diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000..203f3c8
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,6 @@
+version: 2
+updates:
+- package-ecosystem: "github-actions"
+  directory: "/"
+  schedule:
+      interval: "weekly"
diff --git a/.github/workflows/ci-linux-ros.yml b/.github/workflows/ci-linux-ros.yml
index a757fb8..ffb3f94 100644
--- a/.github/workflows/ci-linux-ros.yml
+++ b/.github/workflows/ci-linux-ros.yml
@@ -1,8 +1,17 @@
 name: CI - Linux - ROS
-on: [push, pull_request]
+
+on:
+  push:
+    branches:
+    - master
+    - devel
+  pull_request:
+    branches:
+    - master
+    - devel
 
 jobs:
-  CI:
+  ROS:
     strategy:
       matrix:
         env:
diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
new file mode 100644
index 0000000..52b45d9
--- /dev/null
+++ b/.github/workflows/nix.yml
@@ -0,0 +1,19 @@
+name: "CI - Nix"
+
+on:
+  push:
+
+jobs:
+  nix:
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu, macos]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L
diff --git a/.mergify.yml b/.mergify.yml
index 97ce613..b096908 100644
--- a/.mergify.yml
+++ b/.mergify.yml
@@ -1,10 +1,10 @@
 pull_request_rules:
   - name: merge automatically when CI passes and PR is approved
     conditions:
-      - check-success = "CI (humble)"
-      - check-success = "CI (iron)"
-      - check-success = "CI (jazzy)"
-      - check-success = "CI (rolling)"
+      - check-success = "ROS (humble)"
+      - check-success = "ROS (iron)"
+      - check-success = "ROS (jazzy)"
+      - check-success = "ROS (rolling)"
       - check-success = "nix (macos)"
       - check-success = "nix (ubuntu)"
       - check-success = "gitlab-ci"
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000..67827ee
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,58 @@
+{
+  "nodes": {
+    "flake-parts": {
+      "inputs": {
+        "nixpkgs-lib": "nixpkgs-lib"
+      },
+      "locked": {
+        "lastModified": 1730504689,
+        "narHash": "sha256-hgmguH29K2fvs9szpq2r3pz2/8cJd2LPS+b4tfNFCwE=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "506278e768c2a08bec68eb62932193e341f55c90",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1733015953,
+        "narHash": "sha256-t4BBVpwG9B4hLgc6GUBuj3cjU7lP/PJfpTHuSqE+crk=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "ac35b104800bff9028425fec3b6e8a41de2bbfff",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs-lib": {
+      "locked": {
+        "lastModified": 1730504152,
+        "narHash": "sha256-lXvH/vOfb4aGYyvFmZK/HlsNsr/0CVWlwYvo2rxJk3s=",
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/cc2f28000298e1269cea6612cd06ec9979dd5d7f.tar.gz"
+      },
+      "original": {
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/cc2f28000298e1269cea6612cd06ec9979dd5d7f.tar.gz"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-parts": "flake-parts",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000..9445a20
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,34 @@
+{
+  description = "C++ reimplementation of eiquadprog";
+
+  inputs = {
+    flake-parts.url = "github:hercules-ci/flake-parts";
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+  };
+
+  outputs =
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+      systems = inputs.nixpkgs.lib.systems.flakeExposed;
+      perSystem =
+        { pkgs, self', ... }:
+        {
+          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+          packages = {
+            default = self'.packages.eiquadprog;
+            eiquadprog = pkgs.eiquadprog.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./include
+                  ./package.xml
+                  ./src
+                  ./tests
+                ];
+              };
+            });
+          };
+        };
+    };
+}