diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000..9003e49
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,101 @@
+{
+  "nodes": {
+    "flake-utils": {
+      "inputs": {
+        "systems": "systems"
+      },
+      "locked": {
+        "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "nix-ros-overlay": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs",
+        "rosdistro": "rosdistro"
+      },
+      "locked": {
+        "lastModified": 1785606873,
+        "narHash": "sha256-B4+EVJ+D1bKbIzQxdbOJuU/l7y9tJg1dHNAUyO6MQyg=",
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "rev": "2004728f9f450421c9d44b62d6c707a5834139bb",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "master",
+        "repo": "nix-ros-overlay",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1782723713,
+        "narHash": "sha256-oPXCU/SSUokcGaJREHibG1CBX3+s/W7orDWQOZDsEeQ=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "b5aa0fbd538984f6e3d201be0005b4463d8b09f8",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "nix-ros-overlay": "nix-ros-overlay",
+        "nixpkgs": [
+          "nix-ros-overlay",
+          "nixpkgs"
+        ]
+      }
+    },
+    "rosdistro": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1785506537,
+        "narHash": "sha256-F/E9AWF3V2coFM0tz8Rpgjs7KZELZ617OUrfiF5Tb3I=",
+        "owner": "ros",
+        "repo": "rosdistro",
+        "rev": "16a90886be745b6ec535942294969c2228a8c59a",
+        "type": "github"
+      },
+      "original": {
+        "owner": "ros",
+        "repo": "rosdistro",
+        "type": "github"
+      }
+    },
+    "systems": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000..61d30be
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,148 @@
+{
+  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
+          ];
+        };
+
+
+
+        python-vcs = pkgs.python3Packages.buildPythonPackage rec {
+            pname = "python-vcs2l";
+            version = "1.1.7";
+            pyproject = true;
+
+            src = pkgs.python3Packages.fetchPypi {
+                inherit version;
+                pname = "vcs2l";
+                hash = "sha256-HYbmhfngHdonG4nfGyvULKVVX1wNy+9cxyfUQ/JXOM0=";
+            };
+
+            build-system = [ pkgs.python3Packages.setuptools ];
+            dependencies = [ pkgs.python313Packages.pyyaml ];
+        };
+
+        python-rosdistro = pkgs.python3Packages.buildPythonPackage rec {
+            pname = "python-rosdistro";
+            version = "1.0.1";
+            pyproject = true;
+
+            src = pkgs.python3Packages.fetchPypi {
+                inherit version;
+                pname = "rosdistro";
+                hash = "sha256-J/iLS/CteekF6R2zdnS586JdEnrm5HuqvR4YBE1gwmw=";
+            };
+
+            build-system = [ pkgs.python3Packages.setuptools ];
+            dependencies = [ pkgs.python313Packages.pyyaml
+                             pkgs.python313Packages.catkin-pkg
+                             pkgs.python313Packages.rospkg
+            ];
+        };
+
+
+        python-rosdep = pkgs.python3Packages.buildPythonPackage rec {
+            pname = "python-rosdep";
+            version = "0.26.0";
+            pyproject = true;
+
+            src = pkgs.python3Packages.fetchPypi {
+                inherit version;
+                pname = "rosdep";
+                hash = "sha256-xHQwAwWLwO7Udgf0Zh9dGnxQWKgwuMs6BAPu+gndba0=";
+            };
+
+            build-system = [ pkgs.python3Packages.setuptools ];
+            dependencies = [ pkgs.python313Packages.pyyaml
+                             pkgs.python313Packages.distutils
+                             pkgs.python313Packages.catkin-pkg
+                             pkgs.python313Packages.rospkg
+                             python-rosdistro
+            ];
+        };
+
+      in
+    {
+        devShells.default = pkgs.mkShell {
+          name = "Lucy ROS dev shell";
+
+          packages = [
+            python-vcs
+            python-rosdep
+
+            pkgs.llvmPackages_20.clang-tools
+            pkgs.python313Packages.black
+
+            pkgs.colcon
+            pkgs.cmake
+            pkgs.spdlog
+            pkgs.fmt
+            pkgs.doxygen
+
+            (with pkgs.rosPackages.jazzy; buildEnv {
+              paths = [
+                desktop
+                xacro
+                ros-gz-bridge
+
+                rqt
+                rqt-common-plugins
+
+                # Simulation
+                image-transport
+                compressed-image-transport
+                ros-gz-sim
+                gz-sim-vendor
+                gz-cmake-vendor
+                gz-ros2-control
+
+                ros-gz-interfaces
+                simulation-interfaces
+
+                ros2-control
+                controller-manager
+                ros2-controllers
+                hardware-interface
+
+                micro-ros-msgs
+                fastcdr
+                realsense2-camera
+                rosbridge-server
+
+                joint-trajectory-controller
+                joint-state-broadcaster
+                joint-state-publisher
+                joint-state-publisher-gui
+
+                python-cmake-module
+
+                ament-cmake
+                ament-cmake-core
+                ament-cmake-python
+              ];
+            })
+          ];
+
+          shellHook = ''
+            echo -e ""
+            echo -e "🛡️  \033[1;36mLucy Development Environment\033[1;0m"
+            echo -e "----------------------------"
+            echo -e "ROS2: $ROS_DISTRO"
+            echo -e "Système: ${system}"
+            echo -e "----------------------------"
+          '';
+        };
+      });
+  nixConfig = {
+    extra-substituters = [ "https://ros.cachix.org" ];
+    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
+  };
+}