authored-by: Esteve Fernandez <esteve@apache.org>
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‎flake.lock‎

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‎flake.nix‎

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{
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description = "ros flake";
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inputs = {
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nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay";
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nixpkgs.follows = "nix-ros-overlay/nixpkgs";
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rust-overlay.url = "github:oxalica/rust-overlay";
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flake-utils.url = "github:numtide/flake-utils";
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};
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outputs =
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{ self, nixpkgs, rust-overlay, flake-utils, nix-ros-overlay, ... }:
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flake-utils.lib.eachSystem [ "x86_64-linux" "aarch64-linux" ] (
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system:
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let
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overlays = [ (import rust-overlay) nix-ros-overlay.overlays.default ];
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pkgs = import nixpkgs {
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inherit system overlays;
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};
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supportedDistros = builtins.filter
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(name:
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let value = pkgs.rosPackages.${name};
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in builtins.isAttrs value && builtins.hasAttr "ros-core" value
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)
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(builtins.attrNames pkgs.rosPackages);
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defaultDistro = "jazzy";
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rustToolchain = pkgs.rust-bin.stable.latest.default.override {
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extensions = [ "rust-src" ];
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};
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mkRosDevShell = distroName:
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let
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rosDistro = pkgs.rosPackages.${distroName};
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rosPrefixes = "${rosDistro.ament-cmake}:${rosDistro.ament-cmake-core}:${rosDistro.python-cmake-module}:${rosDistro.rmw}:${rosDistro.rosidl-default-generators}:${rosDistro.rosidl-runtime-c}:${rosDistro.rosidl-typesupport-c}:${rosDistro.rosidl-typesupport-interface}:${rosDistro.std-msgs}:${rosDistro.test-msgs}";
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in
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pkgs.mkShell {
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packages =
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[
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rustToolchain
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pkgs.gcc
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pkgs.clang
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pkgs.cmake
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pkgs.mold
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pkgs.pkg-config
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pkgs.colcon
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(with rosDistro; buildEnv {
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paths = [
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ros-core
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ros-base
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cyclonedds
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rmw-cyclonedds-cpp
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test-msgs
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];
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})
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];
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RUST_SRC_PATH = "${rustToolchain}/lib/rustlib/src/rust/library";
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shellHook = ''
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export LIBCLANG_PATH="${pkgs.llvmPackages.libclang.lib}/lib"
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export LD_LIBRARY_PATH="${pkgs.stdenv.cc.cc.lib}/lib''${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
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export CC=clang
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export CXX=clang++
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dedup_flags() {
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local var_name="$1"
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local current_value
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current_value="$(printenv "$var_name" 2>/dev/null || true)"
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if [ -z "$current_value" ]; then
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return
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fi
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export "$var_name=$(
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printf '%s' "$current_value" \
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| tr ' ' '\n' \
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| awk '
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function flush_entry(entry_key, entry_value) {
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if (!(entry_key in seen)) {
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seen[entry_key] = 1
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print entry_value
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}
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}
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BEGIN {
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expects_value["-I"] = 1
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expects_value["-L"] = 1
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expects_value["-B"] = 1
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expects_value["-include"] = 1
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expects_value["-iquote"] = 1
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expects_value["-idirafter"] = 1
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expects_value["-isystem"] = 1
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expects_value["-isysroot"] = 1
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expects_value["-iframework"] = 1
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}
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NF == 0 {
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next
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}
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pending_option != "" {
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flush_entry(pending_option SUBSEP $0, pending_option " " $0)
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pending_option = ""
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next
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}
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{
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if ($0 in expects_value) {
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pending_option = $0
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next
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}
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flush_entry($0, $0)
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}
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END {
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if (pending_option != "") {
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flush_entry(pending_option, pending_option)
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}
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}
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' \
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| paste -sd ' ' -
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)"
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}
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dedup_flags NIX_CFLAGS_COMPILE
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dedup_flags NIX_CXXFLAGS_COMPILE
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dedup_flags NIX_LDFLAGS
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prepend_prefixes() {
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local var_name="$1"
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local existing_value
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existing_value="$(printenv "$var_name" 2>/dev/null || true)"
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if [ -n "$existing_value" ]; then
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export "$var_name=${rosPrefixes}:$existing_value"
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else
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export "$var_name=${rosPrefixes}"
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fi
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}
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prepend_prefixes CMAKE_PREFIX_PATH
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setup_synthetic_ament_prefix() {
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local base_dir
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local synthetic_prefix
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local source_prefixes
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local old_ifs="$IFS"
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local prefix
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local category_dir
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local resource
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local existing_value
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local filtered=""
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if [ -n "''${XDG_CACHE_HOME:-}" ]; then
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base_dir="$XDG_CACHE_HOME"
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elif [ -n "''${TMPDIR:-}" ]; then
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base_dir="$TMPDIR"
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else
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base_dir="/tmp"
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fi
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synthetic_prefix="$base_dir/ros2-rust-nix-ament-prefix-${system}"
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mkdir -p "$synthetic_prefix/share/ament_index/resource_index/packages"
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printf '%s\n' '#!/usr/bin/env sh' > "$synthetic_prefix/local_setup.sh"
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printf '%s\n' '#!/usr/bin/env bash' > "$synthetic_prefix/local_setup.bash"
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printf '%s\n' '#!/usr/bin/env zsh' > "$synthetic_prefix/local_setup.zsh"
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chmod +x \
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"$synthetic_prefix/local_setup.sh" \
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"$synthetic_prefix/local_setup.bash" \
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"$synthetic_prefix/local_setup.zsh"
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find "$synthetic_prefix/share/ament_index/resource_index" -mindepth 1 -delete
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source_prefixes="$(printenv CMAKE_PREFIX_PATH 2>/dev/null || true)"
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IFS=:
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for prefix in $source_prefixes; do
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if [ ! -d "$prefix/share/ament_index/resource_index" ]; then
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continue
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fi
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for category_dir in "$prefix"/share/ament_index/resource_index/*; do
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if [ ! -d "$category_dir" ]; then
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continue
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fi
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mkdir -p "$synthetic_prefix/share/ament_index/resource_index/$(basename "$category_dir")"
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for resource in "$category_dir"/*; do
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if [ ! -f "$resource" ]; then
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continue
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fi
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ln -sf "$resource" \
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"$synthetic_prefix/share/ament_index/resource_index/$(basename "$category_dir")/$(basename "$resource")"
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done
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done
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done
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IFS="$old_ifs"
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existing_value="$(printenv AMENT_PREFIX_PATH 2>/dev/null || true)"
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if [ -n "$existing_value" ]; then
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IFS=:
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for prefix in $existing_value; do
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if [ -f "$prefix/local_setup.sh" ] || [ -f "$prefix/local_setup.bash" ] || [ -f "$prefix/local_setup.zsh" ]; then
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if [ -n "$filtered" ]; then
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filtered="$filtered:$prefix"
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else
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filtered="$prefix"
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fi
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fi
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done
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IFS="$old_ifs"
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fi
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if [ -n "$filtered" ]; then
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export AMENT_PREFIX_PATH="$synthetic_prefix:$filtered"
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else
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export AMENT_PREFIX_PATH="$synthetic_prefix"
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fi
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}
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setup_synthetic_ament_prefix
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'';
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};
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distroShells = builtins.listToAttrs (
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map (name: { inherit name; value = mkRosDevShell name; }) supportedDistros
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);
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in
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{
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devShells = distroShells // { default = distroShells.${defaultDistro}; };
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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 = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
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};
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}

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