{
  inputs = {
    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
    nixpkgs.follows = "nix-ros-overlay/nixpkgs";
  };
  outputs =
    {
      self,
      nix-ros-overlay,
      nixpkgs,
    }:
    nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (
      system:
      let
        pkgs = import nixpkgs {
          inherit system;
          overlays = [ nix-ros-overlay.overlays.default ];
        };
      in
      {
        devShells.default = pkgs.mkShell {
          name = "Project Robotoid";
          packages = [
            pkgs.colcon
            pkgs.llvmPackages_20.clang-tools

            (
              with pkgs.rosPackages.jazzy;
              buildEnv {
                paths = [
            # Dependencies from package.xml files
                  desktop
                  ament-cmake-core
                  python-cmake-module
                  ament-lint-auto
                  ament-lint-common
                  behaviortree-cpp
                  controller-manager
                  diff-drive-controller
                  geometry-msgs
                  hardware-interface
                  joint-state-broadcaster
                  launch
                  launch-ros
                  pkgs.glm
                  pkgs.jsoncpp.dev
                  pkgs.i2c-tools
                  pluginlib
                  rclcpp
                  rclcpp-action
                  rclcpp-components
                  rclcpp-lifecycle
                  robot-state-publisher
                  ros2-control
                  ros2launch
                  rosidl-default-generators
                  rosidl-default-runtime
                  sensor-msgs
                  std-msgs
                  std-srvs
                  tf2
                  tf2-geometry-msgs
                  tf2-ros
                  visualization-msgs
                ];
              }
            )
          ];
        };
      }
    );
  nixConfig = {
    extra-substituters = [ "https://attic.iid.ciirc.cvut.cz/ros" ];
    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
  };
}