From fdb019109a1e76ae9ecb86eb0c1420cfcfe1c868 Mon Sep 17 00:00:00 2001
From: James N <59348282+RandomSpaceship@users.noreply.github.com>
Date: Tue, 10 Dec 2024 17:30:43 +1000
Subject: [PATCH] nix: Separate nixGL wrapped rviz out, fix patches overlay
 typo

---
 flake.nix                   | 5 ++---
 software/ros_ws/overlay.nix | 5 +----
 software/ros_ws/patches.nix | 2 +-
 3 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/flake.nix b/flake.nix
index 6989d83..d34fab8 100644
--- a/flake.nix
+++ b/flake.nix
@@ -94,8 +94,7 @@
         standardPkgs = {
           inherit (pkgs) can-utils;
           inherit (pkgs.ros)
-            natrviz
-            rviz2
+            rviz2-fixed
             rosbag2
             teleop-twist-keyboard
             demo-nodes-cpp
@@ -167,7 +166,7 @@
 
         # --- SCRIPTS ---
         perseus = pkgs.writeShellScriptBin "perseus" ''
-          ${default}/bin/ros2 pkg list
+          ${default}/bin/ros2 launch perseus perseus.launch.py "$@"
         '';
         treefmt-write-config = pkgs.writeShellScriptBin "treefmt-write-config" ''
           cd "$(git rev-parse --show-toplevel)"
diff --git a/software/ros_ws/overlay.nix b/software/ros_ws/overlay.nix
index c5df1c4..32f39d2 100644
--- a/software/ros_ws/overlay.nix
+++ b/software/ros_ws/overlay.nix
@@ -30,12 +30,9 @@ let
         };
         # additionally, override rviz by default to wrap it with nixGL since most people are on Ubuntu not NixOS
         # also provide native rviz with an alias
-        rviz2 = prev.writeShellScriptBin "rviz2" ''
+        rviz2-fixed = prev.writeShellScriptBin "rviz2-fixed" ''
           NIXPKGS_ALLOW_UNFREE=1 QT_QPA_PLATFORM=xcb QT_SCREEN_SCALE_FACTORS=1 nix run --impure "github:nix-community/nixGL" "${prev.lib.getExe rosPrev.rviz2}" -- "$@"
         '';
-        natrviz = prev.writeShellScriptBin "natrviz" ''
-          exec "${prev.lib.getExe rosPrev.rviz2}" "$@"
-        '';
       })
     ] rosFinal rosPrev);
 in
diff --git a/software/ros_ws/patches.nix b/software/ros_ws/patches.nix
index 5a1752c..2bb66f3 100644
--- a/software/ros_ws/patches.nix
+++ b/software/ros_ws/patches.nix
@@ -10,7 +10,7 @@ let
       }:
       {
         dontWrapQtApps = false;
-        nativeBuildInputs = nativeBuildInputs ++ [ rosPrev.qt5.wrapQtAppsHook ];
+        nativeBuildInputs = nativeBuildInputs ++ [ prev.qt5.wrapQtAppsHook ];
         postFixup =
           postFixup
           + ''