{
  description = "ATOM stuff";
  inputs =
    rec {
      ros.url = github:lopsided98/nix-ros-overlay;
      utils.url = github:numtide/flake-utils;
      nixpkgs.url = github:nixos/nixpkgs/release-22.11;
    };

  outputs = { self, utils, ros, nixpkgs }:
    utils.lib.eachDefaultSystem
      (system:
        let
          pkgs = import nixpkgs {
            inherit system;
          };
          rosPkgs = ros.legacyPackages.${system};
        in
        {
          devShells = {
            default = pkgs.mkShell {
              buildInputs =
                (with pkgs.python3Packages; [
                  python-lsp-server
                  pyls-flake8
                ]) ++
                (with rosPkgs.noetic; [
                  roslaunch
                  rosbash
                  rospy
                  turtlesim
                  geometry-msgs
                  catkin
                ]);
            };
          };
        });
}