diff --git a/README.md b/README.md
index 5fad33a626c..e691ab1f54a 100644
--- a/README.md
+++ b/README.md
@@ -17,27 +17,46 @@ Want to use ROS, but don't want to run Ubuntu? This project uses the power of [N
 
 ## Examples
 
-Turtlebot 3 simulation in Gazebo:
+Turtlebot 3 simulation in Gazebo on noetic distro:
 ```
 nix-shell \
   -I nix-ros-overlay=https://github.com/lopsided98/nix-ros-overlay/archive/master.tar.gz \
   --option extra-substituters 'https://ros.cachix.org' \
   --option trusted-public-keys 'cache.nixos.org-1:6NCHdD59X431o0gWypbMrAURkbJ16ZPMQFGspcDShjY= ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=' \
-  '<nix-ros-overlay/examples/turtlebot3-gazebo.nix>'
+  '<nix-ros-overlay/examples/noetic-turtlebot3-gazebo.nix>'
 # If not on NixOS, nixGL (https://github.com/guibou/nixGL) is needed for OpenGL support
 roslaunch turtlebot3_gazebo turtlebot3_world.launch
 # Spawn a new nix-shell in a new terminal and then:
 roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
 ```
 
+Turtlebot 3 simulation in Gazebo on humble distro:
+```
+nix-shell \
+  -I nix-ros-overlay=https://github.com/lopsided98/nix-ros-overlay/archive/master.tar.gz \
+  --option extra-substituters 'https://ros.cachix.org' \
+  --option trusted-public-keys 'cache.nixos.org-1:6NCHdD59X431o0gWypbMrAURkbJ16ZPMQFGspcDShjY= ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=' \
+  '<nix-ros-overlay/examples/humble-turtlebot3-gazebo.nix>'
+# If not on NixOS, nixGL (https://github.com/guibou/nixGL) is needed for OpenGL support
+ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+# Spawn a new nix-shell in a new terminal and then:
+ros2 run turtlebot3_teleop teleop_keyboard
+```
+
 ### Flakes
 
-With [Flakes enabled][flake], the equivalent of the above is:
+With [Flakes enabled][flake], the equivalent of the above for noetic distro is:
 ```
-nix develop github:lopsided98/nix-ros-overlay#example-turtlebot3-gazebo
+nix develop github:lopsided98/nix-ros-overlay#example-noetic-turtlebot3-gazebo
 # Then use roslaunch commands as above
 ```
 
+With [Flakes enabled][flake], the equivalent of the above for humble distro is:
+```
+nix develop github:lopsided98/nix-ros-overlay#example-humble-turtlebot3-gazebo
+# Then use ros2 commands as above
+```
+
 Using the overlay in your `flake.nix`-based project could look like this:
 
 <!-- The following comment is for https://github.com/zimbatm/mdsh -->
diff --git a/distros/humble/overrides.nix b/distros/humble/overrides.nix
index cc74b7332ba..76bce441125 100644
--- a/distros/humble/overrides.nix
+++ b/distros/humble/overrides.nix
@@ -30,6 +30,12 @@ in with lib; {
 
   gazebo = self.gazebo_11;
 
+  gazebo-ros = rosSuper.gazebo-ros.overrideAttrs ({
+    buildInputs ? [], ...
+  }: {
+    buildInputs = buildInputs ++ [ self.qt5.qtbase ];
+  });
+
   google-benchmark-vendor = lib.patchExternalProjectGit rosSuper.google-benchmark-vendor {
     url = "https://github.com/google/benchmark.git";
     rev = "c05843a9f622db08ad59804c190f98879b76beba";
@@ -105,6 +111,12 @@ in with lib; {
     propagatedBuildInputs = propagatedBuildInputs ++ [ rosSelf.moveit-ros-planning ];
   });
 
+  nav2-costmap-2d = rosSuper.nav2-costmap-2d.overrideAttrs({
+    ...
+  }: {
+      env.NIX_CFLAGS_COMPILE = toString [ "-Wno-error=array-bounds" ];
+  });
+
   novatel-oem7-driver = (patchExternalProjectGit rosSuper.novatel-oem7-driver {
     url = "https://github.com/novatel/novatel_edie";
     rev = "d02ccc2dfe531d642c1e2ca8a8c0f8205c856f23";
diff --git a/examples/humble-turtlebot3-gazebo.nix b/examples/humble-turtlebot3-gazebo.nix
new file mode 100755
index 00000000000..a01e5a71de5
--- /dev/null
+++ b/examples/humble-turtlebot3-gazebo.nix
@@ -0,0 +1,23 @@
+# Run:
+# ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
+# ros2 run turtlebot3_teleop teleop_keyboard
+
+{ pkgs ? import ../. {} }:
+with pkgs;
+with rosPackages.humble;
+with pythonPackages;
+
+mkShell {
+  buildInputs = [
+    glibcLocales
+    (buildEnv { paths = [
+      ros-base
+      turtlebot3-teleop
+      turtlebot3-gazebo
+    ]; })
+  ];
+
+  ROS_HOSTNAME = "localhost";
+  ROS_MASTER_URI = "http://localhost:11311";
+  TURTLEBOT3_MODEL = "burger";
+}
diff --git a/examples/turtlebot3-gazebo.nix b/examples/noetic-turtlebot3-gazebo.nix
similarity index 100%
rename from examples/turtlebot3-gazebo.nix
rename to examples/noetic-turtlebot3-gazebo.nix
diff --git a/flake.nix b/flake.nix
index bb8549f09a9..c40332f2d7d 100644
--- a/flake.nix
+++ b/flake.nix
@@ -18,7 +18,7 @@
       legacyPackages = pkgs.rosPackages;
 
       devShells = {
-        example-turtlebot3-gazebo = import ./examples/turtlebot3-gazebo.nix { inherit pkgs; };
+        example-noetic-turtlebot3-gazebo = import ./examples/noetic-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; };