{
  description = "ros1 overlay";
  inputs =
    rec {
      ros.url = github:lopsided98/nix-ros-overlay/6fa03dc558b92cf7f3a2d426c9335e014e3fd10d;
      ros.inputs.nixpkgs.follows = "nixpkgs";
      nixpkgs.url = github:nixos/nixpkgs/release-22.05;
      utils.url = github:numtide/flake-utils;
    };

  outputs = { self, utils, ros, nixpkgs }:
    utils.lib.eachDefaultSystem
      (system:
        let
          pkgs = import nixpkgs {
            inherit system;
            overlays = [ ros.overlays.default ];
          };
        in
        {
          devShells = {
            default = pkgs.mkShell {
              buildInputs =
                (with pkgs.python3Packages; [
                  python-lsp-server
                  pyls-flake8
                ]) ++ [ pkgs.rosPackages.noetic.desktop-full ];
              shellHook = ''
                [[ -d ./devel ]] && source ./devel/setup.bash
                export GAZEBO_MODEL_PATH=$PWD/src/mr_robot_gazebo/models
              '';
            };
          };
        });
}