diff --git a/.gitignore b/.gitignore
index 9b795c63..036c0520 100644
--- a/.gitignore
+++ b/.gitignore
@@ -47,3 +47,6 @@ bag/
 *~
 .\#*
 \#*\#
+
+# Nix
+result
diff --git a/all_seaing_autonomy/package.nix b/all_seaing_autonomy/package.nix
new file mode 100644
index 00000000..adaf900a
--- /dev/null
+++ b/all_seaing_autonomy/package.nix
@@ -0,0 +1,31 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  all-seaing-interfaces,
+  ament-cmake-auto,
+  nav-msgs,
+  rclcpp,
+  rclpy,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-autonomy";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  propagatedBuildInputs = [
+    all-seaing-interfaces
+    nav-msgs
+    rclcpp
+    rclpy
+  ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = "Autonomy code to deploy all_seaing_vehicle in competitions";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/all_seaing_bringup/package.nix b/all_seaing_bringup/package.nix
new file mode 100644
index 00000000..f6536cd7
--- /dev/null
+++ b/all_seaing_bringup/package.nix
@@ -0,0 +1,43 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  all-seaing-autonomy,
+  all-seaing-controller,
+  all-seaing-description,
+  all-seaing-driver,
+  all-seaing-interfaces,
+  all-seaing-navigation,
+  all-seaing-perception,
+  all-seaing-utility,
+  ament-cmake-auto,
+  robot-localization,
+  rviz-satellite,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-bringup";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  propagatedBuildInputs = [
+    all-seaing-autonomy
+    all-seaing-controller
+    all-seaing-description
+    all-seaing-driver
+    all-seaing-interfaces
+    all-seaing-navigation
+    all-seaing-perception
+    all-seaing-utility
+    robot-localization
+    rviz-satellite
+  ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = "Launch file collection for all_seaing_vehicle";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/all_seaing_controller/all_seaing_controller/simple_controller.py b/all_seaing_controller/all_seaing_controller/simple_controller.py
index bddbea7b..b764b497 100755
--- a/all_seaing_controller/all_seaing_controller/simple_controller.py
+++ b/all_seaing_controller/all_seaing_controller/simple_controller.py
@@ -1,4 +1,8 @@
 #!/usr/bin/env python3
+
+# Does not build.
+# Do not use this node as a dependency.
+
 import rclpy
 from rclpy.node import Node
 from std_msgs.msg import Float64
diff --git a/all_seaing_controller/package.nix b/all_seaing_controller/package.nix
new file mode 100644
index 00000000..a137af51
--- /dev/null
+++ b/all_seaing_controller/package.nix
@@ -0,0 +1,39 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  all-seaing-interfaces,
+  ament-cmake-auto,
+  geometry-msgs,
+  rclcpp,
+  rclpy,
+  sensor-msgs,
+  std-msgs,
+  tf-transformations,
+  visualization-msgs,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-controller";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  propagatedBuildInputs = [
+    all-seaing-interfaces
+    geometry-msgs
+    rclcpp
+    rclpy
+    sensor-msgs
+    std-msgs
+    tf-transformations
+    visualization-msgs
+  ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = "Controller for all_seaing_vehicle";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/all_seaing_description/package.nix b/all_seaing_description/package.nix
new file mode 100644
index 00000000..b72d9ef2
--- /dev/null
+++ b/all_seaing_description/package.nix
@@ -0,0 +1,21 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  ament-cmake-auto,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-description";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = "URDF and meshes for all_seaing_vehicle";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/all_seaing_driver/package.nix b/all_seaing_driver/package.nix
new file mode 100644
index 00000000..e8bb8a0c
--- /dev/null
+++ b/all_seaing_driver/package.nix
@@ -0,0 +1,35 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  ament-cmake-auto,
+  cv-bridge,
+  mavros-msgs,
+  rclcpp,
+  rclpy,
+  sensor-msgs,
+  std-msgs,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-driver";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  propagatedBuildInputs = [
+    cv-bridge
+    mavros-msgs
+    rclcpp
+    rclpy
+    sensor-msgs
+    std-msgs
+  ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = "Software interface for ASV hardware";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/all_seaing_interfaces/package.nix b/all_seaing_interfaces/package.nix
new file mode 100644
index 00000000..1613394e
--- /dev/null
+++ b/all_seaing_interfaces/package.nix
@@ -0,0 +1,40 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  action-msgs,
+  ament-cmake-auto,
+  geometry-msgs,
+  rosidl-default-generators,
+  rosidl-default-runtime,
+  sensor-msgs,
+  std-msgs,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-interfaces";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [
+    ament-cmake-auto
+    rosidl-default-generators
+  ];
+  propagatedBuildInputs = [
+    action-msgs
+    geometry-msgs
+    rosidl-default-runtime
+    sensor-msgs
+    std-msgs
+  ];
+  nativeBuildInputs = [
+    ament-cmake-auto
+    rosidl-default-generators
+  ];
+
+  meta = {
+    description = "Interfaces for all_seaing_vehicle";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/all_seaing_navigation/package.nix b/all_seaing_navigation/package.nix
new file mode 100644
index 00000000..e1ebdc48
--- /dev/null
+++ b/all_seaing_navigation/package.nix
@@ -0,0 +1,37 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  all-seaing-interfaces,
+  ament-cmake-auto,
+  geometry-msgs,
+  nav-msgs,
+  rclcpp,
+  rclpy,
+  sensor-msgs,
+  tf2,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-navigation";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  propagatedBuildInputs = [
+    all-seaing-interfaces
+    geometry-msgs
+    nav-msgs
+    rclcpp
+    rclpy
+    sensor-msgs
+    tf2
+  ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = "Navigation nodes for all_seaing_vehicle";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/all_seaing_perception/package.nix b/all_seaing_perception/package.nix
new file mode 100644
index 00000000..3753947c
--- /dev/null
+++ b/all_seaing_perception/package.nix
@@ -0,0 +1,51 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  all-seaing-interfaces,
+  ament-cmake-auto,
+  cv-bridge,
+  geometry-msgs,
+  image-geometry,
+  nav-msgs,
+  pcl-ros,
+  rclcpp,
+  rclpy,
+  sensor-msgs,
+  std-msgs,
+  tf2,
+  tf2-ros,
+  tf2-sensor-msgs,
+  visualization-msgs,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-perception";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  propagatedBuildInputs = [
+    all-seaing-interfaces
+    cv-bridge
+    geometry-msgs
+    image-geometry
+    nav-msgs
+    pcl-ros
+    rclcpp
+    rclpy
+    sensor-msgs
+    std-msgs
+    tf2
+    tf2-ros
+    tf2-sensor-msgs
+    visualization-msgs
+  ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = "Perception nodes for all_seaing_vehicle";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/all_seaing_rviz_plugins/package.nix b/all_seaing_rviz_plugins/package.nix
new file mode 100644
index 00000000..6222dcb5
--- /dev/null
+++ b/all_seaing_rviz_plugins/package.nix
@@ -0,0 +1,33 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  all-seaing-interfaces,
+  ament-cmake-auto,
+  pluginlib,
+  rviz-common,
+  rviz-default-plugins,
+  rviz-rendering,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-rviz-plugins";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  propagatedBuildInputs = [
+    all-seaing-interfaces
+    pluginlib
+    rviz-common
+    rviz-default-plugins
+    rviz-rendering
+  ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = "RViz plugins for all_seaing_vehicle";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/all_seaing_utility/package.nix b/all_seaing_utility/package.nix
new file mode 100644
index 00000000..596d03d4
--- /dev/null
+++ b/all_seaing_utility/package.nix
@@ -0,0 +1,39 @@
+# Automatically generated by: ros2nix --
+{
+  lib,
+  buildRosPackage,
+  all-seaing-interfaces,
+  ament-cmake-auto,
+  geometry-msgs,
+  nav-msgs,
+  rclcpp,
+  rclpy,
+  sensor-msgs,
+  std-msgs,
+  visualization-msgs,
+}:
+buildRosPackage rec {
+  pname = "ros-rolling-all-seaing-utility";
+  version = "0.0.0";
+
+  src = ./.;
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  propagatedBuildInputs = [
+    all-seaing-interfaces
+    geometry-msgs
+    nav-msgs
+    rclcpp
+    rclpy
+    sensor-msgs
+    std-msgs
+    visualization-msgs
+  ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = "Utility nodes for all_seaing_vehicle";
+    license = with lib.licenses; [ mit ];
+  };
+}