diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 40c3929b4c..74e5bcb272 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -217,6 +217,13 @@ jobs:
           # Only main writes the cache, so a PR run cannot evict main's entry
           # from the repo's 10GB budget. PR runs still restore from it.
           save-if: ${{ github.ref == 'refs/heads/main' }}
+      - name: Install system deps
+        # realsense-sys links the system librealsense2. portaudio is for pyaudio.
+        run: |
+          curl -sSf --retry 3 https://librealsense.realsenseai.com/Debian/librealsenseai.asc | gpg --dearmor | sudo tee /etc/apt/keyrings/librealsenseai.gpg > /dev/null
+          echo "deb [signed-by=/etc/apt/keyrings/librealsenseai.gpg] https://librealsense.realsenseai.com/Debian/apt-repo $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/librealsense.list
+          sudo apt-get update
+          sudo apt-get install -y librealsense2-dev portaudio19-dev
       - name: cargo fmt
         run: cargo fmt --all -- --check
       - name: cargo clippy
@@ -227,10 +234,6 @@ jobs:
         uses: astral-sh/setup-uv@v10.0.1
         with:
           enable-cache: true
-      - name: Install dependency for pyaudio
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y portaudio19-dev
       - name: Build and test PyO3 bindings
         # PyO3 extension modules (cdylib + `extension-module`) are the one case
         # that still needs a plain build: pytest imports the compiled .so.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index de6ab3e28f..ec483ec8a8 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -157,12 +157,7 @@ repos:
             git ls-files "*Cargo.toml" | while read -r m; do
               cargo locate-project --manifest-path "$m" --workspace --message-format plain
             done | sort -u | while read -r root; do
-              # A crate with its own flake carries system deps the root shell lacks.
-              if [ -f "$(dirname "$root")/flake.nix" ]; then
-                nix develop "path:$(dirname "$root")" -c cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings
-              else
-                cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings
-              fi
+              cargo clippy --manifest-path "$root" --workspace --all-targets -- -D warnings
             done
           '
         language: system
diff --git a/Cargo.lock b/Cargo.lock
index 6786ce57a7..96950160b7 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -114,7 +114,7 @@ dependencies = [
  "nom",
  "num-traits",
  "rusticata-macros",
- "thiserror",
+ "thiserror 2.0.20",
  "time",
 ]
 
@@ -508,7 +508,7 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "10d60334b3b2e7c9d91ef8150abfb6fa4c1c39ebbcf4a81c2e346aad939fee3e"
 dependencies = [
- "thiserror",
+ "thiserror 2.0.20",
 ]
 
 [[package]]
@@ -623,6 +623,21 @@ dependencies = [
  "validator",
 ]
 
+[[package]]
+name = "dimos-realsense"
+version = "0.1.0"
+dependencies = [
+ "dimos-module",
+ "lcm-msgs",
+ "pkg-config",
+ "realsense-rust",
+ "realsense-sys",
+ "serde",
+ "tokio",
+ "tracing",
+ "validator",
+]
+
 [[package]]
 name = "dimos-voxel-ray-tracing"
 version = "0.1.0"
@@ -1327,7 +1342,7 @@ dependencies = [
  "jni-sys",
  "log",
  "simd_cesu8",
- "thiserror",
+ "thiserror 2.0.20",
  "walkdir",
  "windows-link",
 ]
@@ -1696,6 +1711,17 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "521739c6d2bac4aa25192232afe6841231376b2b26d4d9fae5ecf8ca5772e441"
 
+[[package]]
+name = "num-derive"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.119",
+]
+
 [[package]]
 name = "num-integer"
 version = "0.1.47"
@@ -1938,6 +1964,12 @@ version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a89322df9ebe1c1578d689c92318e070967d1042b512afbe49518723f4e6d5cd"
 
+[[package]]
+name = "pkg-config"
+version = "0.3.34"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f6b464fbc74e149a392436b17d523f769e057cb6877f6a5c4618bc6f11800548"
+
 [[package]]
 name = "pnet_base"
 version = "0.35.0"
@@ -2148,7 +2180,7 @@ dependencies = [
  "rustc-hash",
  "rustls",
  "socket2 0.6.5",
- "thiserror",
+ "thiserror 2.0.20",
  "tokio",
  "tracing",
  "web-time",
@@ -2172,7 +2204,7 @@ dependencies = [
  "rustls-pki-types",
  "rustls-platform-verifier",
  "slab",
- "thiserror",
+ "thiserror 2.0.20",
  "tinyvec",
  "tracing",
  "web-time",
@@ -2309,6 +2341,28 @@ dependencies = [
  "yasna",
 ]
 
+[[package]]
+name = "realsense-rust"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7595b5cfd3d9c7f11419904869f85aa1813ac501bdb8a519ed34a8ba2b463609"
+dependencies = [
+ "anyhow",
+ "num-derive",
+ "num-traits",
+ "realsense-sys",
+ "thiserror 1.0.69",
+]
+
+[[package]]
+name = "realsense-sys"
+version = "2.56.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "806f88ea3895edf0c4911fd7a62ab21e6618b5376f59b422e741fad28798169c"
+dependencies = [
+ "pkg-config",
+]
+
 [[package]]
 name = "redox_syscall"
 version = "0.5.18"
@@ -2326,7 +2380,7 @@ checksum = "a4e608c6638b9c18977b00b475ac1f28d14e84b27d8d42f70e0bf1e3dec127ac"
 dependencies = [
  "getrandom 0.2.17",
  "libredox",
- "thiserror",
+ "thiserror 2.0.20",
 ]
 
 [[package]]
@@ -3044,13 +3098,33 @@ version = "0.13.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "adb6935a6f5c20170eeceb1a3835a49e12e19d792f6dd344ccc76a985ca5a6ca"
 
+[[package]]
+name = "thiserror"
+version = "1.0.69"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
+dependencies = [
+ "thiserror-impl 1.0.69",
+]
+
 [[package]]
 name = "thiserror"
 version = "2.0.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ec86235f5fcc2a73650310756d2ac5b138a5780bbbdfae3eeccec992c435ba4f"
 dependencies = [
- "thiserror-impl",
+ "thiserror-impl 2.0.20",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.69"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.119",
 ]
 
 [[package]]
@@ -3921,7 +3995,7 @@ dependencies = [
  "oid-registry",
  "ring",
  "rusticata-macros",
- "thiserror",
+ "thiserror 2.0.20",
  "time",
 ]
 
diff --git a/Cargo.toml b/Cargo.toml
index 9815e21d6a..0b9013080e 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -7,10 +7,26 @@ members = [
     "dimos/mapping/ray_tracing/rust/py",
     "dimos/navigation/nav_3d/mls_planner/rust",
     "dimos/navigation/nav_3d/mls_planner/rust/py",
+    "dimos/hardware/sensors/camera/realsense/rust",
     "dimos/hardware/sensors/lidar/virtual_mid360",
     "examples/native-modules/rust",
 ]
 
+[workspace.dependencies]
+ahash = "0.8"
+dimos-lcm = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
+dimos-module = { path = "native/rust/dimos-module" }
+lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
+nalgebra = "0.35.0"
+numpy = "0.25"
+pyo3 = { version = "0.25", features = ["extension-module", "abi3-py310"] }
+rayon = "1"
+serde = { version = "1", features = ["derive"] }
+tokio = "1"
+tracing = "0.1"
+tracing-subscriber = "0.3"
+validator = { version = "0.21", features = ["derive"] }
+
 [profile.release]
 lto = "thin"
 codegen-units = 1
diff --git a/bin/build-native-modules b/bin/build-native-modules
index cbfc6a5cb2..e1153aa792 100755
--- a/bin/build-native-modules
+++ b/bin/build-native-modules
@@ -2,9 +2,8 @@
 """Build every nix-backed native module, or decide whether CI needs to.
 
 Walks the whole `dimos` package for any `NativeModuleConfig` subclass whose
-`build_command` is a `nix build` (a `nix develop -c cargo build` leaves no
-store path to publish, so it stays outside the gate). Discovery is pure AST (stdlib only, no dimos import),
-so this script runs on a bare `python3` with nothing installed.
+`build_command` is a `nix build`. Discovery is pure AST (stdlib only, no
+dimos import), so this script runs on a bare `python3` with nothing installed.
 
 Modes:
 
diff --git a/dimos/hardware/sensors/camera/realsense/README.md b/dimos/hardware/sensors/camera/realsense/README.md
index a649dc4430..9983c2a875 100644
--- a/dimos/hardware/sensors/camera/realsense/README.md
+++ b/dimos/hardware/sensors/camera/realsense/README.md
@@ -1,9 +1,9 @@
 # RealSense
 
-Capture is the rust module in `rust/`, built through its own flake (librealsense2 is not in the root shell):
+Capture is the rust module in `rust/`, a workspace member. It links the system librealsense2 (`librealsense2-dev` from the [RealSense apt repo](https://github.com/realsenseai/librealsense/blob/master/doc/distribution_linux.md), or `pkgs.librealsense` in the nix shell):
 
 ```bash
-cd dimos/hardware/sensors/camera/realsense/rust && nix develop path:. -c cargo build --release
+cargo build --release -p dimos-realsense
 ```
 
 `camera.py` launches it; `dimos run real-sense-camera-vis` shows color, depth and the cloud in Rerun.
diff --git a/dimos/hardware/sensors/camera/realsense/camera.py b/dimos/hardware/sensors/camera/realsense/camera.py
index 279a64f016..1b73f71975 100644
--- a/dimos/hardware/sensors/camera/realsense/camera.py
+++ b/dimos/hardware/sensors/camera/realsense/camera.py
@@ -21,6 +21,7 @@
 
 from pydantic import Field
 
+from dimos.constants import DIMOS_PROJECT_ROOT
 from dimos.core.native_module import NativeModule, NativeModuleConfig
 from dimos.core.stream import Out
 from dimos.hardware.sensors.camera.spec import DepthCameraConfig
@@ -35,9 +36,9 @@
 
 class RealSenseCameraConfig(NativeModuleConfig, DepthCameraConfig):
     cwd: str | None = "rust"
-    executable: str = "target/release/realsense_native"
-    # Own flake: librealsense2 isn't in the root shell.
-    build_command: str | None = "nix develop path:. -c cargo build --release"
+    # The crate is a workspace member, so cargo builds into the repo-root target dir.
+    executable: str = str(DIMOS_PROJECT_ROOT / "target" / "release" / "realsense_native")
+    build_command: str | None = "cargo build --release"
     stdin_config: bool = True
     # The frame stem and its namespace cross to rust like any other field.
     base_fields: frozenset[str] = frozenset({"frame_id", "frame_id_prefix"})
diff --git a/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock b/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock
deleted file mode 100644
index bd48ab4110..0000000000
--- a/dimos/hardware/sensors/camera/realsense/rust/Cargo.lock
+++ /dev/null
@@ -1,4325 +0,0 @@
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diff --git a/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml
index b4984af265..e23b64a3ec 100644
--- a/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml
+++ b/dimos/hardware/sensors/camera/realsense/rust/Cargo.toml
@@ -9,10 +9,6 @@ license = "Apache-2.0"
 name = "realsense_native"
 path = "src/main.rs"
 
-# Not a root-workspace member: it links librealsense2, which the root shell and
-# CI's `cargo clippy --workspace` don't carry. Built via ./flake.nix instead.
-[workspace]
-
 # Bake registry entry, cross-checked at compile time by the module macro.
 [package.metadata.dimos.module.realsense]
 path = "dimos_realsense::RealSense"
@@ -35,14 +31,14 @@ infrared_left_camera_info = "sensor_msgs.CameraInfo"
 infrared_right_camera_info = "sensor_msgs.CameraInfo"
 
 [dependencies]
-dimos-module = { path = "../../../../../../native/rust/dimos-module" }
-lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
+dimos-module.workspace = true
+lcm-msgs.workspace = true
 realsense-rust = "1.3"
 realsense-sys = "2.56"
-tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal"] }
-serde = { version = "1", features = ["derive"] }
-tracing = "0.1"
-validator = { version = "0.20", features = ["derive"] }
+tokio = { workspace = true, features = ["rt-multi-thread", "macros", "signal"] }
+serde.workspace = true
+tracing.workspace = true
+validator.workspace = true
 
 [build-dependencies]
 pkg-config = "0.3"
diff --git a/dimos/hardware/sensors/camera/realsense/rust/build.rs b/dimos/hardware/sensors/camera/realsense/rust/build.rs
index f80e65928c..14659f6fef 100644
--- a/dimos/hardware/sensors/camera/realsense/rust/build.rs
+++ b/dimos/hardware/sensors/camera/realsense/rust/build.rs
@@ -12,9 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// realsense-sys only emits -L for librealsense2; bake its directory in as an
-// rpath so the binary runs outside the nix shell that built it. nixpkgs' .pc
-// names lib/x86_64-linux-gnu while the .so sits in lib/, so walk up to it.
+// nixpkgs' realsense2.pc names a libdir the .so is not in, so walk up to the
+// real directory and emit it as both a link search path and an rpath.
 fn main() {
     let lib = pkg_config::probe_library("realsense2").expect("librealsense2 via pkg-config");
     for path in lib.link_paths {
@@ -22,6 +21,7 @@ fn main() {
             .ancestors()
             .find(|d| d.join("librealsense2.so").exists())
             .unwrap_or(&path);
+        println!("cargo:rustc-link-search=native={}", dir.display());
         println!("cargo:rustc-link-arg=-Wl,-rpath,{}", dir.display());
     }
 }
diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.lock b/dimos/hardware/sensors/camera/realsense/rust/flake.lock
deleted file mode 100644
index c50829616b..0000000000
--- a/dimos/hardware/sensors/camera/realsense/rust/flake.lock
+++ /dev/null
@@ -1,27 +0,0 @@
-{
-  "nodes": {
-    "nixpkgs": {
-      "locked": {
-        "lastModified": 1787736819,
-        "narHash": "sha256-cV5xEJJK3BvhU8rEd4mC9UsmDi5qscv/kzGPhBRC5WA=",
-        "owner": "NixOS",
-        "repo": "nixpkgs",
-        "rev": "9fbb54b33e91ee4ca368e35a78e0613c720600b3",
-        "type": "github"
-      },
-      "original": {
-        "owner": "NixOS",
-        "ref": "nixos-unstable",
-        "repo": "nixpkgs",
-        "type": "github"
-      }
-    },
-    "root": {
-      "inputs": {
-        "nixpkgs": "nixpkgs"
-      }
-    }
-  },
-  "root": "root",
-  "version": 7
-}
diff --git a/dimos/hardware/sensors/camera/realsense/rust/flake.nix b/dimos/hardware/sensors/camera/realsense/rust/flake.nix
deleted file mode 100644
index 765dfd2753..0000000000
--- a/dimos/hardware/sensors/camera/realsense/rust/flake.nix
+++ /dev/null
@@ -1,17 +0,0 @@
-{
-  description = "librealsense for the dimos RealSense native module";
-
-  inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
-
-  outputs = { self, nixpkgs }:
-    let
-      systems = [ "x86_64-linux" "aarch64-linux" "aarch64-darwin" ];
-      forAll = f: nixpkgs.lib.genAttrs systems (system: f nixpkgs.legacyPackages.${system});
-    in {
-      # The rust toolchain comes from the enclosing dimos shell; this only adds
-      # what realsense-sys links against.
-      devShells = forAll (pkgs: {
-        default = pkgs.mkShell { packages = [ pkgs.librealsense pkgs.pkg-config ]; };
-      });
-    };
-}
diff --git a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml
index 3f93a948c2..70e78f8abc 100644
--- a/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml
+++ b/dimos/hardware/sensors/lidar/virtual_mid360/Cargo.toml
@@ -8,9 +8,9 @@ name = "virtual_mid360"
 path = "src/main.rs"
 
 [dependencies]
-dimos-module = { path = "../../../../../native/rust/dimos-module" }
-tokio = { version = "1", features = ["rt-multi-thread", "macros", "time", "net", "sync"] }
-serde = { version = "1", features = ["derive"] }
+dimos-module.workspace = true
+tokio = { workspace = true, features = ["rt-multi-thread", "macros", "time", "net", "sync"] }
+serde.workspace = true
 socket2 = "0.6"
-tracing = "0.1"
-validator = { version = "0.21", features = ["derive"] }
+tracing.workspace = true
+validator.workspace = true
diff --git a/dimos/mapping/ray_tracing/rust/Cargo.toml b/dimos/mapping/ray_tracing/rust/Cargo.toml
index 501f8c5028..ccb01f2213 100644
--- a/dimos/mapping/ray_tracing/rust/Cargo.toml
+++ b/dimos/mapping/ray_tracing/rust/Cargo.toml
@@ -32,13 +32,13 @@ local_map_fine = "sensor_msgs.PointCloud2"
 region_bounds = "geometry_msgs.PoseStamped"
 
 [dependencies]
-dimos-module = { path = "../../../../native/rust/dimos-module" }
-lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
-tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal"] }
-serde = { version = "1", features = ["derive"] }
-ahash = "0.8"
+dimos-module.workspace = true
+lcm-msgs.workspace = true
+tokio = { workspace = true, features = ["rt-multi-thread", "macros", "signal"] }
+serde.workspace = true
+ahash.workspace = true
 arrayvec = "0.7"
-rayon = "1"
-tracing = "0.1"
-validator = { version = "0.21", features = ["derive"] }
-nalgebra = "0.35.0"
+rayon.workspace = true
+tracing.workspace = true
+validator.workspace = true
+nalgebra.workspace = true
diff --git a/dimos/mapping/ray_tracing/rust/py/Cargo.toml b/dimos/mapping/ray_tracing/rust/py/Cargo.toml
index bf1d769e28..4069aa8743 100644
--- a/dimos/mapping/ray_tracing/rust/py/Cargo.toml
+++ b/dimos/mapping/ray_tracing/rust/py/Cargo.toml
@@ -11,6 +11,6 @@ crate-type = ["cdylib"]
 
 [dependencies]
 dimos-voxel-ray-tracing = { path = ".." }
-numpy = "0.25"
-pyo3 = { version = "0.25", features = ["extension-module", "abi3-py310"] }
-validator = { version = "0.21", features = ["derive"] }
+numpy.workspace = true
+pyo3.workspace = true
+validator.workspace = true
diff --git a/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml
index 2c5d39de04..80db1e7dfd 100644
--- a/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml
+++ b/dimos/navigation/nav_3d/mls_planner/rust/Cargo.toml
@@ -35,12 +35,12 @@ node_edges = "nav_msgs.LineSegments3D"
 path = "nav_msgs.Path"
 
 [dependencies]
-dimos-module = { path = "../../../../../native/rust/dimos-module" }
-lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
-tokio = { version = "1", features = ["rt-multi-thread", "macros", "signal"] }
-serde = { version = "1", features = ["derive"] }
-ahash = "0.8"
-tracing = "0.1"
-tracing-subscriber = { version = "0.3", features = ["env-filter"] }
-validator = { version = "0.21", features = ["derive"] }
-rayon = "1"
+dimos-module.workspace = true
+lcm-msgs.workspace = true
+tokio = { workspace = true, features = ["rt-multi-thread", "macros", "signal"] }
+serde.workspace = true
+ahash.workspace = true
+tracing.workspace = true
+tracing-subscriber = { workspace = true, features = ["env-filter"] }
+validator.workspace = true
+rayon.workspace = true
diff --git a/dimos/navigation/nav_3d/mls_planner/rust/py/Cargo.toml b/dimos/navigation/nav_3d/mls_planner/rust/py/Cargo.toml
index 2864c3cbb1..78180f048b 100644
--- a/dimos/navigation/nav_3d/mls_planner/rust/py/Cargo.toml
+++ b/dimos/navigation/nav_3d/mls_planner/rust/py/Cargo.toml
@@ -11,7 +11,7 @@ crate-type = ["cdylib"]
 
 [dependencies]
 dimos-mls-planner = { path = ".." }
-numpy = "0.25"
-pyo3 = { version = "0.25", features = ["extension-module", "abi3-py310"] }
-tracing-subscriber = { version = "0.3", features = ["env-filter"] }
-validator = { version = "0.21", features = ["derive"] }
+numpy.workspace = true
+pyo3.workspace = true
+tracing-subscriber = { workspace = true, features = ["env-filter"] }
+validator.workspace = true
diff --git a/examples/native-modules/rust/Cargo.toml b/examples/native-modules/rust/Cargo.toml
index d2c1d48d48..4a91908bf3 100644
--- a/examples/native-modules/rust/Cargo.toml
+++ b/examples/native-modules/rust/Cargo.toml
@@ -20,9 +20,9 @@ name = "tf_broadcaster"
 path = "src/tf_broadcaster.rs"
 
 [dependencies]
-dimos-module = { path = "../../../native/rust/dimos-module" }
-lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
-tokio = { version = "1", features = ["rt-multi-thread", "macros", "time"] }
-serde = { version = "1", features = ["derive"] }
-tracing = "0.1"
-validator = { version = "0.21", features = ["derive"] }
+dimos-module.workspace = true
+lcm-msgs.workspace = true
+tokio = { workspace = true, features = ["rt-multi-thread", "macros", "time"] }
+serde.workspace = true
+tracing.workspace = true
+validator.workspace = true
diff --git a/flake.nix b/flake.nix
index ec859546b4..009c8837f1 100644
--- a/flake.nix
+++ b/flake.nix
@@ -17,6 +17,17 @@
       let
         pkgs = import nixpkgs { inherit system; };
 
+        # librealsense's postInstall references Linux-only v4l-utils, which
+        # breaks darwin evaluation. Keep only the cmake fixup there.
+        librealsense =
+          if pkgs.stdenv.isLinux then pkgs.librealsense
+          else pkgs.librealsense.overrideAttrs (old: {
+            postInstall = ''
+              substituteInPlace $out/lib/cmake/realsense2/realsense2Targets.cmake \
+                --replace-fail "\''${_IMPORT_PREFIX}/include" "$dev/include"
+            '';
+          });
+
         # ------------------------------------------------------------
         # 1. Shared package list (tool-chain + project deps)
         # ------------------------------------------------------------
@@ -82,6 +93,8 @@
 
           ### Runtime deps
           { vals.pkg=pkgs.portaudio;                 flags={ldLibraryGroup=true; packageConfGroup=true;}; }
+          { vals.pkg=librealsense;                   flags.ldLibraryGroup=true; }
+          { vals.pkg=librealsense.dev;               flags.packageConfGroup=true; }
           { vals.pkg=pkgs.ffmpeg_6;                  flags={}; }
           { vals.pkg=pkgs.ffmpeg_6.dev;              flags={}; }
 
diff --git a/native/rust/dimos-module/Cargo.toml b/native/rust/dimos-module/Cargo.toml
index c09298e617..480c840575 100644
--- a/native/rust/dimos-module/Cargo.toml
+++ b/native/rust/dimos-module/Cargo.toml
@@ -6,20 +6,20 @@ description = "Rust native module SDK for dimos NativeModule framework"
 license = "Apache-2.0"
 
 [dependencies]
-dimos-lcm = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
+dimos-lcm.workspace = true
 dimos-module-macros = { version = "=0.1.0", path = "../dimos-module-macros" }
-lcm-msgs = { git = "https://github.com/dimensionalOS/dimos-lcm.git", branch = "rust-codegen" }
-nalgebra = "0.35.0"
-rayon = "1"
-tokio = { version = "1", features = ["rt-multi-thread", "macros", "sync", "time", "signal", "io-std", "io-util"] }
-serde = { version = "1", features = ["derive"] }
+lcm-msgs.workspace = true
+nalgebra.workspace = true
+rayon.workspace = true
+tokio = { workspace = true, features = ["rt-multi-thread", "macros", "sync", "time", "signal", "io-std", "io-util"] }
+serde.workspace = true
 # Without preserve_order a Value::Object is a BTreeMap, so parsing the stdin line
 # alphabetises every key before the config struct ever sees it.
 serde_json = { version = "1", features = ["preserve_order"] }
-tracing = "0.1"
-tracing-subscriber = { version = "0.3", features = ["json", "env-filter"] }
+tracing.workspace = true
+tracing-subscriber = { workspace = true, features = ["json", "env-filter"] }
 url = "2"
-validator = { version = "0.21", features = ["derive"] }
+validator.workspace = true
 # Default features pull in ring via QUIC/TLS, which breaks static musl cross-linking.
 zenoh = { version = "=1.10.0", default-features = false, features = ["transport_tcp", "transport_udp", "unstable", "shared-memory"] }