diff --git a/distros/humble/overrides.nix b/distros/humble/overrides.nix
index cc74b7332ba..a6b54aa131a 100644
--- a/distros/humble/overrides.nix
+++ b/distros/humble/overrides.nix
@@ -17,6 +17,18 @@ in with lib; {
     ];
   });
 
+  dwb-critics = rosSuper.dwb-critics.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=maybe-uninitialized" ];
+  });
+
+  dwb-plugins = rosSuper.dwb-plugins.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=maybe-uninitialized" ];
+  });
+
   # This is a newer version than the build system tries to download, but this
   # version doesn't try to run host platform binaries on the build platform
   # and fixes "Allocator foonathan::memory::memory_pool received invalid size"
@@ -105,6 +117,48 @@ in with lib; {
     propagatedBuildInputs = propagatedBuildInputs ++ [ rosSelf.moveit-ros-planning ];
   });
 
+  nav2-behaviors = rosSuper.nav2-behaviors.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=array-bounds" "-Wno-error=maybe-uninitialized" ];
+  });
+
+  nav2-behavior-tree = rosSuper.nav2-behavior-tree.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=array-bounds"];
+  });
+
+  nav2-costmap-2d = rosSuper.nav2-costmap-2d.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=array-bounds"];
+  });
+
+  nav2-mppi-controller = rosSuper.nav2-mppi-controller.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=array-bounds" ];
+  });
+
+  nav2-planner = rosSuper.nav2-planner.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=maybe-uninitialized" ];
+  });
+
+  nav2-smoother = rosSuper.nav2-smoother.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=maybe-uninitialized" ];
+  });
+
+  nav2-waypoint-follower = rosSuper.nav2-waypoint-follower.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=maybe-uninitialized" ];
+  });
+
   novatel-oem7-driver = (patchExternalProjectGit rosSuper.novatel-oem7-driver {
     url = "https://github.com/novatel/novatel_edie";
     rev = "d02ccc2dfe531d642c1e2ca8a8c0f8205c856f23";
diff --git a/distros/jazzy/overrides.nix b/distros/jazzy/overrides.nix
index ccc384acac2..110c473c1e6 100644
--- a/distros/jazzy/overrides.nix
+++ b/distros/jazzy/overrides.nix
@@ -168,6 +168,30 @@ in {
     '';
   });
 
+  nav2-behavior-tree = rosSuper.nav2-behavior-tree.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=array-bounds" ];
+  });
+
+  nav2-costmap-2d = rosSuper.nav2-costmap-2d.overrideAttrs({
+    ...
+  }: {
+    NIX_CFLAGS_COMPILE = toString [ "-Wno-error=array-bounds" ];
+  });
+
+  nav2-rviz-plugins = rosSuper.nav2-rviz-plugins.overrideAttrs({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      (self.fetchpatch {
+        url = "https://github.com/ros-navigation/navigation2/commit/e6f500e5b7528737f4a883598293b62c72c83946.patch";
+        hash = "sha256-XFQjW9eb/CVF+wDgNTG+wyXoz1Hwa3qEU/cIXRcBY6Y=";
+        stripLen = 1;
+      })
+    ];
+  });
+
   rviz-ogre-vendor = lib.patchAmentVendorGit rosSuper.rviz-ogre-vendor {
     tarSourceArgs.hook = let
       version = "1.79";
diff --git a/examples/ros2-turtlebot4-gz.nix b/examples/ros2-turtlebot4-gz.nix
new file mode 100755
index 00000000000..1b9032286a4
--- /dev/null
+++ b/examples/ros2-turtlebot4-gz.nix
@@ -0,0 +1,26 @@
+# Environment containing basic ROS2 tools
+
+{ pkgs ? import ../. {} }:
+with pkgs;
+with rosPackages.jazzy;
+
+mkShell {
+  nativeBuildInputs = [
+    (buildEnv {
+      paths = [
+        ros-core
+        colcon
+        geometry-msgs
+        turtlebot4-desktop
+        turtlebot4-simulator
+        slam-toolbox
+        nav2-minimal-tb4-sim
+        nav2-minimal-tb3-sim
+        # rqt metapackages
+        rqt-common-plugins
+        rqt-tf-tree
+        tf2-tools
+      ];
+    })
+  ];
+}
diff --git a/flake.nix b/flake.nix
index bb8549f09a9..481ea72f5ee 100644
--- a/flake.nix
+++ b/flake.nix
@@ -21,6 +21,7 @@
         example-turtlebot3-gazebo = import ./examples/turtlebot3-gazebo.nix { inherit pkgs; };
         example-ros2-basic = import ./examples/ros2-basic.nix { inherit pkgs; };
         example-ros2-gz = import ./examples/ros2-gz.nix { inherit pkgs; };
+        example-ros2-turtlebot4-gz = import ./examples/ros2-turtlebot4-gz.nix { inherit pkgs; };
 
         # Development environment for the custom GitHub action
         nix-ros-build-action = pkgs.callPackage ./.github/actions/nix-ros-build-action/shell.nix { };