Added changes to develop with Jetbot

data/devenv/templates/ros/flake.nix

@@ -0,0 +1,55 @@
+{
+  description = "Development flake for this ROS project";
+
+  inputs = {
+    nixpkgs.url = "github:NixOS/nixpkgs/nixpkgs-unstable";
+    flake-utils.url = "github:numtide/flake-utils";
+
+    ros-overlay.url = "github:lopsided98/nix-ros-overlay";
+    ros-overlay.inputs.nixpkgs.follows = "nixpkgs";
+  };
+
+
+  outputs = { self, nixpkgs, flake-utils, ros-overlay }:
+    flake-utils.lib.eachDefaultSystem (system: let
+
+      pkgs = import nixpkgs {
+        inherit system;
+        overlays = [ ros-overlay.overlays.default ];
+      };
+
+    in {
+      devShells.default = pkgs.mkShell {
+        nativeBuildInputs = with pkgs; [
+          # Non-ROS packages
+        ] ++ (with rosPackages.humble; [
+          # ROS packages
+          (buildEnv {
+            paths = [
+              # Core
+              ros-environment
+              colcon
+              # Ros2
+              ros2run
+              ros2param
+              ros2topic
+              ros2node
+              ros2interface
+              ros2service
+              ros2action
+              ros2pkg
+              # RQT
+              rqt
+              rqt-msg
+              rqt-topic
+              rqt-action
+              rqt-service-caller
+              rqt-graph
+              # Extra
+           ];
+          })
+        ]);
+
+      };
+    });
+}

hosts/reykjavik/default.nix

@@ -15,6 +15,18 @@ in
   user.name = "marc";
   user.shell = pkgs.zsh;
   networking.hostName = "reykjavik";
+  networking.firewall = {
+    enable = true;
+    allowedUDPPortRanges = [
+      # - ROS ------------------------------------
+      # Open ports for ROS 2 DDS
+      # See https://docs.ros.org/en/humble/Concepts/About-Domain-ID.html
+      # Multicast ports for DOMAIN_ID 13
+      { from = 10650; to = 10651; }
+      # Unicast ports for DOMAIN_ID 13 and up to 120 particimants
+      { from = 10660; to = 10890; }
+    ];
+  };
 
   # - Bootloader ---------------------------------
 
@@ -53,6 +65,7 @@ in
       intelBusId = "PCI:0:2:0";
       nvidiaBusId = "PCI:1:0:0";
     };
+    system.gpg.enable = true;
 
     # - Desktop ----------------------------------
     desktop = {

modules/system/gpg.nix

@@ -0,0 +1,16 @@
+{ config, lib, pkgs, self, ... }:
+
+let
+  cfg = config.samfelag.modules.system.gpg;
+in
+{
+  options.samfelag.modules.system.gpg = {
+    enable = lib.mkEnableOption "gpg";
+  };
+  config = lib.mkIf cfg.enable {
+    programs.gnupg.agent.enable = true;
+    # environment.systemPackages = with pkgs; [
+    #   gnupg
+    # ];
+  };
+}

modules/system/tailscale.nix

@@ -9,7 +9,11 @@ in
   };
   config = lib.mkIf cfg.enable {
     # See https://github.com/tailscale/tailscale/issues/4432
-    networking.firewall.checkReversePath = "loose";
+    networking = {
+      firewall.checkReversePath = "loose";
+      nameservers = [ "100.80.195.56" ];
+      networkmanager.dns = "none";
+    };
     services.tailscale.enable = true;
   };
 }