diff --git a/.claude/skills/robostack-debug-build/SKILL.md b/.claude/skills/robostack-debug-build/SKILL.md
index 6c031c6f4..5afca4e6a 100644
--- a/.claude/skills/robostack-debug-build/SKILL.md
+++ b/.claude/skills/robostack-debug-build/SKILL.md
@@ -63,11 +63,11 @@ bash -x conda_build.sh 2>&1 | less
   endif()
   ```
 - **Windows `min`/`max` macro clashes**: `target_compile_definitions(<target> PRIVATE NOMINMAX WIN32_LEAN_AND_MEAN)` under `if(WIN32)`.
-- **gtest / test failures**: add the missing dependency in `dependencies.yaml`, or
+- **gtest / test failures**: add the missing dependency in `pkg_additional_info.yaml`, or
   disable the tests when safe; no custom shims.
 - **Qt plugins (rviz, rtabmap)**: make sure CMake finds the intended Qt major version.
-- **Missing dependency**: `shared/patch/dependencies.yaml` (all distributions) or
-  `distros/<d>/patch/dependencies.yaml` (one), keyed by ROS package name:
+- **Missing dependency**: `shared/pkg_additional_info.yaml` (all distributions) or
+  `distros/<d>/pkg_additional_info.yaml` (one), keyed by ROS package name:
   ```yaml
   <ros_pkg>:
     add_host: [<conda-pkg>]
diff --git a/.claude/skills/robostack-patch/SKILL.md b/.claude/skills/robostack-patch/SKILL.md
index a303f8d37..15031d834 100644
--- a/.claude/skills/robostack-patch/SKILL.md
+++ b/.claude/skills/robostack-patch/SKILL.md
@@ -13,8 +13,9 @@ description: Create, refresh, place, port and validate source patches for RoboSt
   of adding variants.
 - vinca picks them up by name when generating recipes; nothing else needs wiring.
   `pixi run rs check` rejects other names.
-- `distros/<d>/patch/dependencies.yaml` is for dependency fixes, not source patches
-  (`shared/patch/dependencies.yaml` for all distributions).
+- Dependency fixes are not source patches: they are `add_*`/`remove_*` keys in
+  `distros/<d>/pkg_additional_info.yaml` (`shared/pkg_additional_info.yaml` for all
+  distributions).
 
 ## Create a patch from work-directory edits
 
diff --git a/.github/ISSUE_TEMPLATE/3_robostack_bot.yaml b/.github/ISSUE_TEMPLATE/3_robostack_bot.yaml
index c4e10102d..146534089 100644
--- a/.github/ISSUE_TEMPLATE/3_robostack_bot.yaml
+++ b/.github/ISSUE_TEMPLATE/3_robostack_bot.yaml
@@ -20,6 +20,7 @@ body:
         | `dependency-report` | maintainers | Check the dependencies against the pins and update the distribution's dependency-report issue (closed when nothing conflicts). Runs weekly. |
         | `update-build-timings` | maintainers | Record the build times of the last week's build-branch runs in `shared/build_timings/`, which the build workflows use to pack each stage's recipes into jobs by time. Runs weekly. |
         | `update-pixi` | maintainers | Upgrade the tooling's dependencies in `pixi.toml` / `pixi.lock` to their newest versions (`pixi upgrade`; not Python or the capped ones) and check. The PR lists the changes. Runs monthly. |
+        | `sync-pixi-mappings` | maintainers | Copy the rosdep mappings (`robostack.yaml`) to pixi-build-ros and open or update a PR on prefix-dev/pixi. Runs daily. |
 
         On a pull request, `@robostack-bot rebuild-dependents` (maintainers) commits the rebuilds its ABI check suggests to the pull request's branch.
   - type: dropdown
@@ -27,7 +28,7 @@ body:
     attributes:
       label: Command
       options: [add-package, update-rosdistro-snapshot, find-stale-packages, update-conda-forge-pinning, rebuild, update-vinca,
-                dependency-report, update-build-timings, update-pixi]
+                dependency-report, update-build-timings, update-pixi, sync-pixi-mappings]
     validations:
       required: true
   - type: input
diff --git a/.github/actions/build-recipes/action.yaml b/.github/actions/build-recipes/action.yaml
new file mode 100644
index 000000000..ff6dd5cc4
--- /dev/null
+++ b/.github/actions/build-recipes/action.yaml
@@ -0,0 +1,76 @@
+# Build and upload some of a distribution's recipes: the steps of every job of the
+# build workflows (.github/build-template.yaml). One action keeps each generated job
+# a few lines long, so many more jobs fit GitHub's 500 KiB workflow file limit.
+name: Build recipes
+description: Build the given recipes of distros/<distro>/work/recipes and upload them
+inputs:
+  recipes:
+    description: Space-separated recipe names
+    required: true
+  platform:
+    description: Target platform (conda subdir)
+    required: true
+  token:
+    description: anaconda.org API token of the distribution's organization
+    required: false
+  keep-file:
+    description: File kept as an artifact (the build times the job recorded)
+    required: false
+runs:
+  using: composite
+  steps:
+    # git auto-maintenance can leave a lock file in the git clones pixi caches,
+    # which breaks every later run restoring that cache
+    - name: Disable git auto-maintenance
+      shell: bash
+      run: git config --global maintenance.auto false && git config --global gc.auto 0
+    - name: Setup pixi
+      uses: prefix-dev/setup-pixi@v0.11.0
+      with:
+        pixi-version: v0.81.0
+        cache: "true"
+        log-level: v
+        frozen: "true"
+    - if: runner.os == 'Windows'
+      uses: egor-tensin/cleanup-path@v5
+      with:
+        dirs: C:\Program Files\Git\usr\bin;C:\Program Files\Git\bin;C:\Program Files\Git\cmd;C:\Program Files\Git\mingw64\bin
+    - if: runner.os == 'Windows'
+      name: conda-forge build setup
+      shell: cmd
+      run: |
+        :: hosted runners may have libcrypto/libssl DLLs in System32, found before
+        :: the environment's openssl
+        DEL C:\Windows\System32\libcrypto-1_1-x64.dll || (Echo Ignoring failure to delete libcrypto)
+        DEL C:\Windows\System32\libssl-1_1-x64.dll || (Echo Ignoring failure to delete libssl)
+    - if: runner.os == 'Windows'
+      name: Build
+      shell: cmd
+      env:
+        ANACONDA_API_TOKEN: ${{ inputs.token }}
+        CURRENT_RECIPES: ${{ inputs.recipes }}
+        CONDA_BLD_PATH: C:\\bld\\
+        VINCA_CUSTOM_CMAKE_BUILD_DIR: C:\\x\\
+        PYTHONUNBUFFERED: "1"
+      run: call .scripts\build_win.bat
+    - if: runner.os != 'Windows'
+      name: Build
+      shell: bash
+      env:
+        ANACONDA_API_TOKEN: ${{ inputs.token }}
+        CURRENT_RECIPES: ${{ inputs.recipes }}
+        BUILD_TARGET: ${{ inputs.platform }}
+        PYTHONUNBUFFERED: "1"
+        CI: github
+      run: |
+        export GIT_BRANCH=${GITHUB_REF_NAME}
+        export FEEDSTOCK_NAME=${GITHUB_REPOSITORY##*/}
+        .scripts/build_unix.sh --target "$BUILD_TARGET"
+    - name: Keep build times
+      if: always() && inputs.keep-file != ''
+      uses: actions/upload-artifact@v6
+      with:
+        name: ${{ github.job }}-${{ github.run_attempt }}
+        path: ${{ inputs.keep-file }}
+        if-no-files-found: ignore
+        retention-days: 30
diff --git a/.github/build-template.yaml b/.github/build-template.yaml
new file mode 100644
index 000000000..a9431aade
--- /dev/null
+++ b/.github/build-template.yaml
@@ -0,0 +1,48 @@
+# Template of the build workflows (`pixi run rs <distro> gha`, vinca-rs workflow).
+# Not a workflow itself: vinca-rs copies jobs.build once per job, sets each copy's
+# name and needs (exactly the jobs building its recipes' dependencies) and replaces
+# @recipes@ with its recipes; @distro@, @platform@, @branch@, @secret@ and
+# @keep_file@ come from tools/robostack.py. Selectors (if/then/else) are resolved
+# for the platform. The steps are .github/actions/build-recipes.
+name: Build branch
+run-name: "@distro@ @platform@"
+on:
+  push:
+    branches: ["@branch@"]
+# one run per distribution and platform at a time: a newer run (the latest main's
+# recipes and workflow) cancels the older one, and skips what that one uploaded
+# already. Re-run failed jobs only in the newest run.
+concurrency:
+  group: build-@distro@-@platform@
+  cancel-in-progress: true
+env:
+  ROBOSTACK_DISTRO: "@distro@"
+  # optional repository variable: upload to this prefix.dev channel instead
+  # (e.g. a test channel), or 'none' to only build
+  ROBOSTACK_UPLOAD_CHANNEL: ${{ vars.ROBOSTACK_UPLOAD_CHANNEL }}
+jobs:
+  build:
+    runs-on:
+      if: linux and x86_64
+      then: ubuntu-latest
+      else:
+        if: linux
+        then: ubuntu-24.04-arm
+        else:
+          if: osx and x86_64
+          then: macos-15-intel
+          else:
+            if: osx
+            then: macos-15
+            else: windows-2022
+    # jobs that declare permissions get none they don't list; prefix.dev uploads use
+    # trusted publishing (id-token), attestations are published too
+    permissions: {contents: read, id-token: write, attestations: write}
+    steps:
+      - uses: actions/checkout@v6
+      - uses: ./.github/actions/build-recipes
+        with:
+          recipes: "@recipes@"
+          platform: "@platform@"
+          token: ${{ secrets.@secret@ }}
+          keep-file: "@keep_file@"
diff --git a/.github/workflows/bot.yaml b/.github/workflows/bot.yaml
index 56a492369..896664aba 100644
--- a/.github/workflows/bot.yaml
+++ b/.github/workflows/bot.yaml
@@ -11,13 +11,18 @@
 #   nothing conflicts; and a PR with the build times the week's build-branch runs
 #   recorded (shared/build_timings/, for packing the build jobs by time).
 # - monthly (the 1st): a PR upgrading the tooling's pixi dependencies (pixi.toml / pixi.lock).
+# - daily, when vars.PIXI_FORK is set: a PR on prefix-dev/pixi copying the rosdep mappings
+#   (shared/ and distros/*/robostack.yaml) to pixi-build-ros, so that `pixi build` of ROS
+#   packages maps rosdep keys as RoboStack does. It is pushed to the fork vars.PIXI_FORK
+#   (<owner>/pixi) with secrets.PIXI_SYNC_TOKEN, a token of that fork's owner: the bot's
+#   GitHub App can't open PRs on prefix-dev/pixi.
 # - on demand (owners, members and collaborators):
 #     Actions > robostack-bot > Run workflow, an issue from the "robostack-bot command"
 #     template, or a comment: @robostack-bot <command> [<distro>]
 #   commands: update-rosdistro-snapshot [<distro>...|all] | find-stale-packages [<distro>...|all] |
 #             update-conda-forge-pinning [<distro>...|all] | add-package <pkg>... [<distro>...] |
 #             rebuild <pkg>... [<distro>...|all] [--with-dependents] | update-vinca [<ref>] |
-#             dependency-report [<distro>...|all] | update-build-timings | update-pixi |
+#             dependency-report [<distro>...|all] | update-build-timings | update-pixi | sync-pixi-mappings |
 #             rebuild-dependents (a comment on a pull request: commits the rebuilds its ABI
 #             check suggests to its branch; not possible for pull requests from forks)
 # - package requests (the "Package request" issue form or `@robostack-bot add-package`,
@@ -38,7 +43,7 @@ on:
       command:
         type: choice
         options: [add-package, update-rosdistro-snapshot, find-stale-packages, update-conda-forge-pinning, rebuild,
-                  update-vinca, dependency-report, update-build-timings, update-pixi]
+                  update-vinca, dependency-report, update-build-timings, update-pixi, sync-pixi-mappings]
       distro:
         description: Distribution (for the per-distribution commands; empty = all)
         required: false
@@ -89,6 +94,7 @@ jobs:
           ASSOCIATION: ${{ github.event.comment.author_association || github.event.issue.author_association }}
           PULL_REQUEST: ${{ github.event.issue.pull_request && github.event.issue.number || '' }}
           SCHEDULE: ${{ github.event.schedule }}
+          PIXI_FORK: ${{ vars.PIXI_FORK }}
         run: |
           case "$EVENT" in
             schedule)
@@ -104,8 +110,9 @@ jobs:
                 exit 0
               fi
               # rosdistro syncs, and the conda-forge pinning: one job for all distributions
-              # (they share it; one with its own pinning is updated in the same pull request)
-              jobs=$(pixi run -q rs rosdistro-syncs | python3 -c 'import json,sys; print(json.dumps(json.load(sys.stdin) + [{"command":"update-conda-forge-pinning","distro":"","args":"","preview":False}]))') ;;
+              # (they share it; one with its own pinning is updated in the same pull request);
+              # the rosdep mappings for pixi-build-ros, once a pixi fork is set up
+              jobs=$(pixi run -q rs rosdistro-syncs | python3 -c 'import json,os,sys; print(json.dumps(json.load(sys.stdin) + [{"command":"update-conda-forge-pinning","distro":"","args":"","preview":False}] + ([{"command":"sync-pixi-mappings","distro":"","args":"","preview":False}] if os.environ.get("PIXI_FORK") else [])))') ;;
             workflow_dispatch)  # only people with write access can dispatch
               jobs=$(ROBOSTACK_BOT_BODY="@robostack-bot $COMMAND $PACKAGES $DISTRO" ROBOSTACK_BOT_ASSOCIATION=OWNER pixi run -q rs parse-command) ;;
             *)
@@ -146,6 +153,13 @@ jobs:
           locked: true  # the lock file must match pixi.toml
           pixi-version: v0.81.0
           cache-write: false  # saved from main only (pixi-cache.yaml)
+      - name: Check out prefix-dev/pixi
+        if: matrix.command == 'sync-pixi-mappings'
+        uses: actions/checkout@v6
+        with:
+          repository: prefix-dev/pixi
+          path: _pixi
+          persist-credentials: false
       - name: robostack-bot ${{ matrix.command }} ${{ matrix.distro }}
         id: bot
         env:
@@ -178,6 +192,8 @@ jobs:
               # shellcheck disable=SC2046  # the --exclude arguments, one word each
               pixi upgrade --json $(pixi run -q rs update-pixi --excludes) > "$RUNNER_TEMP/pixi-upgrade.json" &&
                 pixi run rs update-pixi --changes "$RUNNER_TEMP/pixi-upgrade.json" --summary "$RUNNER_TEMP/summary.md" ;;
+            # writes pixi-build-ros's copies of the mappings into the pixi checkout
+            sync-pixi-mappings) pixi run rs sync-pixi-mappings _pixi --summary "$RUNNER_TEMP/summary.md" ;;
             # creates / updates the distribution's dependency-report issue
             dependency-report) pixi run rs "$DISTRO" dependency-report --summary "$RUNNER_TEMP/summary.md" ;;
           esac
@@ -192,7 +208,9 @@ jobs:
           printf '\nCloses #%s\n' "$NUMBER" >> "$RUNNER_TEMP/summary.md"
       - name: Open or update the pull request
         id: pr
-        if: steps.bot.outputs.changed == 'true' && !matrix.preview && matrix.command != 'rebuild-dependents'
+        if: >-
+          steps.bot.outputs.changed == 'true' && !matrix.preview &&
+          matrix.command != 'rebuild-dependents' && matrix.command != 'sync-pixi-mappings'
         uses: peter-evans/create-pull-request@v8
         with:
           token: ${{ steps.app.outputs.token || secrets.GHA_PAT || github.token }}
@@ -206,14 +224,27 @@ jobs:
           labels: |
             robostack-bot
             ${{ steps.bot.outputs.labels }}
+      - name: Open or update the pull request on prefix-dev/pixi
+        id: pixi_pr
+        if: steps.bot.outputs.changed == 'true' && matrix.command == 'sync-pixi-mappings'
+        uses: peter-evans/create-pull-request@v8
+        with:
+          path: _pixi
+          token: ${{ secrets.PIXI_SYNC_TOKEN }}
+          push-to-fork: ${{ vars.PIXI_FORK }}
+          branch: robostack-bot/sync-mappings
+          delete-branch: true
+          commit-message: "chore(pixi-build-ros): update RoboStack's rosdep mappings"
+          title: "chore(pixi-build-ros): update RoboStack's rosdep mappings"
+          body-path: ${{ runner.temp }}/summary.md
       - name: Reply on the issue / pull request
         if: always() && (github.event_name == 'issue_comment' || github.event_name == 'issues')
         env:
           GH_TOKEN: ${{ github.token }}
           NUMBER: ${{ github.event.issue.number }}
           TITLE: ${{ steps.bot.outputs.title || 'failed' }}
-          PR_URL: ${{ steps.pr.outputs.pull-request-url }}
-          PR_OPERATION: ${{ steps.pr.outputs.pull-request-operation }}
+          PR_URL: ${{ steps.pr.outputs.pull-request-url || steps.pixi_pr.outputs.pull-request-url }}
+          PR_OPERATION: ${{ steps.pr.outputs.pull-request-operation || steps.pixi_pr.outputs.pull-request-operation }}
         run: |
           {
             echo "**robostack-bot ${{ matrix.command }} ${{ matrix.distro }}**: $TITLE"
diff --git a/.github/workflows/testpr.yaml b/.github/workflows/testpr.yaml
index c93483fdf..b8e4b586e 100644
--- a/.github/workflows/testpr.yaml
+++ b/.github/workflows/testpr.yaml
@@ -1,6 +1,6 @@
 # Pull-request build: only the distributions a PR touches are built
 # (a change outside distros/ affects all of them), on all five platforms.
-name: Build
+name: Pull request
 
 on:
   pull_request:
@@ -10,8 +10,9 @@ on:
         description: Space-separated distributions to build (default all)
         required: false
 
+# a fixed key, not github.workflow: renaming the workflow mustn't let two runs overlap
 concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  group: pr-build-${{ github.event.pull_request.number || github.ref }}
   cancel-in-progress: true
 
 permissions:
@@ -24,6 +25,7 @@ env:
 
 jobs:
   plan:
+    name: "plan: distros and platforms to build"
     runs-on: ubuntu-latest
     permissions:
       contents: read
@@ -67,6 +69,7 @@ jobs:
           echo "targets=$(pixi run python tools/robostack.py build-targets --labels "$labels")" | tee -a "$GITHUB_OUTPUT"
 
   check:
+    name: "checks: tooling tests, generated files"
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v6
@@ -97,11 +100,11 @@ jobs:
       fail-fast: false
       matrix:
         distro: ${{ fromJSON(needs.plan.outputs.distros) }}
-    name: ${{ matrix.distro }} patches
+    name: "${{ matrix.distro }}: patches apply"
     runs-on: ubuntu-latest
     env:
       DISTRO: ${{ matrix.distro }}
-      # generate-recipes -n leaves out what is on the channel, like the builds do
+      # generate-recipes leaves out what is on the channel (same build string), like the builds do
       ROBOSTACK_UPLOAD_CHANNEL: ${{ vars.ROBOSTACK_UPLOAD_CHANNEL }}
     steps:
       - uses: actions/checkout@v6
@@ -123,7 +126,7 @@ jobs:
           all=$(mktemp -d)
           for platform in linux-64 linux-aarch64 osx-64 osx-arm64 win-64; do
             for attempt in 1 2 3; do
-              if pixi run rs "$DISTRO" generate-recipes --platform "$platform" -n; then break; fi
+              if pixi run rs "$DISTRO" generate-recipes --platform "$platform"; then break; fi
               if [[ "$attempt" == 3 ]]; then echo "Recipe generation failed for $platform" >&2; exit 1; fi
               sleep 15
             done
@@ -147,7 +150,7 @@ jobs:
       matrix:
         distro: ${{ fromJSON(needs.plan.outputs.distros) }}
         target: ${{ fromJSON(needs.plan.outputs.targets) }}  # tools/robostack.py BUILD_TARGETS
-    name: ${{ matrix.distro }} ${{ matrix.target.platform }}
+    name: "${{ matrix.distro }} ${{ matrix.target.platform }}: build"
     runs-on: ${{ matrix.target.os }}
     env:
       DISTRO: ${{ matrix.distro }}
@@ -217,7 +220,7 @@ jobs:
       run: |
         set -e
         for attempt in 1 2 3; do
-          if pixi run -v rs "$DISTRO" generate-recipes --platform "$PLATFORM" -n; then break; fi
+          if pixi run -v rs "$DISTRO" generate-recipes --platform "$PLATFORM"; then break; fi
           if [[ "${attempt}" == "3" ]]; then echo "Recipe generation failed after 3 attempts" >&2; exit 1; fi
           echo "Recipe generation attempt ${attempt} failed; retrying..." >&2
           sleep 15
diff --git a/.scripts/build_unix.sh b/.scripts/build_unix.sh
index 12c548dac..4e0d24ff1 100755
--- a/.scripts/build_unix.sh
+++ b/.scripts/build_unix.sh
@@ -40,7 +40,9 @@ pixi run -v rs "${ROBOSTACK_DISTRO}" build-ci "${recipe_args[@]}" --output-dir $
 
 # Check if it build something, this is a hotfix for the skips inside additional_recipes
 shopt -s nullglob
-conda_packages=( "${CONDA_BLD_PATH}/${target}"*/*.conda )
+# noarch packages (the ros-<distro>-* compatibility packages) are built and uploaded
+# by every platform's jobs: the first upload wins, the others are skipped
+conda_packages=( "${CONDA_BLD_PATH}/${target}"*/*.conda "${CONDA_BLD_PATH}/noarch/"*.conda )
 if (( ${#conda_packages[@]} > 0 )); then
     # Upload packages one-by-one; the upload task (tools/robostack.py) uploads them to
     # prefix.dev and anaconda.org and skips packages that are already there.
@@ -48,6 +50,6 @@ if (( ${#conda_packages[@]} > 0 )); then
         pixi run rs "${ROBOSTACK_DISTRO}" upload "${conda_package}"
     done
 else
-    echo "Warning: No .conda files found in ${CONDA_BLD_PATH}/${target}"
+    echo "Warning: No .conda files found in ${CONDA_BLD_PATH}/${target} or ${CONDA_BLD_PATH}/noarch"
     echo "This might be due to all the packages being skipped"
 fi
diff --git a/.scripts/build_win.bat b/.scripts/build_win.bat
index 97b29739d..eb9c5728a 100644
--- a/.scripts/build_win.bat
+++ b/.scripts/build_win.bat
@@ -37,17 +37,22 @@ for %%X in (%CURRENT_RECIPES%) do set "RECIPE_ARGS=!RECIPE_ARGS! --recipe %FEEDS
 pixi run -v rs %ROBOSTACK_DISTRO% build-ci !RECIPE_ARGS! --output-dir %CONDA_BLD_PATH%
 if errorlevel 1 exit 1
 
-:: Check if .conda files exist in the win-64 directory
-if exist "%CONDA_BLD_PATH%\win-64\*.conda" (
-    echo Found .conda files, starting upload...
-    rem Upload packages one-by-one; the upload task (tools/robostack.py) uploads them to
-    rem prefix.dev and anaconda.org and skips packages that are already there.
-    for %%F in ("%CONDA_BLD_PATH%\win-64\*.conda") do (
-        echo Uploading %%~fF
-        pixi run rs %ROBOSTACK_DISTRO% upload "%%~fF"
-        if errorlevel 1 exit 1
+:: Upload the win-64 and noarch packages one-by-one; the upload task (tools/robostack.py)
+:: uploads them to prefix.dev and anaconda.org and skips packages that are already there
+:: (noarch ones, the ros-<distro>-* compatibility packages, are built and uploaded by
+:: every platform's jobs: the first upload wins).
+set "UPLOADED="
+for %%D in (win-64 noarch) do (
+    if exist "%CONDA_BLD_PATH%\%%D\*.conda" (
+        for %%F in ("%CONDA_BLD_PATH%\%%D\*.conda") do (
+            echo Uploading %%~fF
+            pixi run rs %ROBOSTACK_DISTRO% upload "%%~fF"
+            if errorlevel 1 exit 1
+            set "UPLOADED=1"
+        )
     )
-) else (
-    echo Warning: No .conda files found in %CONDA_BLD_PATH%\win-64
+)
+if not defined UPLOADED (
+    echo Warning: No .conda files found in %CONDA_BLD_PATH%\win-64 or %CONDA_BLD_PATH%\noarch
     echo This might be due to all the packages being skipped
 )
diff --git a/AGENTS.md b/AGENTS.md
index 8e51076a9..bee0c4840 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -14,7 +14,7 @@ to read without Claude):
 ## Layout and rules
 
 - Every distribution lives in `distros/<distro>/` (only distro-specific data); shared
-  data is in `shared/` (vinca.yaml, pkg_additional_info.yaml, dependencies.yaml,
+  data is in `shared/` (vinca.yaml, pkg_additional_info.yaml with the dependency fixes,
   robostack.yaml, pinning, tests), tools in `tools/`. See README.md for the layout and
   how they combine. Never edit `distros/<d>/work/`: every task regenerates it.
 - A fix that applies to every distribution goes into `shared/`; a version-specific one
@@ -39,8 +39,8 @@ to read without Claude):
   `vinca.yaml` (see `robostack-package-selection`), not an ad-hoc comment.
 - One patch per package and platform:
   `distros/<d>/patch/ros2-<pkg>[.osx|.linux|.win|.unix].patch`. Packages are only built
-  under the new `ros2-<pkg>` names (`package_name_mode: new`); write dependencies in
-  `dependencies.yaml` as `ros2-<pkg>` too.
+  under the new `ros2-<pkg>` names (`package_name_mode: new`); write dependency fixes in
+  `pkg_additional_info.yaml` as `ros2-<pkg>` too.
 
 ## Everyday commands
 
diff --git a/README.md b/README.md
index c3825a728..669ed408c 100644
--- a/README.md
+++ b/README.md
@@ -16,7 +16,8 @@ distribution comes from the channel. The older names keep working: for every pac
 there is also a small `ros-<distro>-<package>` package that just depends on
 `ros2-<package>` of the same version (vinca's `package_name_mode: both` in
 `shared/vinca.yaml`), so existing environments and instructions such as
-`pixi add ros-jazzy-desktop` don't break.
+`pixi add ros-jazzy-desktop` don't break. These are `noarch` packages, built once for
+every platform.
 
 **A package is missing?** Open a *Package request* issue. robostack-bot opens a pull
 request that adds it to the build, and a maintainer reviews it.
@@ -43,19 +44,21 @@ If you use RoboStack in your academic work, please cite:
 distros/<distro>/          only what is specific to one distribution
   distro.yaml              channel, where it's uploaded and read from, conda-forge pinning version/migrations, own pins, rosdistro sync
   vinca.yaml               extends shared/vinca.yaml: ros_distro, build number, mutex version, its exceptions
-  pkg_additional_info.yaml its own per-package settings (build numbers, version-specific cmake args)
-  patch/                   its patches; patch/dependencies.yaml its own dependency fixes
+  pkg_additional_info.yaml its own per-package settings (build numbers, version-specific cmake args, dependency fixes)
+  patch/                   its patches
   rosdistro_snapshot.yaml, rosdistro_additional_recipes.yaml
   ci.yaml                  temporary PR-build controls (full rebuild, cache evictions)
   conda_build_config.yaml  generated: `pixi run rs <distro> render-pinning`
   work/                    generated, git-ignored: where vinca and rattler-build run
 shared/                    the same for every distribution
   vinca.yaml               settings and the package selection of every distribution
-  pkg_additional_info.yaml per-package settings that are the same everywhere
-  patch/dependencies.yaml  dependency fixes that are the same everywhere
+  pkg_additional_info.yaml per-package settings and dependency fixes (add_host, remove_run, ...) that are the same everywhere
   robostack.yaml           rosdep key -> conda package mapping (`robostack: []` drops a key)
+                           (also copied to pixi-build-ros: robostack-bot sync-pixi-mappings)
   pinning/                 conda-forge pinning version, migrations and overrides
   tests/                   package tests (ros2-<pkg>.yaml; `if: ros_distro ...` for distro-specific bits)
+  patch/                   patches that apply to every distribution
+  files/<pkg>/             copied into that package's recipe (ros_workspace's activation scripts)
 tools/robostack.py         `pixi run rs ...`: every task, for one distribution or the repository
 tools/maintenance.py       checks and robostack-bot commands
 tools/import_distro.py     (re)import a distribution from its own repository
@@ -77,7 +80,7 @@ combines the two, and the files next to each:
   - `mutex_package`: name and `upper_bound` are shared; each distribution sets its own `version`. The mutex only keeps one distribution per environment and has no `run_constraints` (`rs check` enforces it): library versions come from the packages' own dependencies, and wrong ones are fixed in the package's metadata.
   - Other keys come from the distribution if it sets them, else from `shared/`. A distribution that differs from a shared setting just sets it.
   - Paths are relative to the file that sets them. `distros/<distro>/work/vinca.yaml` (generated) extends the distribution's file and adds `skip_existing` (its channel).
-- **`pkg_additional_info.yaml` and `patch/dependencies.yaml`:** merged per package. The distribution's keys win, for example its own `build_number` on top of a shared `additional_cmake_args`.
+- **`pkg_additional_info.yaml`:** merged per package. The distribution's keys win, for example its own `build_number` on top of a shared `additional_cmake_args`.
 - **`patch/*.patch` and `tests/`:** per package, the distribution's file replaces the shared one. In tests, `- if: ros_distro in ["humble", "jazzy"]` blocks select distribution-specific parts.
 - **`vinca_pinning.yaml`:** the shared pinning, adjusted by `distro.yaml`:
   - `conda_forge_pinning_version` and `conda_forge_migrations` keep a distribution on its own conda-forge pinning, for example until its next full rebuild;
@@ -151,6 +154,7 @@ waiting for the macOS runners; remove them for a full build before merging.
 | `dependency-report [<distro>... \| all]` | maintainers | Runs the dependency check (`check-deps`, linux-64) and keeps one issue per distribution, *`<distro>`: dependency report* (label `dependency-report`), up to date with the conflicts, notes and conda-forge migration status; the issue is closed when nothing conflicts. Runs weekly (Mondays). |
 | `update-build-timings` | maintainers | Merges the build times the last week's build-branch runs recorded (`rs <distro> build-ci`, kept as each job's artifact) into `shared/build_timings/<platform>.json` and opens a PR. The build workflows pack each stage's recipes into jobs by these times. Runs weekly (Mondays). Labelled `build:none` (see below). |
 | `update-pixi` | maintainers | Runs `pixi upgrade`: the newest versions of the tooling's dependencies in `pixi.toml` and `pixi.lock` (rattler-build, rattler-index, gh, pytest, ...), except Python (moved by hand) and requirements that are only an upper bound (`cmake = "<4.0"`: capped on purpose); the vinca pin is `update-vinca`'s. Runs `rs check`; the PR lists the changes as a table (pixi-diff-to-markdown). Runs monthly (on the 1st). Labelled `build:none` (see below). |
+| `sync-pixi-mappings` | maintainers | Copies the rosdep mappings (`shared/robostack.yaml`, and each `distros/<distro>/robostack.yaml` over it) to pixi-build-ros (`crates/pixi_build_ros/robostack.yaml` and `robostack_distros.yaml` in prefix-dev/pixi) and opens or updates a PR there, listing the added, removed and changed keys: `pixi build` of ROS packages then maps rosdep keys as RoboStack does. Mappings are only changed here. Runs daily once `vars.PIXI_FORK` (the fork the PR is pushed to) and `secrets.PIXI_SYNC_TOKEN` (a token of that fork's owner) are set. |
 
 The PRs of `update-vinca`, `update-build-timings` and `update-pixi` don't change packages directly, but touch files outside `distros/`, which would build every distribution: they are labelled `build:none`, so only the checks run (and nothing is built while a build is under way). To build one, remove the label, or replace it with `build:<distro>` labels.
 
diff --git a/distros/humble/patch/dependencies.yaml b/distros/humble/patch/dependencies.yaml
deleted file mode 100644
index 0a5553164..000000000
--- a/distros/humble/patch/dependencies.yaml
+++ /dev/null
@@ -1,198 +0,0 @@
-as2_behaviors_trajectory_generation:
-  # conda-forge's NLopt (and glog, gflags) for the dynamic_trajectory_generator it fetches, so that
-  # doesn't build NLopt itself (fails with CMake 4); see patch/ros2-as2-behaviors-trajectory-generation.patch
-  add_host: ["nlopt", "glog", "gflags"]
-  add_run: ["nlopt", "glog", "gflags"]
-autoware_trajectory:
-  remove_host: ["ros2-tl-expected"]
-  remove_run: ["ros2-tl-expected"]
-  add_host: ["cpp-expected"]
-  add_run: ["cpp-expected"]
-aws_sdk_cpp_vendor:
-  add_host: ["aws-sdk-cpp"]
-  add_run: ["aws-sdk-cpp"]
-backward_ros:
-  # binutils linux-only: -liberty not found on macOS.
-  add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros2-ament-cmake-libraries"]
-behaviortree_cpp_v3:
-  add_host: ["libboost-devel", "cppzmq"]
-  add_run: ["libboost"]
-cartographer:
-  # Dummy package; drop unpinned lua/gflags, they conflict with the real cartographer's pins.
-  remove_host: ["lua", "gflags"]
-  remove_run: ["lua", "gflags"]
-cartographer_ros:
-  add_host: ["cartographer 2.*", "libboost-devel"]
-console_bridge_vendor:
-  add_host: ["console_bridge"]
-  add_run: ["console_bridge"]
-depthai:
-  add_host: ["${{ 'elfutils' if linux }}"]
-foxglove_bridge:
-  add_host: ["ros2-ament-cmake"]
-generate_parameter_library:
-  remove_host: ["ros2-tl-expected"]
-  remove_run: ["ros2-tl-expected"]
-  add_host: ["cpp-expected"]
-  add_run: ["cpp-expected"]
-geometric_shapes:
-  add_host: ["libboost-devel", "octomap"]
-image_view:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-  # Depends on opencv with gui support, see  https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
-  add_run: ["libopencv * *qt6*"]
-intra_process_demo:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/intra_process_demo/include/image_pipeline/image_view_node.hpp#L58
-  add_run: ["libopencv * *qt6*"]
-kdl_parser:
-  # package.xml doesn't declare eigen3_cmake_module, but orocos_kdl_vendor's cmake needs it.
-  add_host: ["ros2-eigen3-cmake-module"]
-lbr_description:
-  remove_run: ["ros2-gz-ros2-control"]
-  add_run: ["${{ 'ros2-gz-ros2-control' if linux }}"]
-lbr_ros2_control:
-  add_host: ["ros2-kinematics-interface"]
-  add_run: ["ros2-kinematics-interface"]
-libg2o:
-  add_host: ["${{ 'libglu' if linux }}", "${{ 'freeglut' if not osx }}"]
-libstatistics_collector:
-  add_host: ["ros2-yaml-cpp-vendor"]
-mimick_vendor:
-  add_build: ["vcstool"]
-moveit_visual_tools:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-mrpt_gui:
-  # Overrides shared/: this distribution maps Qt to qt-main 5.15, whose builds need
-  # gstreamer <1.27, while the pinned wxwidgets (3.3.3) needs gstreamer 1.28. A version
-  # spec bypasses that pin, so the solver picks a wxwidgets that coexists with qt-main.
-  add_host: ["wxwidgets >=3.2", "${{ 'glad' if win }}"]  # glad: as in shared/
-nav2_constrained_smoother:
-  add_host: ["${{ 'openblas' if win }}"]
-nav2_util:
-  add_host: ["libboost-devel"]
-opennav_coverage:
-  # package.xml misses deps that CMakeLists.txt finds
-  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
-  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
-openvdb_vendor:
-  add_host: ["openvdb"]
-parameter_traits:
-  remove_host: ["ros2-tl-expected"]
-  remove_run: ["ros2-tl-expected"]
-  add_host: ["cpp-expected"]
-  add_run: ["cpp-expected"]
-pcl_conversions:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
-plotjuggler:
-  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "git-lfs"]
-polygon_rviz_plugins:
-  add_host: ["libgl-devel"]
-  add_run: ["libgl-devel"]
-py_trees:
-  add_host: ["hatchling"]  # 2.6 builds with hatchling (as in jazzy/lyrical)
-py_trees_js:
-  add_host: ["hatchling"]
-py_trees_ros_tutorials:
-  # the mock GUI is ported to PyQt6 (patch/ros2-py-trees-ros-tutorials.patch): PyQt5 and
-  # PyQt6 (the rqt stack) can't be installed together
-  remove_run: ["pyqt", "pyqt-builder"]
-  add_run: ["pyqt6"]
-pybind11_json_vendor:
-  add_host: ["pybind11_json"]
-  add_run: ["pybind11_json"]
-python_qt_binding:
-  # pyside2 has no python 3.14 build; port to PyQt6 instead.
-  remove_host: ["qt-main", "pyqt"]
-  remove_run: ["qt-main", "pyqt"]
-  # sip <6.16: 6.16.x regressed ABI targeting for PyQt-based bindings.
-  add_host: ["pyqt-builder", "pep517", "qt6-main", "pyqt6", "sip <6.16"]
-  add_run: ["pyqt-builder", "pep517", "qt6-main", "pyqt6"]
-qt_gui:
-  # Same PyQt6 port as python_qt_binding/qt_gui_cpp below.
-  remove_host: ["qt-main", "pyqt"]
-  remove_run: ["qt-main", "pyqt"]
-  add_host: ["qt6-main", "pyqt6"]
-  add_run: ["qt6-main", "pyqt6"]
-qt_gui_cpp:
-  # Ported to PyQt6, see patch/ros2-qt-gui-cpp.patch.
-  remove_host: ["qt-main", "pyqt"]
-  remove_run: ["qt-main", "pyqt"]
-  add_build: ["${{ 'pyqt6' if (build_platform != target_platform) }}", "${{ 'qt6-main' if (build_platform != target_platform) }}"]
-  # sip pinned directly for the same reason as python_qt_binding above.
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "pep517", "qt6-main", "pyqt6", "sip <6.16"]
-  add_run: ["pyqt-builder", "pep517", "qt6-main", "pyqt6"]
-rcl:
-  add_host: ["ros2-yaml-cpp-vendor"]
-rcl_action:
-  add_host: ["ros2-yaml-cpp-vendor"]
-rclc:
-  add_host: ["ros2-yaml-cpp-vendor"]
-rclcpp:
-  add_host: ["ros2-yaml-cpp-vendor"]
-rclcpp_action:
-  add_host: ["ros2-yaml-cpp-vendor"]
-rclpy:
-  add_host: ["typing_extensions"]
-  add_run: ["typing_extensions"]
-rmw_implementation:
-  add_host:
-  - "ros2-yaml-cpp-vendor"
-  - "fmt"
-ros_gz_sim:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-ros_ign_gazebo:
-  add_host: ["ros2-std-msgs", "ros2-rclcpp", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-ros_ign_interfaces:
-  add_host: ["ros2-rcl-interfaces"]
-ros_image_to_qimage:
-  # Same PyQt6 port as qt_gui_cpp/rqt_gui_cpp above (patch/ros2-ros-image-to-qimage.patch).
-  remove_host: ["qt-main"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
-rqt_gui_cpp:
-  remove_host: ["qt-main"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
-rqt_image_overlay:
-  # Same PyQt6 port as qt_gui_cpp/rqt_gui_cpp above (patch/ros2-rqt-image-overlay.patch).
-  remove_host: ["qt-main"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
-rqt_image_overlay_layer:
-  # Same PyQt6 port as qt_gui_cpp/rqt_gui_cpp above (patch/ros2-rqt-image-overlay-layer.patch).
-  remove_host: ["qt-main"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
-rqt_image_view:
-  remove_host: ["qt-main"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
-rqt_py_common:
-  remove_host: ["qt-main"]
-  add_host: ["qt6-main"]
-rtabmap:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
-  remove_host: ["ros2-qt-gui-cpp"]
-  remove_run: ["ros2-qt-gui-cpp"]
-rviz_ogre_vendor:
-  add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"]
-  add_build: ["vcstool"]
-  add_run: ["assimp"]
-slam_toolbox:
-  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-spatio_temporal_voxel_layer:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"]
-spdlog_vendor:
-  add_host: ["spdlog"]
-  add_run: ["spdlog"]
-tracetools:
-  remove_host: ["pkg-config"]
-uncrustify_vendor:
-  add_host: ["uncrustify"]
-  add_run: ["uncrustify"]
-ur_moveit_config:
-  add_host: ["ros2-rclpy"]
-  add_run: ["ros2-rclpy"]
-vision_msgs_rviz_plugins:
-  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-warehouse_ros_sqlite:
-  add_host: ["ros2-sqlite3-vendor"]
-  add_run: ["ros2-sqlite3-vendor"]
diff --git a/distros/humble/pkg_additional_info.yaml b/distros/humble/pkg_additional_info.yaml
index bcc19fc13..335efc508 100644
--- a/distros/humble/pkg_additional_info.yaml
+++ b/distros/humble/pkg_additional_info.yaml
@@ -2,8 +2,37 @@ apriltag:
   generate_dummy_package_with_run_deps:
     dep_name: apriltag
     max_pin: 'x.x.x'
+as2_behaviors_trajectory_generation:
+  # conda-forge's NLopt (and glog, gflags) for the dynamic_trajectory_generator it fetches, so that
+  # doesn't build NLopt itself (fails with CMake 4); see patch/ros2-as2-behaviors-trajectory-generation.patch
+  add_host: ["nlopt", "glog", "gflags"]
+  add_run: ["nlopt", "glog", "gflags"]
+autoware_trajectory:
+  remove_host: ["ros2-tl-expected"]
+  remove_run: ["ros2-tl-expected"]
+  add_host: ["cpp-expected"]
+  add_run: ["cpp-expected"]
+aws_sdk_cpp_vendor:
+  add_host: ["aws-sdk-cpp"]
+  add_run: ["aws-sdk-cpp"]
+backward_ros:
+  # binutils linux-only: -liberty not found on macOS.
+  add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros2-ament-cmake-libraries"]
+behaviortree_cpp_v3:
+  add_host: ["libboost-devel", "cppzmq"]
+  add_run: ["libboost"]
+cartographer:
+  # Dummy package; drop unpinned lua/gflags, they conflict with the real cartographer's pins.
+  remove_host: ["lua", "gflags"]
+  remove_run: ["lua", "gflags"]
 cartographer_ros:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  add_host: ["cartographer 2.*", "libboost-devel"]
+console_bridge_vendor:
+  add_host: ["console_bridge"]
+  add_run: ["console_bridge"]
+depthai:
+  add_host: ["${{ 'elfutils' if linux }}"]
 eigenpy:
   generate_dummy_package_with_run_deps:
     dep_name: eigenpy
@@ -14,6 +43,15 @@ fastrtps:
   additional_cmake_args:
     if: unix
     then: '-DCMAKE_CXX_FLAGS="-include cstdint"'
+foxglove_bridge:
+  add_host: ["ros2-ament-cmake"]
+generate_parameter_library:
+  remove_host: ["ros2-tl-expected"]
+  remove_run: ["ros2-tl-expected"]
+  add_host: ["cpp-expected"]
+  add_run: ["cpp-expected"]
+geometric_shapes:
+  add_host: ["libboost-devel", "octomap"]
 gtsam:
   generate_dummy_package_with_run_deps:
     dep_name: gtsam
@@ -45,6 +83,23 @@ ignition_cmake2_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DBUILD_TESTING=OFF"
 ignition_math6_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DBUILD_TESTING=OFF"
+image_view:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+  # Depends on opencv with gui support, see  https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
+  add_run: ["libopencv * *qt6*"]
+intra_process_demo:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/intra_process_demo/include/image_pipeline/image_view_node.hpp#L58
+  add_run: ["libopencv * *qt6*"]
+kdl_parser:
+  # package.xml doesn't declare eigen3_cmake_module, but orocos_kdl_vendor's cmake needs it.
+  add_host: ["ros2-eigen3-cmake-module"]
+lbr_description:
+  remove_run: ["ros2-gz-ros2-control"]
+  add_run: ["${{ 'ros2-gz-ros2-control' if linux }}"]
+lbr_ros2_control:
+  add_host: ["ros2-kinematics-interface"]
+  add_run: ["ros2-kinematics-interface"]
 libcamera:
   generate_dummy_package_with_run_deps:
     dep_name: libcamera
@@ -54,14 +109,29 @@ libcamera:
     override_version: '0.5.0'
 libg2o:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  add_host: ["${{ 'libglu' if linux }}", "${{ 'freeglut' if not osx }}"]
 librealsense2:
   generate_dummy_package_with_run_deps:
     dep_name: librealsense
     max_pin: 'x.x'
     override_version: 2.58.3  # Until: https://github.com/conda-forge/librealsense-feedstock/pull/91
+libstatistics_collector:
+  add_host: ["ros2-yaml-cpp-vendor"]
 mimick_vendor:
   # its FetchContent'd mimick has cmake_minimum_required < 3.5 (CMake 4 rejects that)
   additional_cmake_args: "-DCMAKE_POLICY_VERSION_MINIMUM=3.5"
+  add_build: ["vcstool"]
+moveit_visual_tools:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+mrpt_gui:
+  # Overrides shared/: this distribution maps Qt to qt-main 5.15, whose builds need
+  # gstreamer <1.27, while the pinned wxwidgets (3.3.3) needs gstreamer 1.28. A version
+  # spec bypasses that pin, so the solver picks a wxwidgets that coexists with qt-main.
+  add_host: ["wxwidgets >=3.2", "${{ 'glad' if win }}"]  # glad: as in shared/
+nav2_constrained_smoother:
+  add_host: ["${{ 'openblas' if win }}"]
+nav2_util:
+  add_host: ["libboost-devel"]
 octomap:
   generate_dummy_package_with_run_deps:
     dep_name: octomap
@@ -74,6 +144,22 @@ ompl:
     max_pin: 'x.x'
     # OMPL 2 is rebuilt for Boost 1.90 on all supported platforms.
     override_version: '2.0.1'
+opennav_coverage:
+  # package.xml misses deps that CMakeLists.txt finds
+  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+openvdb_vendor:
+  add_host: ["openvdb"]
+parameter_traits:
+  remove_host: ["ros2-tl-expected"]
+  remove_run: ["ros2-tl-expected"]
+  add_host: ["cpp-expected"]
+  add_run: ["cpp-expected"]
+pcl_conversions:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
+polygon_rviz_plugins:
+  add_host: ["libgl-devel"]
+  add_run: ["libgl-devel"]
 proxsuite:
   generate_dummy_package_with_run_deps:
     dep_name: proxsuite
@@ -86,11 +172,106 @@ py_trees:
     dep_name: py-trees
     max_pin: 'x.x.x'
     override_version: 2.6.0
+  add_host: ["hatchling"]  # 2.6 builds with hatchling (as in jazzy/lyrical)
+py_trees_js:
+  add_host: ["hatchling"]
+py_trees_ros_tutorials:
+  # the mock GUI is ported to PyQt6 (patch/ros2-py-trees-ros-tutorials.patch): PyQt5 and
+  # PyQt6 (the rqt stack) can't be installed together
+  remove_run: ["pyqt", "pyqt-builder"]
+  add_run: ["pyqt6"]
+pybind11_json_vendor:
+  add_host: ["pybind11_json"]
+  add_run: ["pybind11_json"]
+python_qt_binding:
+  # pyside2 has no python 3.14 build; port to PyQt6 instead.
+  remove_host: ["qt-main", "pyqt"]
+  remove_run: ["qt-main", "pyqt"]
+  # sip <6.16: 6.16.x regressed ABI targeting for PyQt-based bindings.
+  add_host: ["pyqt-builder", "pep517", "qt6-main", "pyqt6", "sip <6.16"]
+  add_run: ["pyqt-builder", "pep517", "qt6-main", "pyqt6"]
+qt_gui:
+  # Same PyQt6 port as python_qt_binding/qt_gui_cpp below.
+  remove_host: ["qt-main", "pyqt"]
+  remove_run: ["qt-main", "pyqt"]
+  add_host: ["qt6-main", "pyqt6"]
+  add_run: ["qt6-main", "pyqt6"]
+qt_gui_cpp:
+  # Ported to PyQt6, see patch/ros2-qt-gui-cpp.patch.
+  remove_host: ["qt-main", "pyqt"]
+  remove_run: ["qt-main", "pyqt"]
+  add_build: ["${{ 'pyqt6' if (build_platform != target_platform) }}", "${{ 'qt6-main' if (build_platform != target_platform) }}"]
+  # sip pinned directly for the same reason as python_qt_binding above.
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "pep517", "qt6-main", "pyqt6", "sip <6.16"]
+  add_run: ["pyqt-builder", "pep517", "qt6-main", "pyqt6"]
+rcl:
+  add_host: ["ros2-yaml-cpp-vendor"]
+rcl_action:
+  add_host: ["ros2-yaml-cpp-vendor"]
+rclc:
+  add_host: ["ros2-yaml-cpp-vendor"]
+rclcpp:
+  add_host: ["ros2-yaml-cpp-vendor"]
+rclcpp_action:
+  add_host: ["ros2-yaml-cpp-vendor"]
+rclpy:
+  add_host: ["typing_extensions"]
+  add_run: ["typing_extensions"]
+rmw_implementation:
+  add_host:
+  - "ros2-yaml-cpp-vendor"
+  - "fmt"
+ros_gz_sim:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+ros_ign_gazebo:
+  add_host: ["ros2-std-msgs", "ros2-rclcpp", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+ros_ign_interfaces:
+  add_host: ["ros2-rcl-interfaces"]
+ros_image_to_qimage:
+  # Same PyQt6 port as qt_gui_cpp/rqt_gui_cpp above (patch/ros2-ros-image-to-qimage.patch).
+  remove_host: ["qt-main"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
+rqt_gui_cpp:
+  remove_host: ["qt-main"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
+rqt_image_overlay:
+  # Same PyQt6 port as qt_gui_cpp/rqt_gui_cpp above (patch/ros2-rqt-image-overlay.patch).
+  remove_host: ["qt-main"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
+rqt_image_overlay_layer:
+  # Same PyQt6 port as qt_gui_cpp/rqt_gui_cpp above (patch/ros2-rqt-image-overlay-layer.patch).
+  remove_host: ["qt-main"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
+rqt_image_view:
+  remove_host: ["qt-main"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
+rqt_py_common:
+  remove_host: ["qt-main"]
+  add_host: ["qt6-main"]
 rtabmap:
   additional_cmake_args:
     if: win
     then: "-DWITH_QT=OFF -DBUILD_TOOLS=OFF -DBUILD_EXAMPLES=OFF -DWITH_GTSAM=OFF"
     else: "-DWITH_QT=OFF -DBUILD_TOOLS=OFF -DBUILD_EXAMPLES=OFF"
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
+  remove_host: ["ros2-qt-gui-cpp"]
+  remove_run: ["ros2-qt-gui-cpp"]
+rviz_ogre_vendor:
+  add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"]
+  add_build: ["vcstool"]
+  add_run: ["assimp"]
+slam_toolbox:
+  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+spdlog_vendor:
+  add_host: ["spdlog"]
+  add_run: ["spdlog"]
+uncrustify_vendor:
+  add_host: ["uncrustify"]
+  add_run: ["uncrustify"]
+ur_moveit_config:
+  add_host: ["ros2-rclpy"]
+  add_run: ["ros2-rclpy"]
 urdfdom:
   generate_dummy_package_with_run_deps:
     dep_name: urdfdom
@@ -102,6 +283,12 @@ urdfdom_headers:
     dep_name: urdfdom_headers
     max_pin: 'x.x'
     override_version: '3.0.0'
+vision_msgs_rviz_plugins:
+  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+warehouse_ros_sqlite:
+  add_host: ["ros2-sqlite3-vendor"]
+  add_run: ["ros2-sqlite3-vendor"]
 # Remove build_number fields below on new full rebuild
 zenoh_cpp_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DUSE_SYSTEM_ZENOH=ON"
@@ -109,12 +296,31 @@ ament_cmake_gmock:  # as ament_cmake_gtest
   build_number: 23
 ament_cmake_gtest:  # uses conda-forge's gtest instead of gtest_vendor's sources
   build_number: 23
+ament_cmake_test:
+  build_number: 31
 aruco_ros:  # its recipe test stops the node for sure (package tests hung on macOS)
   build_number: 23
+builtin_interfaces:
+  build_number: 31
+fastcdr:
+  build_number: 31
+plotjuggler:
+  build_number: 24
+  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "git-lfs"]
+rcutils:
+  build_number: 31
+ros_workspace:
+  build_number: 31
 rtabmap_slam:  # its recipe test stops the node for sure (package tests hung on macOS)
   build_number: 23
+ruckig:
+  build_number: 31
 spatio_temporal_voxel_layer:
   build_number: 23
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"]
+tracetools:
+  build_number: 24
+  remove_host: ["pkg-config"]
 urdf:  # drop deprecated urdf_world/types.h include (ros2/urdf#54) for headers 3.x
   build_number: 23
 urdf_parser_plugin:  # use urdf_model/types.h (ros2/urdf#54) for headers 3.x
diff --git a/distros/humble/robostack.yaml b/distros/humble/robostack.yaml
index 76ff56655..4bdbd7e2f 100644
--- a/distros/humble/robostack.yaml
+++ b/distros/humble/robostack.yaml
@@ -1,6 +1,6 @@
 # Qt5 for the Qt5 rosdep keys: this distribution's rviz and GUI packages still build
 # against Qt5 (the shared mapping, for lyrical and newer, is Qt6). Packages already
-# ported to Qt6/PyQt6 swap qt-main in patch/dependencies.yaml.
+# ported to Qt6/PyQt6 swap qt-main in pkg_additional_info.yaml.
 libqt5-core:
   robostack:
     linux: [qt-main, libopengl-devel, libgl-devel]
diff --git a/distros/humble/rosdistro_additional_recipes.yaml b/distros/humble/rosdistro_additional_recipes.yaml
index 639a7cd7e..1a8de2021 100644
--- a/distros/humble/rosdistro_additional_recipes.yaml
+++ b/distros/humble/rosdistro_additional_recipes.yaml
@@ -82,13 +82,6 @@ med7_moveit_config:
   rev: 2e932d4e062966afe216710a7cc2fe50a8099365
   version: 0.3.0
   additional_folder: lbr_moveit_config/med7_moveit_config
-mujoco_vendor:
-  # jazzy's 0.1.0: unlike humble's 0.0.8 it honours AMENT_VENDOR_POLICY, so it uses
-  # conda-forge's libmujoco (shared pkg_additional_info) instead of downloading MuJoCo
-  # and symlinking it (rejected on Windows; macOS isn't supported by the download)
-  tag: release/jazzy/mujoco_vendor/0.1.0-1
-  url: https://github.com/ros2-gbp/mujoco_vendor-release.git
-  version: 0.1.0
 opennav_coverage:
   # Not released in rosdistro; humble-v2 branch (Fields2Cover v2)
   url: https://github.com/open-navigation/opennav_coverage.git
diff --git a/distros/jazzy/patch/dependencies.yaml b/distros/jazzy/patch/dependencies.yaml
deleted file mode 100644
index 85f10513e..000000000
--- a/distros/jazzy/patch/dependencies.yaml
+++ /dev/null
@@ -1,195 +0,0 @@
-autoware_utils_debug:
-  add_host: ["fmt"]
-autoware_utils_pcl:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-backward_ros:
-  # binutils linux-only: -liberty not found on macOS.
-  add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros2-ament-cmake-libraries"]
-cartographer_ros:
-  add_host: ["cartographer 2.*", "libboost-devel"]
-cloudini_lib:
-  add_host: ["eigen-abi-devel"]
-cloudini_ros:
-  add_host: ["eigen-abi-devel"]
-depthai:
-  add_host: ["${{ 'elfutils' if linux }}"]
-easynav_bonxai_maps_manager:
-  # drop once easynav_bonxai_maps_manager is updated to 0.4.2
-  add_host: ["eigen-abi-devel"]
-easynav_octomap_maps_manager:
-  # drop once easynav_octomap_maps_manager is updated to 0.4.2
-  add_host: ["octomap"]
-foxglove_bridge:
-  add_host: ["ros2-ament-cmake"]
-geometric_shapes:
-  add_host: ["octomap"]
-gz_cmake_vendor:
-  # Major version pin selects the Gazebo release matching jazzy (applies to all gz-* vendor packages).
-  add_host: ["gz-cmake3"]
-  add_run: ["gz-cmake3"]
-gz_common_vendor:
-  add_host: ["gz-common5"]
-  add_run: ["gz-common5"]
-gz_dartsim_vendor:
-  add_host: ["dartsim-cpp"]
-  add_run: ["dartsim-cpp"]
-gz_fuel_tools_vendor:
-  add_host: ["gz-fuel-tools9"]
-  add_run: ["gz-fuel-tools9"]
-gz_gui_vendor:
-  add_host: ["gz-gui8"]
-  add_run: ["gz-gui8"]
-gz_launch_vendor:
-  add_host: ["gz-launch7"]
-  add_run: ["gz-launch7"]
-gz_math_vendor:
-  add_host: ["gz-math7"]
-  add_run: ["gz-math7"]
-gz_msgs_vendor:
-  add_host: ["gz-msgs10"]
-  add_run: ["gz-msgs10"]
-gz_ogre_next_vendor:
-  # wraps conda-forge's ogre-next (no OGRE-Next build): no shaderc, as in lyrical
-  add_host: ["ogre-next"]
-  add_run: ["ogre-next"]
-  remove_host: ["shaderc"]
-  remove_run: ["shaderc"]
-gz_physics_vendor:
-  add_host: ["gz-physics7"]
-  add_run: ["gz-physics7"]
-gz_plugin_vendor:
-  add_host: ["gz-plugin2"]
-  add_run: ["gz-plugin2"]
-gz_rendering_vendor:
-  add_host: ["gz-rendering8", "swig"]
-  # find_package(gz-rendering) requires find_package(OpenGL) to work
-  add_run: ["gz-rendering8", "swig", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-gz_ros2_control:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-gz_ros2_control_demos:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-gz_sensors_vendor:
-  add_host: ["gz-sensors8"]
-  add_run: ["gz-sensors8"]
-gz_sim_vendor:
-  add_host: ["gz-sim8"]
-  add_run: ["gz-sim8"]
-gz_tools_vendor:
-  add_host: ["gz-tools2"]
-  add_run: ["gz-tools2"]
-gz_transport_vendor:
-  add_host: ["gz-transport13"]
-  add_run: ["gz-transport13"]
-gz_utils_vendor:
-  add_host: ["gz-utils2"]
-  add_run: ["gz-utils2"]
-image_view:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-  # Depends on opencv with gui support, see  https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
-  add_run: ["libopencv * *qt6*"]
-intra_process_demo:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/intra_process_demo/include/image_pipeline/image_view_node.hpp#L58
-  add_run: ["libopencv * *qt6*"]
-lbr_ros2_control:
-  add_host: ["ros2-kinematics-interface"]
-  add_run: ["ros2-kinematics-interface"]
-libg2o:
-  add_host: ["${{ 'libglu' if linux }}", "${{ 'freeglut' if not osx }}"]
-mimick_vendor:
-  add_build: ["vcstool", "setuptools <81"]
-  add_host: ["setuptools <81"]
-moveit_visual_tools:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-mrpt_gui:
-  # Overrides shared/: this distribution maps Qt to qt-main 5.15, whose builds need
-  # gstreamer <1.27, while the pinned wxwidgets (3.3.3) needs gstreamer 1.28. A version
-  # spec bypasses that pin, so the solver picks a wxwidgets that coexists with qt-main.
-  add_host: ["wxwidgets >=3.2", "${{ 'glad' if win }}"]  # glad: as in shared/
-nav2_constrained_smoother:
-  add_host: ["${{ 'openblas' if win }}"]
-nav2_mppi_controller:
-  add_run: ["xtensor==0.25.0"]
-nav2_util:
-  add_host: ["libboost-devel"]
-opennav_coverage:
-  # package.xml misses deps that CMakeLists.txt finds
-  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
-  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
-openvdb_vendor:
-  add_host: ["openvdb"]
-pcl_conversions:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
-plotjuggler:
-  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "git-lfs"]
-py_trees:
-  add_host: ["hatchling"]  # 2.6 builds with hatchling (as in lyrical)
-py_trees_js:
-  add_host:
-  - hatchling
-py_trees_ros_tutorials:
-  # the mock GUI imports PyQt5 (jazzy's rqt stack is Qt5 too), but package.xml doesn't declare it
-  add_run: ["pyqt"]
-python_qt_binding:
-  # sip <6.16: exact pin conflicts with pyqt5-sip's range; unpinned risks the 6.16.x ABI regression.
-  add_host: ["pyqt-builder", "sip <6.16"]
-  add_run: ["pyqt-builder"]
-qt_gui_cpp:
-  add_build: ["${{ 'pyqt' if (build_platform != target_platform) }}", "${{ 'qt-main' if (build_platform != target_platform) }}"]
-  # Same sip <6.16 fix as python_qt_binding above (pulls its own pyqt5/pyqt5-sip into this host solve too).
-  # Only the PyQt (sip) bindings: pyside2 has no Python 3.14 build, and the shiboken
-  # bindings are optional (built only when python_qt_binding's shiboken_helper finds it).
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "pep517", "sip <6.16"]
-  add_run: ["pyqt-builder", "pep517"]
-roboplan_example_models:
-  # src/resources.cpp uses dladdr() from dlfcn.h, which is POSIX-only.
-  # On Windows we need to depend on dlfcn-win32 instead.
-  add_host: ["${{ 'dlfcn-win32' if win }}"]
-roboplan_ros_examples:
-  # package.xml misses the ament_cmake dep; fixed in roboplan_ros 0.7.0, drop after that release.
-  add_host: ["ros2-ament-cmake"]
-ros_gz_sim:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-ros_image_to_qimage:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rqt_gui_cpp:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rqt_image_overlay:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rqt_image_overlay_layer:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rqt_image_view:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rtabmap:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
-rviz_ogre_vendor:
-  add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}", "setuptools <81"]
-  add_build: ["vcstool", "setuptools <81"]
-  add_run: ["assimp"]
-sdformat_vendor:
-  add_host: ["sdformat14"]
-  add_run: ["sdformat14"]
-slam_toolbox:
-  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel"]
-spatio_temporal_voxel_layer:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"]
-swri_console:
-  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["libboost-devel", "qt-main", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-  add_run: ["libboost", "qt-main"]
-# TODO unvendor?!
-uncrustify_vendor:
-  add_build: ["vcstool", "setuptools <81"]
-  add_host: ["setuptools <81"]
-  # See https://github.com/ament/uncrustify_vendor/blob/jazzy/CMakeLists.txt#L19
-  add_run: ["uncrustify >=0.78"]
-ur_moveit_config:
-  add_host: ["ros2-rclpy"]
-  add_run: ["ros2-rclpy"]
-vision_msgs_rviz_plugins:
-  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-warehouse_ros_sqlite:
-  add_host: ["ros2-sqlite3-vendor"]
-  add_run: ["ros2-sqlite3-vendor"]
diff --git a/distros/jazzy/pkg_additional_info.yaml b/distros/jazzy/pkg_additional_info.yaml
index 129677d46..779abd664 100644
--- a/distros/jazzy/pkg_additional_info.yaml
+++ b/distros/jazzy/pkg_additional_info.yaml
@@ -2,19 +2,97 @@ apriltag:
   generate_dummy_package_with_run_deps:
     dep_name: apriltag
     max_pin: 'x.x.x'
+autoware_utils_debug:
+  add_host: ["fmt"]
+autoware_utils_pcl:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+backward_ros:
+  # binutils linux-only: -liberty not found on macOS.
+  add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros2-ament-cmake-libraries"]
 cartographer_ros:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  add_host: ["cartographer 2.*", "libboost-devel"]
+cloudini_lib:
+  add_host: ["eigen-abi-devel"]
+cloudini_ros:
+  add_host: ["eigen-abi-devel"]
+depthai:
+  add_host: ["${{ 'elfutils' if linux }}"]
+easynav_bonxai_maps_manager:
+  # drop once easynav_bonxai_maps_manager is updated to 0.4.2
+  add_host: ["eigen-abi-devel"]
+easynav_octomap_maps_manager:
+  # drop once easynav_octomap_maps_manager is updated to 0.4.2
+  add_host: ["octomap"]
 eigenpy:
   generate_dummy_package_with_run_deps:
     dep_name: eigenpy
     max_pin: 'x.x.x'
     override_version: '3.13.0'
+foxglove_bridge:
+  add_host: ["ros2-ament-cmake"]
+geometric_shapes:
+  add_host: ["octomap"]
 gtsam:
   generate_dummy_package_with_run_deps:
     dep_name: gtsam
     max_pin: 'x.x'
     # jazzy is on 4.2.0, but we stick to 4.2.1 for compat with the rest of conda-forge
     override_version: '4.2.1'
+gz_cmake_vendor:
+  # Major version pin selects the Gazebo release matching jazzy (applies to all gz-* vendor packages).
+  add_host: ["gz-cmake3"]
+  add_run: ["gz-cmake3"]
+gz_common_vendor:
+  add_host: ["gz-common5"]
+  add_run: ["gz-common5"]
+gz_dartsim_vendor:
+  add_host: ["dartsim-cpp"]
+  add_run: ["dartsim-cpp"]
+gz_fuel_tools_vendor:
+  add_host: ["gz-fuel-tools9"]
+  add_run: ["gz-fuel-tools9"]
+gz_gui_vendor:
+  add_host: ["gz-gui8"]
+  add_run: ["gz-gui8"]
+gz_launch_vendor:
+  add_host: ["gz-launch7"]
+  add_run: ["gz-launch7"]
+gz_math_vendor:
+  add_host: ["gz-math7"]
+  add_run: ["gz-math7"]
+gz_msgs_vendor:
+  add_host: ["gz-msgs10"]
+  add_run: ["gz-msgs10"]
+gz_physics_vendor:
+  add_host: ["gz-physics7"]
+  add_run: ["gz-physics7"]
+gz_plugin_vendor:
+  add_host: ["gz-plugin2"]
+  add_run: ["gz-plugin2"]
+gz_rendering_vendor:
+  add_host: ["gz-rendering8", "swig"]
+  # find_package(gz-rendering) requires find_package(OpenGL) to work
+  add_run: ["gz-rendering8", "swig", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+gz_ros2_control:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+gz_ros2_control_demos:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+gz_sensors_vendor:
+  add_host: ["gz-sensors8"]
+  add_run: ["gz-sensors8"]
+gz_sim_vendor:
+  add_host: ["gz-sim8"]
+  add_run: ["gz-sim8"]
+gz_tools_vendor:
+  add_host: ["gz-tools2"]
+  add_run: ["gz-tools2"]
+gz_transport_vendor:
+  add_host: ["gz-transport13"]
+  add_run: ["gz-transport13"]
+gz_utils_vendor:
+  add_host: ["gz-utils2"]
+  add_run: ["gz-utils2"]
 hpp_fcl:
   generate_dummy_package_with_run_deps:
     dep_name: hpp-fcl
@@ -36,6 +114,17 @@ iceoryx_posh:
     dep_name: libiceoryx-posh
     max_pin: 'x.x'
     override_version: '2.95.8'
+image_view:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+  # Depends on opencv with gui support, see  https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
+  add_run: ["libopencv * *qt6*"]
+intra_process_demo:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/intra_process_demo/include/image_pipeline/image_view_node.hpp#L58
+  add_run: ["libopencv * *qt6*"]
+lbr_ros2_control:
+  add_host: ["ros2-kinematics-interface"]
+  add_run: ["ros2-kinematics-interface"]
 libcamera:
   generate_dummy_package_with_run_deps:
     dep_name: libcamera
@@ -45,6 +134,7 @@ libcamera:
     override_version: '0.5.0'
 libg2o:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  add_host: ["${{ 'libglu' if linux }}", "${{ 'freeglut' if not osx }}"]
 librealsense2:
   generate_dummy_package_with_run_deps:
     dep_name: librealsense
@@ -58,6 +148,22 @@ mcap_vendor:
   additional_cmake_args:
     if: unix
     then: '-DCMAKE_CXX_FLAGS="-include cstdint"'
+mimick_vendor:
+  add_build: ["vcstool", "setuptools <81"]
+  add_host: ["setuptools <81"]
+moveit_visual_tools:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+mrpt_gui:
+  # Overrides shared/: this distribution maps Qt to qt-main 5.15, whose builds need
+  # gstreamer <1.27, while the pinned wxwidgets (3.3.3) needs gstreamer 1.28. A version
+  # spec bypasses that pin, so the solver picks a wxwidgets that coexists with qt-main.
+  add_host: ["wxwidgets >=3.2", "${{ 'glad' if win }}"]  # glad: as in shared/
+nav2_constrained_smoother:
+  add_host: ["${{ 'openblas' if win }}"]
+nav2_mppi_controller:
+  add_run: ["xtensor==0.25.0"]
+nav2_util:
+  add_host: ["libboost-devel"]
 octomap:
   generate_dummy_package_with_run_deps:
     dep_name: octomap
@@ -68,6 +174,14 @@ ompl:
     max_pin: 'x.x'
     # OMPL 2 is rebuilt for Boost 1.90 on all supported platforms.
     override_version: '2.0.1'
+opennav_coverage:
+  # package.xml misses deps that CMakeLists.txt finds
+  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+openvdb_vendor:
+  add_host: ["openvdb"]
+pcl_conversions:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
 proxsuite:
   generate_dummy_package_with_run_deps:
     dep_name: proxsuite
@@ -78,6 +192,24 @@ py_trees:
     dep_name: py-trees
     max_pin: 'x.x.x'
     override_version: '2.6.0'
+  add_host: ["hatchling"]  # 2.6 builds with hatchling (as in lyrical)
+py_trees_js:
+  add_host:
+  - hatchling
+py_trees_ros_tutorials:
+  # the mock GUI imports PyQt5 (jazzy's rqt stack is Qt5 too), but package.xml doesn't declare it
+  add_run: ["pyqt"]
+python_qt_binding:
+  # sip <6.16: exact pin conflicts with pyqt5-sip's range; unpinned risks the 6.16.x ABI regression.
+  add_host: ["pyqt-builder", "sip <6.16"]
+  add_run: ["pyqt-builder"]
+qt_gui_cpp:
+  add_build: ["${{ 'pyqt' if (build_platform != target_platform) }}", "${{ 'qt-main' if (build_platform != target_platform) }}"]
+  # Same sip <6.16 fix as python_qt_binding above (pulls its own pyqt5/pyqt5-sip into this host solve too).
+  # Only the PyQt (sip) bindings: pyside2 has no Python 3.14 build, and the shiboken
+  # bindings are optional (built only when python_qt_binding's shiboken_helper finds it).
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "pep517", "sip <6.16"]
+  add_run: ["pyqt-builder", "pep517"]
 roboplan:
   generate_dummy_package_with_run_deps:
     dep_name: roboplan-python
@@ -98,10 +230,16 @@ roboplan_example_models:
   generate_dummy_package_with_run_deps:
     dep_name: roboplan-example-models-python
     max_pin: 'x.x'
+  # src/resources.cpp uses dladdr() from dlfcn.h, which is POSIX-only.
+  # On Windows we need to depend on dlfcn-win32 instead.
+  add_host: ["${{ 'dlfcn-win32' if win }}"]
 roboplan_oink:
   generate_dummy_package_with_run_deps:
     dep_name: roboplan-oink-python
     max_pin: 'x.x'
+roboplan_ros_examples:
+  # package.xml misses the ament_cmake dep; fixed in roboplan_ros 0.7.0, drop after that release.
+  add_host: ["ros2-ament-cmake"]
 roboplan_rrt:
   generate_dummy_package_with_run_deps:
     dep_name: roboplan-rrt-python
@@ -114,8 +252,40 @@ roboplan_toppra:
   generate_dummy_package_with_run_deps:
     dep_name: roboplan-toppra-python
     max_pin: 'x.x'
+ros_gz_sim:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+ros_image_to_qimage:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+rqt_gui_cpp:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+rqt_image_overlay:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+rqt_image_overlay_layer:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+rqt_image_view:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rtabmap:
   additional_cmake_args: -DBUILD_TESTING=OFF
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
+sdformat_vendor:
+  add_host: ["sdformat14"]
+  add_run: ["sdformat14"]
+slam_toolbox:
+  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel"]
+swri_console:
+  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
+  add_host: ["libboost-devel", "qt-main", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+  add_run: ["libboost", "qt-main"]
+# TODO unvendor?!
+uncrustify_vendor:
+  add_build: ["vcstool", "setuptools <81"]
+  add_host: ["setuptools <81"]
+  # See https://github.com/ament/uncrustify_vendor/blob/jazzy/CMakeLists.txt#L19
+  add_run: ["uncrustify >=0.78"]
+ur_moveit_config:
+  add_host: ["ros2-rclpy"]
+  add_run: ["ros2-rclpy"]
 urdfdom:
   generate_dummy_package_with_run_deps:
     dep_name: urdfdom
@@ -126,6 +296,12 @@ urdfdom_headers:
     dep_name: urdfdom_headers
     max_pin: 'x.x'
     override_version: '3.0'
+vision_msgs_rviz_plugins:
+  add_build: ["${{ 'qt-main' if (build_platform != target_platform) }}"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+warehouse_ros_sqlite:
+  add_host: ["ros2-sqlite3-vendor"]
+  add_run: ["ros2-sqlite3-vendor"]
 # Remove build_number fields below on new full rebuild
 zenoh_cpp_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DUSE_SYSTEM_ZENOH=ON"
@@ -141,6 +317,11 @@ grid_map_rviz_plugin:
   build_number: 28
 gz_ogre_next_vendor:
   build_number: 28
+  # wraps conda-forge's ogre-next (no OGRE-Next build): no shaderc, as in lyrical
+  add_host: ["ogre-next"]
+  add_run: ["ogre-next"]
+  remove_host: ["shaderc"]
+  remove_run: ["shaderc"]
 moveit_ros_visualization:
   build_number: 28
 moveit_task_constructor_visualization:
@@ -149,6 +330,9 @@ nav2_rviz_plugins:
   build_number: 28
 octomap_rviz_plugins:
   build_number: 28
+plotjuggler:
+  build_number: 30
+  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "git-lfs"]
 rtabmap_slam:  # its recipe test stops the node for sure (package tests hung on macOS)
   build_number: 28
 rviz_2d_overlay_plugins:
@@ -162,12 +346,16 @@ rviz_imu_plugin:
 rviz_ogre_vendor:
   additional_cmake_args: "-DRVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ=ON"
   build_number: 29  # built without the EXR codec (ros2-rviz-ogre-vendor.patch), absolute install names on macOS (.osx.patch)
+  add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}", "setuptools <81"]
+  add_build: ["vcstool", "setuptools <81"]
+  add_run: ["assimp"]
 rviz_rendering:
   build_number: 28
 rviz_satellite:
   build_number: 28
 spatio_temporal_voxel_layer:
   build_number: 28
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"]
 urdf:  # drop deprecated urdf_world/types.h include (ros2/urdf#54) for headers 3.x
   build_number: 28
 urdf_parser_plugin:  # use urdf_model/types.h (ros2/urdf#54) for headers 3.x
diff --git a/distros/jazzy/robostack.yaml b/distros/jazzy/robostack.yaml
index 76ff56655..4bdbd7e2f 100644
--- a/distros/jazzy/robostack.yaml
+++ b/distros/jazzy/robostack.yaml
@@ -1,6 +1,6 @@
 # Qt5 for the Qt5 rosdep keys: this distribution's rviz and GUI packages still build
 # against Qt5 (the shared mapping, for lyrical and newer, is Qt6). Packages already
-# ported to Qt6/PyQt6 swap qt-main in patch/dependencies.yaml.
+# ported to Qt6/PyQt6 swap qt-main in pkg_additional_info.yaml.
 libqt5-core:
   robostack:
     linux: [qt-main, libopengl-devel, libgl-devel]
diff --git a/distros/jazzy/rosdistro_additional_recipes.yaml b/distros/jazzy/rosdistro_additional_recipes.yaml
index d8e00e703..2e7562197 100644
--- a/distros/jazzy/rosdistro_additional_recipes.yaml
+++ b/distros/jazzy/rosdistro_additional_recipes.yaml
@@ -145,7 +145,7 @@ ros2_easy_test:
   version: 0.3.0
   additional_folder: ros2_easy_test
 rplidar_ros:
-  # 2.1.4 (as humble) for its win32 SDK arch; the released 2.1.0 is POSIX only
+  override: "2.1.4 (as humble) for its win32 SDK arch; the released 2.1.0 is POSIX only"
   tag: 2.1.4
   url: https://github.com/Slamtec/rplidar_ros.git
   version: 2.1.4
diff --git a/distros/jazzy/rosdistro_snapshot.yaml b/distros/jazzy/rosdistro_snapshot.yaml
index f8bf6a9b7..71e96e1f6 100644
--- a/distros/jazzy/rosdistro_snapshot.yaml
+++ b/distros/jazzy/rosdistro_snapshot.yaml
@@ -43,6 +43,23 @@ ackermann_nlmpc_msgs:
   url: https://github.com/ros2-gbp/ackmerann_nlmpc-release.git
   version: 1.0.3
 ackermann_steering_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - steering_controllers_library
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/ackermann_steering_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -191,6 +208,33 @@ adi_imu:
   url: https://github.com/ros2-gbp/adi_imu-release.git
   version: 1.1.0
 admittance_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - angles
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - kinematics_interface
+  - kinematics_interface_kdl
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_kdl
+  - tf2_ros
+  - trajectory_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/admittance_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -3571,6 +3615,23 @@ bag2_to_image:
   url: https://github.com/ros2-gbp/bag2_to_image-release.git
   version: 0.1.1
 battery_state_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/battery_state_broadcaster/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -3762,6 +3823,23 @@ beluga_ros:
   url: https://github.com/ros2-gbp/beluga-release.git
   version: 2.1.1
 bicycle_steering_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - steering_controllers_library
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/bicycle_steering_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -4327,6 +4405,20 @@ catch_ros2:
   url: https://github.com/ros2-gbp/catch_ros2-release.git
   version: 0.2.2
 chained_filter_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - controller_interface
+  - controller_manager
+  - filters
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/chained_filter_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -5185,16 +5277,69 @@ control_toolbox:
   url: https://github.com/ros2-gbp/control_toolbox-release.git
   version: 4.11.1
 controller_interface:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - geometry_msgs
+  - hardware_interface
+  - pal_statistics
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - sensor_msgs
+  - std_msgs
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/controller_interface/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
   version: 4.49.0
 controller_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - backward_ros
+  - controller_interface
+  - controller_manager_msgs
+  - diagnostic_msgs
+  - diagnostic_updater
+  - example_interfaces
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - libstatistics_collector
+  - lifecycle_msgs
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclpy
+  - realtime_tools
+  - robot_state_publisher
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - ros2param
+  - ros2pkg
+  - sensor_msgs
+  - std_msgs
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/controller_manager/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
   version: 4.49.0
 controller_manager_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - lifecycle_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/controller_manager_msgs/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
@@ -6601,6 +6746,27 @@ diagnostics:
   url: https://github.com/ros2-gbp/diagnostics-release.git
   version: 4.2.7
 diff_drive_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2
+  - tf2_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/diff_drive_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -8632,6 +8798,19 @@ ecl_utilities:
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 effort_controllers:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - forward_command_controller
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/effort_controllers/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -10234,11 +10413,47 @@ foonathan_memory_vendor:
   url: https://github.com/ros2-gbp/foonathan_memory_vendor-release.git
   version: 1.3.1
 force_torque_sensor_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - filters
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/force_torque_sensor_broadcaster/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
   version: 4.43.0
 forward_command_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/forward_command_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -10772,11 +10987,23 @@ gc_spl_interfaces:
   url: https://github.com/ros2-gbp/game_controller_spl-release.git
   version: 4.1.0
 generate_parameter_library:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - generate_parameter_library_py
+  - parameter_traits
+  - rclcpp
+  - rclcpp_lifecycle
+  - rclpy
+  - rsl
+  - tcb_span
+  - tl_expected
   repository: https://github.com/PickNikRobotics/generate_parameter_library
   tag: release/jazzy/generate_parameter_library/0.7.7-1
   url: https://github.com/ros2-gbp/generate_parameter_library-release.git
   version: 0.7.7
 generate_parameter_library_py:
+  dependencies: []
   repository: https://github.com/PickNikRobotics/generate_parameter_library
   tag: release/jazzy/generate_parameter_library_py/0.7.7-1
   url: https://github.com/ros2-gbp/generate_parameter_library-release.git
@@ -10893,6 +11120,21 @@ google_benchmark_vendor:
   url: https://github.com/ros2-gbp/google_benchmark_vendor-release.git
   version: 0.5.1
 gpio_controllers:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/gpio_controllers/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -10908,6 +11150,20 @@ gps_msgs:
   url: https://github.com/ros2-gbp/gps_umd-release.git
   version: 3.1.1
 gps_sensor_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/gps_sensor_broadcaster/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -11301,6 +11557,23 @@ grid_map_visualization:
   url: https://github.com/ros2-gbp/grid_map-release.git
   version: 2.2.2
 gripper_controllers:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/gripper_controllers/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -11701,11 +11974,40 @@ gz_utils_vendor:
   url: https://github.com/ros2-gbp/gz_utils_vendor-release.git
   version: 0.0.5
 hardware_interface:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - joint_limits
+  - lifecycle_msgs
+  - pal_statistics
+  - pluginlib
+  - rclcpp_lifecycle
+  - rcpputils
+  - rcutils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sdformat_urdf
+  - tinyxml2_vendor
+  - urdf
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/hardware_interface/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
   version: 4.49.0
 hardware_interface_testing:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - control_msgs
+  - hardware_interface
+  - lifecycle_msgs
+  - pluginlib
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/hardware_interface_testing/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
@@ -12211,6 +12513,22 @@ imu_processors:
   url: https://github.com/ros2-gbp/imu_pipeline-release.git
   version: 0.5.2
 imu_sensor_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/imu_sensor_broadcaster/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -12600,11 +12918,45 @@ joint_group_impedance_controller:
   url: https://github.com/ros2-gbp/kuka_drivers-release.git
   version: 2.0.0
 joint_limits:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - backward_ros
+  - generate_parameter_library
+  - launch_ros
+  - launch_testing_ament_cmake
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - trajectory_msgs
+  - urdf
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/joint_limits/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
   version: 4.49.0
 joint_state_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - builtin_interfaces
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
+  - urdf
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/joint_state_broadcaster/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -12667,6 +13019,28 @@ joint_state_topic_hardware_interface:
   url: https://github.com/ros2-gbp/topic_based_hardware-release.git
   version: 1.1.0
 joint_trajectory_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - angles
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - rsl
+  - trajectory_msgs
+  - urdf
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/joint_trajectory_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -14648,6 +15022,21 @@ magnetic_model:
   url: https://github.com/ros2-gbp/compass-release.git
   version: 4.0.1
 magnetometer_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/magnetometer_broadcaster/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -15272,6 +15661,30 @@ mcap_vendor:
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.26.11
 mecanum_drive_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/mecanum_drive_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -15512,6 +15925,20 @@ mocap_optitrack:
   url: https://github.com/ros2-gbp/mocap_optitrack-release.git
   version: 1.0.1
 mola:
+  dependencies:
+  - mola_bridge_ros2
+  - mola_demos
+  - mola_input_rawlog
+  - mola_input_rosbag2
+  - mola_input_video
+  - mola_kernel
+  - mola_launcher
+  - mola_metric_maps
+  - mola_pose_list
+  - mola_relocalization
+  - mola_traj_tools
+  - mola_viz
+  - mola_yaml
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
@@ -15529,6 +15956,29 @@ mola_academic_datasets:
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.1.0
 mola_bridge_ros2:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_cmake
+  - diagnostic_msgs
+  - geographic_msgs
+  - geometry_msgs
+  - gps_msgs
+  - mola_common
+  - mola_kernel
+  - mola_msgs
+  - mrpt_libros_bridge
+  - mrpt_maps
+  - mrpt_nav_interfaces
+  - nav_msgs
+  - rclcpp
+  - ros_environment
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_bridge_ros2/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
@@ -15546,6 +15996,14 @@ mola_common:
   url: https://github.com/ros2-gbp/mola_common-release.git
   version: 0.6.1
 mola_demos:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_pep257
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ros_environment
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_demos/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
@@ -15627,6 +16085,14 @@ mola_input_kitti_dataset:
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.1.0
 mola_input_lidar_bin_dataset:
+  dependencies:
+  - mola_common
+  - mola_kernel
+  - mola_yaml
+  - mrpt_core
+  - mrpt_maps
+  - mrpt_obs
+  - mrpt_system
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_input_lidar_bin_dataset/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
@@ -15663,6 +16129,9 @@ mola_input_paris_luco_dataset:
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.1.0
 mola_input_rawlog:
+  dependencies:
+  - mola_kernel
+  - mrpt_obs
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_input_rawlog/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
@@ -15682,21 +16151,51 @@ mola_input_rosbag1:
   url: https://github.com/ros2-gbp/mola_input_rosbag1-release.git
   version: 0.5.0
 mola_input_rosbag2:
+  dependencies:
+  - cv_bridge
+  - gps_msgs
+  - mola_kernel
+  - mrpt_libros_bridge
+  - mrpt_obs
+  - rosbag2_cpp
+  - sensor_msgs
+  - tf2_geometry_msgs
+  - tf2_msgs
+  - tf2_ros
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_input_rosbag2/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
   version: 3.3.1
 mola_input_video:
+  dependencies:
+  - mola_kernel
+  - mrpt_hwdrivers
+  - mrpt_obs
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_input_video/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
   version: 3.3.1
 mola_kernel:
+  dependencies:
+  - mola_common
+  - mola_yaml
+  - mrpt_maps
+  - mrpt_obs
+  - mrpt_topography
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_kernel/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
   version: 3.3.1
 mola_launcher:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pep257
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mola_kernel
+  - mrpt_core
+  - ros_environment
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_launcher/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
@@ -15738,21 +16237,53 @@ mola_lidar_odometry:
   url: https://github.com/ros2-gbp/mola_lidar_odometry-release.git
   version: 3.3.0
 mola_metric_maps:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_common
+  - mola_common
+  - mola_kernel
+  - mola_test_datasets
+  - mp2p_icp
+  - mrpt_maps
+  - mrpt_viz
+  - nanoflann_vendor
+  - ros_environment
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_metric_maps/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
   version: 3.3.1
 mola_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - mrpt_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_msgs/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
   version: 3.3.1
 mola_pose_list:
+  dependencies:
+  - mola_common
+  - mrpt_maps
+  - mrpt_poses
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_pose_list/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
   version: 3.3.1
 mola_relocalization:
+  dependencies:
+  - mola_common
+  - mola_pose_list
+  - mola_test_datasets
+  - mp2p_icp
+  - mrpt_maps
+  - mrpt_obs
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_relocalization/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
@@ -15848,21 +16379,42 @@ mola_test_datasets:
   url: https://github.com/ros2-gbp/mola_test_datasets-release.git
   version: 0.5.0
 mola_traj_tools:
+  dependencies:
+  - mola_common
+  - mrpt_poses
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_traj_tools/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
   version: 3.3.1
 mola_viz:
+  dependencies:
+  - mola_kernel
+  - mrpt_gui
+  - mrpt_maps
+  - mrpt_opengl
+  - mrpt_viz
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_viz/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
   version: 3.3.1
 mola_viz_imgui:
+  dependencies:
+  - mola_kernel
+  - mrpt_gui
+  - mrpt_imgui
+  - mrpt_maps
+  - mrpt_obs
+  - mrpt_opengl
+  - mrpt_viz
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_viz_imgui/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
   version: 3.3.1
 mola_yaml:
+  dependencies:
+  - mola_common
+  - mrpt_containers
+  - mrpt_system
   repository: https://github.com/MOLAorg/mola
   tag: release/jazzy/mola_yaml/3.3.1-1
   url: https://github.com/ros2-gbp/mola-release.git
@@ -15895,6 +16447,21 @@ motion_capture_tracking_interfaces:
   url: https://github.com/ros2-gbp/motion_capture_tracking-release.git
   version: 1.0.9
 motion_primitives_controllers:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/motion_primitives_controllers/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -16898,56 +17465,97 @@ mrpt_apps:
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
   version: 2.15.21
 mrpt_apps_cli:
+  dependencies:
+  - mrpt_common
+  - mrpt_libapps_cli
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_apps_cli/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_apps_gui:
+  dependencies:
+  - mrpt_common
+  - mrpt_graphslam
+  - mrpt_kinematics
+  - mrpt_libapps_gui
+  - mrpt_nav
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_apps_gui/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_bayes:
+  dependencies:
+  - mrpt_common
+  - mrpt_config
+  - mrpt_math
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_bayes/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_common:
+  dependencies: []
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_common/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_comms:
+  dependencies:
+  - mrpt_common
+  - mrpt_io
+  - mrpt_poses
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_comms/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_config:
+  dependencies:
+  - mrpt_common
+  - mrpt_expr
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_config/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_containers:
+  dependencies:
+  - mrpt_common
+  - mrpt_core
+  - mrpt_typemeta
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_containers/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_core:
+  dependencies:
+  - mrpt_common
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_core/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_data:
+  dependencies: []
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_data/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_examples_cpp:
+  dependencies:
+  - mrpt_common
+  - mrpt_data
+  - mrpt_graphslam
+  - mrpt_gui
+  - mrpt_imgui
+  - mrpt_imgui_vendor
+  - mrpt_libapps_cli
+  - mrpt_libapps_gui
+  - mrpt_nav
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_examples_cpp/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_expr:
+  dependencies:
+  - mrpt_common
+  - mrpt_system
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_expr/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -16971,46 +17579,76 @@ mrpt_generic_sensor:
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.4.0
 mrpt_graphs:
+  dependencies:
+  - mrpt_common
+  - mrpt_io
+  - mrpt_poses
+  - mrpt_viz
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_graphs/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_graphslam:
+  dependencies:
+  - mrpt_gui
+  - mrpt_slam
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_graphslam/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_gui:
+  dependencies:
+  - mrpt_opengl
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_gui/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_hwdrivers:
+  dependencies:
+  - mrpt_comms
+  - mrpt_maps
+  - mrpt_viz
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_hwdrivers/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_img:
+  dependencies:
+  - mrpt_common
+  - mrpt_config
+  - mrpt_io
+  - mrpt_math
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_img/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_imgui:
+  dependencies:
+  - mrpt_opengl
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_imgui/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_imgui_vendor:
+  dependencies:
+  - mrpt_common
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_imgui_vendor/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_io:
+  dependencies:
+  - mrpt_common
+  - mrpt_serialization
+  - mrpt_system
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_io/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_kinematics:
+  dependencies:
+  - mrpt_common
+  - mrpt_viz
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_kinematics/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -17027,11 +17665,18 @@ mrpt_libapps:
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
   version: 2.15.21
 mrpt_libapps_cli:
+  dependencies:
+  - mrpt_hwdrivers
+  - mrpt_slam
+  - mrpt_topography
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_libapps_cli/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_libapps_gui:
+  dependencies:
+  - mrpt_gui
+  - mrpt_libapps_cli
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_libapps_gui/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -17162,11 +17807,21 @@ mrpt_map_server:
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.6.0
 mrpt_maps:
+  dependencies:
+  - mrpt_graphs
+  - mrpt_obs
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_maps/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_math:
+  dependencies:
+  - mrpt_common
+  - mrpt_io
+  - mrpt_random
+  - mrpt_serialization
+  - mrpt_system
+  - nanoflann_vendor
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_math/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -17207,6 +17862,10 @@ mrpt_msgs_bridge:
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.6.0
 mrpt_nav:
+  dependencies:
+  - mrpt_kinematics
+  - mrpt_maps
+  - mrpt_viz
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_nav/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -17243,11 +17902,19 @@ mrpt_navigation:
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.6.0
 mrpt_obs:
+  dependencies:
+  - mrpt_common
+  - mrpt_tfest
+  - mrpt_viz
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_obs/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_opengl:
+  dependencies:
+  - mrpt_img
+  - mrpt_poses
+  - mrpt_viz
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_opengl/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -17330,11 +17997,17 @@ mrpt_pointcloud_pipeline:
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.6.0
 mrpt_poses:
+  dependencies:
+  - mrpt_bayes
+  - mrpt_common
+  - mrpt_io
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_poses/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_random:
+  dependencies:
+  - mrpt_common
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_random/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -17365,6 +18038,10 @@ mrpt_reactivenav2d:
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.6.0
 mrpt_rtti:
+  dependencies:
+  - mrpt_common
+  - mrpt_core
+  - mrpt_typemeta
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_rtti/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -17468,26 +18145,41 @@ mrpt_sensors:
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.4.0
 mrpt_serialization:
+  dependencies:
+  - mrpt_common
+  - mrpt_rtti
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_serialization/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_slam:
+  dependencies:
+  - mrpt_maps
+  - mrpt_topography
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_slam/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_system:
+  dependencies:
+  - mrpt_common
+  - mrpt_containers
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_system/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_tfest:
+  dependencies:
+  - mrpt_common
+  - mrpt_poses
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_tfest/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_topography:
+  dependencies:
+  - mrpt_common
+  - mrpt_math
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_topography/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -17561,11 +18253,17 @@ mrpt_tutorials:
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.6.0
 mrpt_typemeta:
+  dependencies:
+  - mrpt_common
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_typemeta/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
   version: 3.4.0
 mrpt_viz:
+  dependencies:
+  - mrpt_common
+  - mrpt_img
+  - mrpt_poses
   repository: https://github.com/MRPT/mrpt
   tag: release/jazzy/mrpt_viz/3.4.0-1
   url: https://github.com/ros2-gbp/mrpt3-release.git
@@ -17742,6 +18440,26 @@ multisensor_calibration_interface:
   url: https://github.com/ros2-gbp/multisensor_calibration-release.git
   version: 2.1.0
 mvsim:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_common
+  - mrpt_gui
+  - mrpt_libros_bridge
+  - mrpt_maps
+  - mrpt_tfest
+  - mrpt_topography
+  - nav_msgs
+  - ros2launch
+  - ros_environment
+  - sensor_msgs
+  - stereo_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - visualization_msgs
   repository: https://github.com/MRPT/mvsim
   tag: release/jazzy/mvsim/1.6.0-1
   url: https://github.com/ros2-gbp/mvsim-release.git
@@ -19989,6 +20707,23 @@ om_spring_actuator_controller:
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.3
 omni_wheel_drive_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2
+  - tf2_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/omni_wheel_drive_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -20469,6 +21204,22 @@ pangolin:
   url: https://github.com/ros2-gbp/Pangolin-release.git
   version: 0.9.6
 parallel_gripper_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/parallel_gripper_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -20489,6 +21240,13 @@ parameter_expression:
   url: https://github.com/ros2-gbp/parameter_expression-release.git
   version: 0.0.2
 parameter_traits:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - rclcpp
+  - rsl
+  - tcb_span
+  - tl_expected
   repository: https://github.com/PickNikRobotics/generate_parameter_library
   tag: release/jazzy/parameter_traits/0.7.7-1
   url: https://github.com/ros2-gbp/generate_parameter_library-release.git
@@ -20914,6 +21672,25 @@ picknik_twist_controller:
   url: https://github.com/ros2-gbp/picknik_controllers-release.git
   version: 0.0.4
 pid_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - angles
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/pid_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -21601,6 +22378,22 @@ popf:
   url: https://github.com/ros2-gbp/popf-release.git
   version: 0.1.0
 pose_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/pose_broadcaster/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -21647,6 +22440,19 @@ posedetection_msgs:
   url: https://github.com/tork-a/jsk_common_msgs-release.git
   version: 5.0.2
 position_controllers:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - forward_command_controller
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/position_controllers/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -22161,6 +22967,22 @@ random_numbers:
   url: https://github.com/ros2-gbp/random_numbers-release.git
   version: 2.0.5
 range_sensor_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/range_sensor_broadcaster/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -24619,6 +25441,16 @@ robstride_ros2_control:
   url: https://github.com/ros2-gbp/robstride_ros2-release.git
   version: 0.2.0
 ros2_control:
+  dependencies:
+  - ament_cmake
+  - controller_interface
+  - controller_manager
+  - controller_manager_msgs
+  - hardware_interface
+  - joint_limits
+  - ros2_control_test_assets
+  - ros2controlcli
+  - transmission_interface
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/ros2_control/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
@@ -24633,16 +25465,55 @@ ros2_control_cmake:
   url: https://github.com/ros2-gbp/ros2_control_cmake-release.git
   version: 0.4.0
 ros2_control_test_assets:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/ros2_control_test_assets/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
   version: 4.49.0
 ros2_controllers:
+  dependencies:
+  - ackermann_steering_controller
+  - admittance_controller
+  - ament_cmake
+  - battery_state_broadcaster
+  - bicycle_steering_controller
+  - chained_filter_controller
+  - diff_drive_controller
+  - effort_controllers
+  - force_torque_sensor_broadcaster
+  - forward_command_controller
+  - gpio_controllers
+  - gps_sensor_broadcaster
+  - gripper_controllers
+  - imu_sensor_broadcaster
+  - joint_state_broadcaster
+  - joint_trajectory_controller
+  - magnetometer_broadcaster
+  - mecanum_drive_controller
+  - omni_wheel_drive_controller
+  - parallel_gripper_controller
+  - pid_controller
+  - pose_broadcaster
+  - position_controllers
+  - range_sensor_broadcaster
+  - state_interfaces_broadcaster
+  - steering_controllers_library
+  - tricycle_controller
+  - tricycle_steering_controller
+  - velocity_controllers
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/ros2_controllers/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
   version: 4.43.0
 ros2_controllers_test_nodes:
+  dependencies:
+  - launch_ros
+  - launch_testing_ros
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  - trajectory_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/ros2_controllers_test_nodes/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -25210,6 +26081,15 @@ ros2component:
   url: https://github.com/ros2-gbp/ros2cli-release.git
   version: 0.32.13
 ros2controlcli:
+  dependencies:
+  - controller_manager
+  - controller_manager_msgs
+  - rcl_interfaces
+  - rclpy
+  - ros2cli
+  - ros2node
+  - ros2param
+  - rosidl_runtime_py
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/ros2controlcli/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
@@ -27221,6 +28101,25 @@ rot_conv:
   url: https://github.com/ros2-gbp/rot_conv_lib-release.git
   version: 1.1.0
 rplidar_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - diagnostic_updater
+  - geometry_msgs
+  - launch_ros
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
   repository: https://github.com/frozenreboot/rplidar_driver
   tag: release/jazzy/rplidar_driver/1.4.2-1
   url: https://github.com/ros2-gbp/rplidar_driver-release.git
@@ -27383,6 +28282,14 @@ rqt_console:
   url: https://github.com/ros2-gbp/rqt_console-release.git
   version: 2.2.2
 rqt_controller_manager:
+  dependencies:
+  - controller_manager
+  - controller_manager_msgs
+  - launch_testing
+  - launch_testing_ros
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/rqt_controller_manager/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
@@ -27510,6 +28417,17 @@ rqt_image_view:
   url: https://github.com/ros2-gbp/rqt_image_view-release.git
   version: 1.3.0
 rqt_joint_trajectory_controller:
+  dependencies:
+  - control_msgs
+  - controller_manager_msgs
+  - launch_testing
+  - launch_testing_ros
+  - python_qt_binding
+  - qt_gui
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  - trajectory_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/rqt_joint_trajectory_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -28126,6 +29044,23 @@ rtcm_msgs:
   url: https://github.com/ros2-gbp/rtcm_msgs-release.git
   version: 1.1.6
 rtest:
+  dependencies:
+  - action_msgs
+  - ament_clang_tidy
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_gmock
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rcl
+  - rcl_action
+  - rclcpp
+  - rclcpp_action
+  - ros_environment
+  - std_msgs
+  - std_srvs
   repository: https://github.com/Beam-and-Spyrosoft/rtest
   tag: release/jazzy/rtest/0.2.5-1
   url: https://github.com/ros2-gbp/rtest-release.git
@@ -29487,6 +30422,21 @@ sros2_cmake:
   url: https://github.com/ros2-gbp/sros2-release.git
   version: 0.13.6
 state_interfaces_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/state_interfaces_broadcaster/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -29524,6 +30474,28 @@ std_srvs:
   url: https://github.com/ros2-gbp/common_interfaces-release.git
   version: 5.3.8
 steering_controllers_library:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/steering_controllers_library/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -30331,866 +31303,1966 @@ tlsf_cpp:
   url: https://github.com/ros2-gbp/realtime_support-release.git
   version: 0.17.1
 tobas:
+  dependencies:
+  - ament_cmake
+  - tobas_core
+  - tobas_examples
+  - tobas_external
+  - tobas_gui
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_actuator_test:
+  dependencies:
+  - ament_cmake
+  - tobas_dparam_client
+  - tobas_drone_core
+  - tobas_gui_common
+  - tobas_qt_tools
+  - tobas_rqt_bridge
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_actuator_test/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_algorithm:
+  dependencies:
+  - ament_cmake
+  - tobas_math
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_algorithm/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_bootmedia_config:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - magic_enum
+  - tobas_constants
+  - tobas_crypt
+  - tobas_gui_common
+  - tobas_inja_vendor
+  - tobas_path_tools
+  - tobas_qt_tools
+  - tobas_ssh_authkey
+  - tobas_udev
+  - tobas_wpa_supplicant
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_bootmedia_config/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_camera:
+  dependencies:
+  - ament_cmake
+  - tobas_camera_msgs
+  - tobas_camera_ros_interface
+  - tobas_image_processing
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_camera/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_camera_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_camera_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_camera_ros_interface:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_camera_ros_interface/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_code_style:
+  dependencies:
+  - ament_cmake
+  - tobas_cpp_code_style_example
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_code_style/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_colcon_cpp:
+  dependencies:
+  - ament_cmake
+  - tobas_linux
+  - tobas_ros2_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_colcon_cpp/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_command_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - tobas_kdl_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_command_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_command_msgs_adapter:
+  dependencies:
+  - ament_cmake
+  - tobas_command_msgs
+  - tobas_kdl_msgs_adapter
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_command_msgs_adapter/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_common:
+  dependencies:
+  - ament_cmake
+  - tobas_algorithm
+  - tobas_control
+  - tobas_dsp
+  - tobas_eigen_conversions
+  - tobas_eigen_msgs
+  - tobas_eigen_msgs_adapter
+  - tobas_eigen_tools
+  - tobas_geographic
+  - tobas_ic_drivers
+  - tobas_ic_drivers_ros
+  - tobas_kdl
+  - tobas_kdl_conversions
+  - tobas_kdl_msgs
+  - tobas_kdl_msgs_adapter
+  - tobas_linux
+  - tobas_math
+  - tobas_nlp
+  - tobas_path_tools
+  - tobas_quadprog
+  - tobas_ros2_tools
+  - tobas_std_msgs
+  - tobas_std_msgs_adapter
+  - tobas_std_tools
+  - tobas_string_tools
+  - tobas_time_tools
+  - tobas_trajectory_generation
+  - tobas_urdf
+  - tobas_xml_tools
+  - tobas_yaml_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_common/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_components_rt:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  - rclcpp_components
+  - tobas_linux
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_components_rt/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_config_servers:
+  dependencies:
+  - ament_cmake
+  - tobas_constants
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_config_servers/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_connection_monitor:
+  dependencies:
+  - ament_cmake
+  - tobas_constants
+  - tobas_msgs
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_connection_monitor/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_constants:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_constants/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_control:
+  dependencies:
+  - ament_cmake
+  - tobas_quadprog
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_control/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_control_system:
+  dependencies:
+  - ament_cmake
+  - magic_enum
+  - tobas_constants
+  - tobas_drone_core
+  - tobas_geographic
+  - tobas_gui_common
+  - tobas_mission_msgs_adapter
+  - tobas_msgs_adapter
+  - tobas_path_tools
+  - tobas_property_client
+  - tobas_qt_tools
+  - tobas_ros2_tools
+  - tobas_rqt_bridge
+  - tobas_trajectory_generation
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_control_system/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_controllers:
+  dependencies:
+  - ament_cmake
+  - tobas_fixed_wing_controller
+  - tobas_nonplanar_multi_controller
+  - tobas_planar_multi_controller
+  - tobas_random_axis_tilt_multi_controller
+  - tobas_y_axis_tilt_multi_controller
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_controllers/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_core:
+  dependencies:
+  - ament_cmake
+  - tobas_camera
+  - tobas_command_msgs
+  - tobas_command_msgs_adapter
+  - tobas_common
+  - tobas_components_rt
+  - tobas_config_servers
+  - tobas_connection_monitor
+  - tobas_constants
+  - tobas_controllers
+  - tobas_cui
+  - tobas_debug_msgs
+  - tobas_debug_msgs_adapter
+  - tobas_debug_tools
+  - tobas_description
+  - tobas_disturbance_observer
+  - tobas_dparam
+  - tobas_drone
+  - tobas_dummy_pkg
+  - tobas_eskf
+  - tobas_failsafe
+  - tobas_fake_publishers
+  - tobas_hardware
+  - tobas_joint_states_bridge
+  - tobas_landing_detection
+  - tobas_manipulation
+  - tobas_mission
+  - tobas_msgs
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_object_avoidance
+  - tobas_pose_pid
+  - tobas_property
+  - tobas_rc_teleop
+  - tobas_real
+  - tobas_ros_interface
+  - tobas_rosbag_recorder
+  - tobas_rotor_anomaly_detection
+  - tobas_rotor_controller
+  - tobas_tools
+  - tobas_topic_throttle
+  - tobas_tree_server
+  - tobas_version
+  - tobas_vibration_filter
+  - tobas_wind_model
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_core/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_cpp_code_style_example:
+  dependencies:
+  - ament_cmake
+  - launch
+  - launch_ros
+  - mavros_msgs
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  - tobas_math
+  - tobas_msgs_adapter
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_cpp_code_style_example/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_crypt:
+  dependencies:
+  - ament_cmake
+  - tobas_linux
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_crypt/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_cui:
+  dependencies:
+  - ament_cmake
+  - tobas_keyboard
+  - tobas_keyboard_teleop
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_cui/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_cyclonedds_config:
+  dependencies:
+  - ament_cmake
+  - tobas_string_tools
+  - tobas_xml_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_cyclonedds_config/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_debug_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - tobas_eigen_msgs
+  - tobas_kdl_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_debug_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_debug_msgs_adapter:
+  dependencies:
+  - ament_cmake
+  - tobas_debug_msgs
+  - tobas_eigen_msgs_adapter
+  - tobas_kdl_msgs_adapter
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_debug_msgs_adapter/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_debug_tools:
+  dependencies:
+  - ament_cmake
+  - tobas_dsp
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_debug_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_description:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_description/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_disturbance_observer:
+  dependencies:
+  - ament_cmake
+  - tobas_drone_msgs_adapter
+  - tobas_dsp
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_disturbance_observer/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dparam:
+  dependencies:
+  - ament_cmake
+  - tobas_dparam_client
+  - tobas_dparam_common
+  - tobas_dparam_msgs
+  - tobas_dparam_server
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dparam/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dparam_client:
+  dependencies:
+  - ament_cmake
+  - tobas_dparam_common
+  - tobas_dparam_msgs
+  - tobas_path_tools
+  - tobas_ros2_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dparam_client/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dparam_common:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dparam_common/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dparam_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dparam_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dparam_server:
+  dependencies:
+  - ament_cmake
+  - tobas_dparam_common
+  - tobas_dparam_msgs
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dparam_server/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_drone:
+  dependencies:
+  - ament_cmake
+  - tobas_drone_core
+  - tobas_drone_msgs
+  - tobas_drone_msgs_adapter
+  - tobas_drone_server
+  - tobas_drone_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_drone/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_drone_core:
+  dependencies:
+  - ament_cmake
+  - tobas_constants
+  - tobas_kdl
+  - tobas_nlp
+  - tobas_yaml_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_drone_core/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_drone_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - tobas_kdl_msgs
+  - tobas_std_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_drone_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_drone_msgs_adapter:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - tobas_drone_core
+  - tobas_drone_msgs
+  - tobas_kdl_msgs_adapter
+  - tobas_std_msgs_adapter
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_drone_msgs_adapter/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_drone_server:
+  dependencies:
+  - ament_cmake
+  - tobas_drone_msgs_adapter
+  - tobas_msgs
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_drone_server/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_drone_tools:
+  dependencies:
+  - ament_cmake
+  - tobas_drone_core
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_drone_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dsp:
+  dependencies:
+  - ament_cmake
+  - tobas_eigen_tools
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dsp/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dummy_pkg:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  - rclcpp_components
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dummy_pkg/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dynamixel:
+  dependencies:
+  - ament_cmake
+  - tobas_dynamixel_handler
+  - tobas_dynamixel_msgs
+  - tobas_dynamixel_ros_interface
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dynamixel/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dynamixel_handler:
+  dependencies:
+  - ament_cmake
+  - dynamixel_sdk
+  - std_srvs
+  - tobas_dynamixel_msgs
+  - tobas_dynamixel_ros_interface
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dynamixel_handler/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dynamixel_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dynamixel_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_dynamixel_ros_interface:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_dynamixel_ros_interface/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_eigen_conversions:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_eigen_conversions/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_eigen_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_eigen_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_eigen_msgs_adapter:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - tobas_eigen_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_eigen_msgs_adapter/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_eigen_tools:
+  dependencies:
+  - ament_cmake
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_eigen_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_eskf:
+  dependencies:
+  - ament_cmake
+  - tobas_debug_msgs_adapter
+  - tobas_eigen_tools
+  - tobas_geographic
+  - tobas_kdl_conversions
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_eskf/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_examples:
+  dependencies:
+  - ament_cmake
+  - tobas_code_style
+  - tobas_examples_cpp
+  - tobas_examples_py
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_examples/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_examples_cpp:
+  dependencies:
+  - ament_cmake
+  - tobas_command_msgs
+  - tobas_constants
+  - tobas_mission_items
+  - tobas_mission_msgs
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_examples_cpp/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_examples_py:
+  dependencies:
+  - rclpy
+  - tobas_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_examples_py/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_external:
+  dependencies:
+  - ament_cmake
+  - tobas_inja_vendor
+  - tobas_rapidcsv_vendor
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_external/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_failsafe:
+  dependencies:
+  - ament_cmake
+  - tobas_drone_msgs_adapter
+  - tobas_dsp
+  - tobas_mission_items
+  - tobas_mission_msgs
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_failsafe/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fake_publishers:
+  dependencies:
+  - ament_cmake
+  - tobas_constants
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fake_publishers/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fc1xx:
+  dependencies:
+  - ament_cmake
+  - tobas_fc1xx_core
+  - tobas_fc1xx_ros
+  - tobas_fc1xx_test
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fc1xx/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fc1xx_core:
+  dependencies:
+  - ament_cmake
+  - tobas_linux
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fc1xx_core/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fc1xx_ros:
+  dependencies:
+  - ament_cmake
+  - launch
+  - launch_ros
+  - tobas_drone_msgs_adapter
+  - tobas_dsp
+  - tobas_fc1xx_core
+  - tobas_hardware_common
+  - tobas_ic_drivers
+  - tobas_msgs_adapter
+  - tobas_real_common
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fc1xx_ros/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fc1xx_test:
+  dependencies:
+  - ament_cmake
+  - tobas_fc1xx_core
+  - tobas_ic_drivers
+  - tobas_sbus_driver
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fc1xx_test/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fc2xx:
+  dependencies:
+  - ament_cmake
+  - tobas_fc2xx_core
+  - tobas_fc2xx_ros
+  - tobas_fc2xx_test
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fc2xx/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fc2xx_core:
+  dependencies:
+  - ament_cmake
+  - tobas_algorithm
+  - tobas_linux
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fc2xx_core/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fc2xx_ros:
+  dependencies:
+  - ament_cmake
+  - launch
+  - launch_ros
+  - tobas_drone_msgs_adapter
+  - tobas_fc2xx_core
+  - tobas_ic_drivers
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_real_common
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fc2xx_ros/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fc2xx_test:
+  dependencies:
+  - ament_cmake
+  - tobas_fc2xx_core
+  - tobas_ic_drivers
+  - tobas_sbus_driver
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fc2xx_test/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_fixed_wing_controller:
+  dependencies:
+  - ament_cmake
+  - tobas_control
+  - tobas_debug_msgs_adapter
+  - tobas_drone_msgs_adapter
+  - tobas_drone_tools
+  - tobas_node
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_fixed_wing_controller/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_flight_log_gui:
+  dependencies:
+  - ament_cmake
+  - tobas_debug_msgs
+  - tobas_gui_common
+  - tobas_kdl
+  - tobas_msgs
+  - tobas_property_client
+  - tobas_qt_tools
+  - tobas_qwt_wrapper
+  - tobas_ros2_tools
+  - tobas_rqt_bridge
+  - tobas_string_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_flight_log_gui/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gamepad:
+  dependencies:
+  - ament_cmake
+  - tobas_gamepad_core
+  - tobas_gamepad_ros
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gamepad/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gamepad_core:
+  dependencies:
+  - ament_cmake
+  - magic_enum
+  - tobas_constants
+  - tobas_math
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gamepad_core/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gamepad_ros:
+  dependencies:
+  - ament_cmake
+  - tobas_constants
+  - tobas_gamepad_core
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gamepad_ros/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gazebo:
+  dependencies:
+  - ament_cmake
+  - tobas_gazebo_common
+  - tobas_gazebo_conversions
+  - tobas_gazebo_gui_plugins
+  - tobas_gazebo_msgs
+  - tobas_gazebo_ros
+  - tobas_gazebo_sim
+  - tobas_gazebo_system_plugins
+  - tobas_gazebo_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gazebo/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gazebo_common:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gazebo_common/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gazebo_conversions:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - gz_math_vendor
+  - gz_msgs_vendor
+  - tobas_kdl
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gazebo_conversions/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gazebo_gui_plugins:
+  dependencies:
+  - ament_cmake
+  - gz_plugin_vendor
+  - gz_sim_vendor
+  - tobas_gazebo_common
+  - tobas_gazebo_conversions
+  - tobas_gazebo_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gazebo_gui_plugins/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gazebo_msgs:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gazebo_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gazebo_ros:
+  dependencies:
+  - ament_cmake
+  - tobas_drone_msgs_adapter
+  - tobas_gazebo_common
+  - tobas_gazebo_msgs
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gazebo_ros/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gazebo_sim:
+  dependencies:
+  - ament_cmake
+  - gz_sim_vendor
+  - ros_gz
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gazebo_sim/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gazebo_system_plugins:
+  dependencies:
+  - ament_cmake
+  - gz_plugin_vendor
+  - gz_sim_vendor
+  - sensor_msgs
+  - std_srvs
+  - tobas_drone_tools
+  - tobas_dsp
+  - tobas_gazebo_common
+  - tobas_gazebo_conversions
+  - tobas_gazebo_msgs
+  - tobas_gazebo_tools
+  - tobas_geographic
+  - tobas_msgs_adapter
+  - tobas_nlp
+  - tobas_node
+  - tobas_tools
+  - tobas_wind_model
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gazebo_system_plugins/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gazebo_tools:
+  dependencies:
+  - ament_cmake
+  - gz_sim_vendor
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gazebo_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gcs:
+  dependencies:
+  - ament_cmake
+  - launch
+  - launch_ros
+  - rmw_cyclonedds_cpp
+  - tobas_actuator_test
+  - tobas_connection_monitor
+  - tobas_control_system
+  - tobas_cyclonedds_config
+  - tobas_flight_log_gui
+  - tobas_gazebo_sim
+  - tobas_parameter_tuning
+  - tobas_property_server
+  - tobas_sensor_calibration
+  - tobas_simulation_gui
+  - tobas_ssh_server
+  - tobas_tile_proxy
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gcs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_geographic:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_geographic/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_git:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_git/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gui:
+  dependencies:
+  - ament_cmake
+  - tobas_actuator_test
+  - tobas_bootmedia_config
+  - tobas_colcon_cpp
+  - tobas_control_system
+  - tobas_crypt
+  - tobas_cyclonedds_config
+  - tobas_flight_log_gui
+  - tobas_gamepad
+  - tobas_gazebo
+  - tobas_gcs
+  - tobas_git
+  - tobas_gui_common
+  - tobas_parameter_tuning
+  - tobas_qt_tools
+  - tobas_qwt_wrapper
+  - tobas_rviz_plugin
+  - tobas_rviz_wrapper
+  - tobas_sensor_calibration
+  - tobas_setup_assistant
+  - tobas_simulation_gui
+  - tobas_ssh
+  - tobas_tile_proxy
+  - tobas_uadf
+  - tobas_udev
+  - tobas_urdf_builder
+  - tobas_urdf_builder_plugin
+  - tobas_visualization_msgs
+  - tobas_wpa_supplicant
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gui/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_gui_common:
+  dependencies:
+  - ament_cmake
+  - tobas_colcon_cpp
+  - tobas_constants
+  - tobas_linux
+  - tobas_qt_tools
+  - tobas_ssh_client
+  - tobas_std_tools
+  - tobas_version
+  - tobas_yaml_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_gui_common/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_hardware:
+  dependencies:
+  - ament_cmake
+  - tobas_fc1xx
+  - tobas_fc2xx
+  - tobas_hardware_common
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_hardware/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_hardware_common:
+  dependencies:
+  - ament_cmake
+  - std_srvs
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_hardware_common/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_ic_drivers:
+  dependencies:
+  - ament_cmake
+  - tobas_linux
+  - tobas_time_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_ic_drivers/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_ic_drivers_ros:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_components
+  - tobas_ic_drivers
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_ic_drivers_ros/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_image_processing:
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  - ffmpeg_encoder_decoder
+  - ffmpeg_image_transport_msgs
+  - launch
+  - launch_ros
+  - sensor_msgs
+  - tobas_camera_msgs
+  - tobas_camera_ros_interface
+  - tobas_ic_drivers
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_image_processing/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_inja_vendor:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_inja_vendor/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_joint_states_bridge:
+  dependencies:
+  - ament_cmake
+  - sensor_msgs
+  - tobas_constants
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_joint_states_bridge/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_kdl:
+  dependencies:
+  - ament_cmake
+  - tobas_eigen_tools
+  - tobas_math
+  - tobas_quadprog
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_kdl/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_kdl_conversions:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - tobas_kdl
+  - urdf
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_kdl_conversions/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_kdl_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - tobas_eigen_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_kdl_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_kdl_msgs_adapter:
+  dependencies:
+  - ament_cmake
+  - tobas_eigen_msgs_adapter
+  - tobas_eigen_tools
+  - tobas_kdl
+  - tobas_kdl_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_kdl_msgs_adapter/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_kdl_parser:
+  dependencies:
+  - ament_cmake
+  - tobas_kdl_conversions
+  - tobas_urdf
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_kdl_parser/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_keyboard:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_keyboard/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_keyboard_teleop:
+  dependencies:
+  - ament_cmake
+  - tobas_command_msgs_adapter
+  - tobas_keyboard
+  - tobas_mission_items
+  - tobas_mission_msgs
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_keyboard_teleop/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_landing_detection:
+  dependencies:
+  - ament_cmake
+  - tobas_dsp
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_landing_detection/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_linux:
+  dependencies:
+  - ament_cmake
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_linux/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_manipulation:
+  dependencies:
+  - ament_cmake
+  - tobas_drone_msgs_adapter
+  - tobas_kdl_conversions
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_manipulation/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_math:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_math/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_mission:
+  dependencies:
+  - ament_cmake
+  - tobas_mission_execution_mc
+  - tobas_mission_items
+  - tobas_mission_msgs
+  - tobas_mission_msgs_adapter
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_mission/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_mission_execution_mc:
+  dependencies:
+  - ament_cmake
+  - tobas_command_msgs_adapter
+  - tobas_geographic
+  - tobas_mission_items
+  - tobas_mission_msgs
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_trajectory_generation
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_mission_execution_mc/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_mission_items:
+  dependencies:
+  - ament_cmake
+  - tobas_std_tools
+  - tobas_yaml_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_mission_items/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_mission_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_mission_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_mission_msgs_adapter:
+  dependencies:
+  - ament_cmake
+  - tobas_mission_items
+  - tobas_mission_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_mission_msgs_adapter/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_msgs:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - tobas_eigen_msgs
+  - tobas_kdl_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_msgs_adapter:
+  dependencies:
+  - ament_cmake
+  - tobas_constants
+  - tobas_eigen_msgs_adapter
+  - tobas_kdl_msgs_adapter
+  - tobas_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_msgs_adapter/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_nlp:
+  dependencies:
+  - ament_cmake
+  - tobas_quadprog
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_nlp/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_node:
+  dependencies:
+  - ament_cmake
+  - rclcpp_components
+  - tobas_constants
+  - tobas_dparam_msgs
+  - tobas_msgs
+  - tobas_ros2_tools
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_node/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_nonplanar_multi_controller:
+  dependencies:
+  - ament_cmake
+  - tobas_debug_msgs_adapter
+  - tobas_drone_msgs_adapter
+  - tobas_drone_tools
+  - tobas_node
+  - tobas_pose_pid
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_nonplanar_multi_controller/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_object_avoidance:
+  dependencies:
+  - ament_cmake
+  - octomap
+  - octomap_msgs
+  - tobas_constants
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_object_avoidance/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_parameter_tuning:
+  dependencies:
+  - ament_cmake
+  - tobas_dparam_client
+  - tobas_drone_core
+  - tobas_gui_common
+  - tobas_qt_tools
+  - tobas_ros2_tools
+  - tobas_ssh_client
+  - tobas_string_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_parameter_tuning/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_path_tools:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_path_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_planar_multi_controller:
+  dependencies:
+  - ament_cmake
+  - tobas_debug_msgs_adapter
+  - tobas_drone_msgs_adapter
+  - tobas_drone_tools
+  - tobas_node
+  - tobas_tools
+  - tobas_trajectory_generation
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_planar_multi_controller/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_pose_pid:
+  dependencies:
+  - ament_cmake
+  - tobas_kdl
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_pose_pid/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_property:
+  dependencies:
+  - ament_cmake
+  - tobas_property_client
+  - tobas_property_common
+  - tobas_property_msgs
+  - tobas_property_server
+  - tobas_property_tree
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_property/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_property_client:
+  dependencies:
+  - ament_cmake
+  - std_srvs
+  - tobas_property_common
+  - tobas_property_msgs
+  - tobas_ros2_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_property_client/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_property_common:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_property_common/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_property_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_property_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_property_server:
+  dependencies:
+  - ament_cmake
+  - std_srvs
+  - tobas_node
+  - tobas_path_tools
+  - tobas_property_common
+  - tobas_property_msgs
+  - tobas_property_tree
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_property_server/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_property_tree:
+  dependencies:
+  - ament_cmake
+  - tobas_path_tools
+  - tobas_property_common
+  - tobas_property_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_property_tree/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_qt_tools:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - tobas_math
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_qt_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_quadprog:
+  dependencies:
+  - ament_cmake
+  - tobas_eigen_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_quadprog/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_qwt_wrapper:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_qwt_wrapper/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_random_axis_tilt_multi_controller:
+  dependencies:
+  - ament_cmake
+  - tobas_debug_msgs_adapter
+  - tobas_drone_msgs_adapter
+  - tobas_drone_tools
+  - tobas_nlp
+  - tobas_node
+  - tobas_nonplanar_multi_controller
+  - tobas_pose_pid
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_random_axis_tilt_multi_controller/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_rapidcsv_vendor:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_rapidcsv_vendor/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_rc_teleop:
+  dependencies:
+  - ament_cmake
+  - magic_enum
+  - tobas_command_msgs_adapter
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_path_tools
+  - tobas_ros2_tools
+  - tobas_trajectory_generation
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_rc_teleop/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_real:
+  dependencies:
+  - ament_cmake
+  - tobas_dynamixel
+  - tobas_real_common
+  - tobas_real_msgs
+  - tobas_real_ros
+  - tobas_sbus_driver
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_real/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_real_common:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_real_common/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_real_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_real_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_real_ros:
+  dependencies:
+  - ament_cmake
+  - magic_enum
+  - sensor_msgs
+  - tobas_drone_msgs_adapter
+  - tobas_dsp
+  - tobas_linux
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_property_tree
+  - tobas_real_common
+  - tobas_real_msgs
+  - tobas_string_tools
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_real_ros/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_ros2_tools:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  - ros2launch
+  - rosbag2_cpp
+  - tf2_ros
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_ros2_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_ros_interface:
+  dependencies:
+  - ament_cmake
+  - std_srvs
+  - tobas_drone_msgs
+  - tobas_mission_msgs
+  - tobas_msgs
+  - tobas_node
+  - tobas_real_common
+  - tobas_real_msgs
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_ros_interface/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_rosbag_recorder:
+  dependencies:
+  - ament_cmake
+  - rosbag2_cpp
+  - std_srvs
+  - tobas_command_msgs_adapter
+  - tobas_debug_msgs_adapter
+  - tobas_drone_msgs_adapter
+  - tobas_linux
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_path_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_rosbag_recorder/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_rotor_anomaly_detection:
+  dependencies:
+  - ament_cmake
+  - std_srvs
+  - tobas_drone_msgs_adapter
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_rotor_anomaly_detection/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_rotor_controller:
+  dependencies:
+  - ament_cmake
+  - std_srvs
+  - tobas_drone_msgs_adapter
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_rotor_controller/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_rqt_bridge:
+  dependencies:
+  - ament_cmake
+  - tobas_constants
+  - tobas_msgs_adapter
+  - tobas_path_tools
+  - tobas_real_common
+  - tobas_ros2_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_rqt_bridge/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_rviz_plugin:
+  dependencies:
+  - ament_cmake
+  - rsl
+  - rviz_common
+  - rviz_default_plugins
+  - tf2_eigen
+  - tobas_visualization_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_rviz_plugin/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_rviz_wrapper:
+  dependencies:
+  - ament_cmake
+  - rviz_common
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_rviz_wrapper/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_sbus_driver:
+  dependencies:
+  - ament_cmake
+  - tobas_linux
+  - tobas_msgs
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_sbus_driver/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_sensor_calibration:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - sensor_msgs
+  - tobas_drone_core
+  - tobas_eigen_conversions
+  - tobas_geographic
+  - tobas_gui_common
+  - tobas_kdl_conversions
+  - tobas_property_tree
+  - tobas_qt_tools
+  - tobas_real_common
+  - tobas_real_msgs
+  - tobas_rqt_bridge
+  - tobas_rviz_wrapper
+  - tobas_time_tools
+  - visualization_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_sensor_calibration/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_setup_assistant:
+  dependencies:
+  - ament_cmake
+  - hardware_interface
+  - launch
+  - launch_ros
+  - magic_enum
+  - robot_state_publisher
+  - sensor_msgs
+  - tobas_drone_msgs_adapter
+  - tobas_git
+  - tobas_gui_common
+  - tobas_inja_vendor
+  - tobas_kdl_parser
+  - tobas_path_tools
+  - tobas_property_client
+  - tobas_property_server
+  - tobas_qt_tools
+  - tobas_rapidcsv_vendor
+  - tobas_ros2_tools
+  - tobas_rviz_plugin
+  - tobas_rviz_wrapper
+  - tobas_string_tools
+  - tobas_uadf
+  - tobas_urdf
+  - tobas_visualization_msgs
+  - tobas_xml_tools
+  - visualization_msgs
+  - xacro
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_setup_assistant/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_simulation_gui:
+  dependencies:
+  - ament_cmake
+  - tobas_command_msgs_adapter
+  - tobas_drone_core
+  - tobas_eigen_conversions
+  - tobas_gazebo_common
+  - tobas_gazebo_msgs
+  - tobas_gazebo_tools
+  - tobas_gui_common
+  - tobas_kdl_parser
+  - tobas_msgs_adapter
+  - tobas_property_client
+  - tobas_qt_tools
+  - tobas_ros2_tools
+  - tobas_rqt_bridge
+  - tobas_uadf
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_simulation_gui/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_ssh:
+  dependencies:
+  - ament_cmake
+  - tobas_ssh_authkey
+  - tobas_ssh_client
+  - tobas_ssh_msgs
+  - tobas_ssh_server
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_ssh/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_ssh_authkey:
+  dependencies:
+  - ament_cmake
+  - tobas_string_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_ssh_authkey/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_ssh_client:
+  dependencies:
+  - ament_cmake
+  - tobas_ros2_tools
+  - tobas_ssh_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_ssh_client/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_ssh_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_ssh_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_ssh_server:
+  dependencies:
+  - rclpy
+  - tobas_ssh_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_ssh_server/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_std_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_std_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_std_msgs_adapter:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  - tobas_std_msgs
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_std_msgs_adapter/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_std_tools:
+  dependencies:
+  - ament_cmake
+  - tobas_algorithm
+  - tobas_math
+  - tobas_time_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_std_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_string_tools:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_string_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_tile_proxy:
+  dependencies: []
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_tile_proxy/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_time_tools:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_time_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_tools:
+  dependencies:
+  - ament_cmake
+  - tobas_command_msgs_adapter
+  - tobas_constants
+  - tobas_msgs_adapter
+  - tobas_path_tools
+  - tobas_ros2_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_topic_throttle:
+  dependencies:
+  - ament_cmake
+  - tobas_msgs_adapter
+  - tobas_node
+  - tobas_real_common
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_topic_throttle/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_trajectory_generation:
+  dependencies:
+  - ament_cmake
+  - tobas_math
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_trajectory_generation/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_tree_server:
+  dependencies:
+  - ament_cmake
+  - tobas_kdl_msgs_adapter
+  - tobas_kdl_parser
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_tree_server/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_uadf:
+  dependencies:
+  - ament_cmake
+  - tobas_urdf
+  - tobas_xml_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_uadf/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_udev:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_udev/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_urdf:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - tobas_ros2_tools
+  - tobas_string_tools
+  - urdf
+  - urdfdom
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_urdf/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_urdf_builder:
+  dependencies:
+  - ament_cmake
+  - launch
+  - launch_ros
+  - tobas_gui_common
+  - tobas_property_server
+  - tobas_qt_tools
+  - tobas_rviz_wrapper
+  - tobas_urdf_builder_plugin
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_urdf_builder/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_urdf_builder_plugin:
+  dependencies:
+  - ament_cmake
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_rendering
+  - tobas_constants
+  - tobas_property_client
+  - tobas_qt_tools
+  - tobas_ros2_tools
+  - tobas_std_tools
+  - tobas_urdf
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_urdf_builder_plugin/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_version:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_version/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_vibration_filter:
+  dependencies:
+  - ament_cmake
+  - tobas_dsp
+  - tobas_msgs_adapter
+  - tobas_node
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_vibration_filter/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_visualization_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_visualization_msgs/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_wind_model:
+  dependencies:
+  - ament_cmake
+  - tobas_constants
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_wind_model/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_wpa_supplicant:
+  dependencies:
+  - ament_cmake
+  - tobas_string_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_wpa_supplicant/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_xml_tools:
+  dependencies:
+  - ament_cmake
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_xml_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_y_axis_tilt_multi_controller:
+  dependencies:
+  - ament_cmake
+  - tobas_debug_msgs_adapter
+  - tobas_drone_msgs_adapter
+  - tobas_drone_tools
+  - tobas_node
+  - tobas_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_y_axis_tilt_multi_controller/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
   version: 2.16.6
 tobas_yaml_tools:
+  dependencies:
+  - ament_cmake
+  - tobas_math
+  - tobas_std_tools
   repository: https://github.com/TobasFlightControl/tobas
   tag: release/jazzy/tobas_yaml_tools/2.16.6-1
   url: https://github.com/ros2-gbp/tobas-release.git
@@ -31487,16 +33559,64 @@ trajectory_msgs:
   url: https://github.com/ros2-gbp/common_interfaces-release.git
   version: 5.3.8
 transmission_interface:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - hardware_interface
+  - pluginlib
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_control
   tag: release/jazzy/transmission_interface/4.49.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
   version: 4.49.0
 tricycle_controller:
+  dependencies:
+  - ackermann_msgs
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - builtin_interfaces
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - tf2
+  - tf2_msgs
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/tricycle_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
   version: 4.43.0
 tricycle_steering_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - steering_controllers_library
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/tricycle_steering_controller/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -33170,6 +35290,19 @@ vector_pursuit_controller:
   url: https://github.com/ros2-gbp/vector_pursuit_controller-release.git
   version: 2.0.0
 velocity_controllers:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - forward_command_controller
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - ros2_control_cmake
+  - ros2_control_test_assets
   repository: https://github.com/ros-controls/ros2_controllers
   tag: release/jazzy/velocity_controllers/4.43.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
diff --git a/distros/kilted/robostack.yaml b/distros/kilted/robostack.yaml
new file mode 100644
index 000000000..69b32c96e
--- /dev/null
+++ b/distros/kilted/robostack.yaml
@@ -0,0 +1,72 @@
+# kilted: its own rosdep mappings, over shared/robostack.yaml:
+# Qt 5 (kilted's rviz and rqt need Qt5 / PyQt5), and the xtensor its packages were built
+# with. kilted (EOL) isn't built here (no vinca.yaml); this is for pixi-build-ros
+# (robostack-bot sync-pixi-mappings).
+libqt5-core:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-gui:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-websockets-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-widgets:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5x11extras5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+python-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings-gl:
+  robostack: [pyqt, pyqt-builder]
+qt5-image-formats-plugins:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qt5-qmake:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qtbase5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+xtensor:
+  robostack: [xtensor ==0.24.7]
diff --git a/distros/lyrical/patch/dependencies.yaml b/distros/lyrical/patch/dependencies.yaml
deleted file mode 100644
index a785c404f..000000000
--- a/distros/lyrical/patch/dependencies.yaml
+++ /dev/null
@@ -1,208 +0,0 @@
-ament_cmake_ros:
-  # Break the test-only runtime cycle so a new mutex migration can bootstrap.
-  remove_run: ["ros2-rmw-test-fixture-implementation"]
-autoware_behavior_velocity_planner:
-  add_host: ["cpp-expected"]
-autoware_behavior_velocity_planner_common:
-  add_host: ["cpp-expected"]
-autoware_behavior_velocity_stop_line_module:
-  add_host: ["cpp-expected"]
-autoware_trajectory:
-  add_host: ["fmt", "cpp-expected"]
-autoware_utils_debug:
-  add_host: ["fmt"]
-autoware_utils_pcl:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-backward_ros:
-  add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros2-ament-cmake-libraries"]
-cartographer_ros:
-  add_host: ["cartographer 2.*", "libboost-devel", "ceres-solver"]
-console_bridge_vendor:
-  add_host: ["console_bridge"]
-  add_run: ["console_bridge"]
-depth_image_proc:
-  add_host: ["eigen-abi-devel"]
-eigenpy:
-  add_host: ["eigen-abi-devel"]
-foxglove_bridge:
-  add_host: ["ros2-ament-cmake"]
-geometric_shapes:
-  add_host: ["libboost-devel", "octomap"]
-grid_map_rviz_plugin:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
-gz_cmake_vendor:
-  # https://github.com/gazebo-release/gz_cmake_vendor/blob/lyrical/CMakeLists.txt#L6 for select the right major version
-  # (this is true for all gz-* vendor packages) or https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-harmonic.yaml
-  # See https://gazebosim.org/docs/latest/ros_installation/#summary-of-compatible-ros-and-gazebo-combinations for mapping between ROS2 and Gazebo distros
-  # Every gz-*/sdformat vendor pins the majors of Jetty, so that no solve mixes releases: unpinned, an
-  # osx-arm64 py312 solve took gz-transport 14 (Ionic), whose builds go with a newer libabseil than Jetty's.
-  add_host: ["gz-cmake 5.*"]
-  add_run: ["gz-cmake 5.*"]
-gz_common_vendor:
-  add_host: ["gz-common 7.*"]
-  add_run: ["gz-common 7.*"]
-gz_dartsim_vendor:
-  add_host: ["dartsim-cpp", "eigen-abi-devel"]
-  add_run: ["dartsim-cpp"]
-gz_fuel_tools_vendor:
-  add_host: ["gz-fuel-tools 11.*"]
-  add_run: ["gz-fuel-tools 11.*"]
-gz_gui_vendor:
-  add_host: ["gz-gui 10.*"]
-  add_run: ["gz-gui 10.*"]
-gz_launch_vendor:
-  add_host: ["gz-launch 9.*"]
-  add_run: ["gz-launch 9.*"]
-gz_math_vendor:
-  add_host: ["gz-math 9.*"]
-  add_run: ["gz-math 9.*"]
-gz_msgs_vendor:
-  add_host: ["gz-msgs 12.*"]
-  add_run: ["gz-msgs 12.*"]
-gz_ogre_next_vendor:
-  add_host: ["ogre-next"]
-  add_run: ["ogre-next"]
-  remove_host: ["shaderc"]
-  remove_run: ["shaderc"]
-gz_physics_vendor:
-  add_host: ["gz-physics 9.*"]
-  add_run: ["gz-physics 9.*"]
-gz_plugin_vendor:
-  add_host: ["gz-plugin 4.*"]
-  add_run: ["gz-plugin 4.*"]
-gz_rendering_vendor:
-  add_host: ["gz-rendering 10.*", "swig"]
-  add_run: ["gz-rendering 10.*", "swig"]
-gz_ros2_control:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
-gz_ros2_control_demos:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-gz_sensors_vendor:
-  add_host: ["gz-sensors 10.*"]
-  add_run: ["gz-sensors 10.*"]
-gz_sim_vendor:
-  add_host: ["libgz-sim 10.*"]
-  add_run: ["libgz-sim 10.*"]
-gz_tools_vendor:
-  add_host: ["gz-tools 2.*"]
-  add_run: ["gz-tools 2.*"]
-gz_transport_vendor:
-  add_host: ["libgz-transport 15.*"]
-  add_run: ["libgz-transport 15.*"]
-gz_utils_vendor:
-  add_host: ["gz-utils 4.*"]
-  add_run: ["gz-utils 4.*"]
-image_view:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-  # Depends on opencv with gui support, see  https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
-  add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
-intra_process_demo:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/intra_process_demo/include/image_pipeline/image_view_node.hpp#L58
-  add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
-mimick_vendor:
-  add_build: ["vcstool"]
-moveit_core:
-  add_host: ["eigen-abi-devel"]
-moveit_visual_tools:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-nav2_constrained_smoother:
-  add_host: ["${{ 'openblas' if win }}", "ceres-solver"]
-opennav_coverage:
-  # package.xml misses deps that CMakeLists.txt finds
-  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
-  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
-openvdb_vendor:
-  add_host: ["openvdb"]
-pcl_conversions:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel", "eigen-abi-devel"]
-pinocchio:
-  add_host: ["eigen-abi-devel"]
-plotjuggler:
-  # PlotJuggler 3.17 is Qt5-only (find_package(Qt5 ...)); the Qt rosdep keys map to Qt6 here
-  remove_host: ["qt6-main"]
-  remove_run: ["qt6-main"]
-  # python: embeds the interpreter (links libpython) without declaring it
-  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "qt-main", "python"]
-  add_run: ["qt-main"]
-plotjuggler_ros:
-  # Qt5-only like plotjuggler, which it links
-  remove_host: ["qt6-main"]
-  remove_run: ["qt6-main"]
-  add_host: ["qt-main"]
-  add_run: ["qt-main"]
-py_trees:
-  add_host: ["hatchling"]
-py_trees_js:
-  add_host: ["hatchling"]
-py_trees_ros:
-  add_host: ["poetry-core"]
-py_trees_ros_tutorials:
-  # the mock GUI is ported to PyQt6 (patch/ros2-py-trees-ros-tutorials.patch)
-  add_run: ["pyqt6"]
-py_trees_ros_viewer:
-  add_host: ["poetry-core"]
-pybind11_json_vendor:
-  add_host: ["pybind11_json"]
-  add_run: ["pybind11_json"]
-python_qt_binding:
-  add_host: ["pyqt-builder", "qt6-main", "pyqt6"]
-  add_run: ["pyqt-builder", "qt6-main", "pyqt6"]
-qt_gui_cpp:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "qt6-main", "pyqt6"]
-  add_run: ["pyqt-builder", "qt6-main", "pyqt6"]
-rclpy:
-  add_host: ["typing_extensions"]
-  add_run: ["typing_extensions"]
-rmf_building_map_tools:
-  add_host: ["ros2-rmf-site-map-msgs"]
-  add_run: ["gz-fuel-tools 11.*"]
-  remove_run: ["ros2-gz-fuel-tools-vendor"]
-rmf_fleet_adapter:
-  add_host: ["eigen-abi-devel"]
-  remove_host: ["eigen"]
-rmf_task_sequence:
-  # The vendor package's ament config does not load the imported validator
-  # target. Make the conda-forge CMake package directly available.
-  add_host: ["json_schema_validator"]
-  add_run: ["json_schema_validator"]
-rmf_traffic:
-  add_host: ["octomap"]
-  add_run: ["octomap"]
-rmf_visualization_schedule:
-  add_host: ["asio"]
-ros_gz_sim:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
-rqt_gui_cpp:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rtabmap:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "libboost-devel", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
-rviz_ogre_vendor:
-  add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"]
-  add_build: ["vcstool"]
-  add_run: ["assimp"]
-sdformat_urdf:
-  add_host: ["sdformat 16.*"]
-  add_run: ["sdformat 16.*"]
-sdformat_vendor:
-  add_host: ["sdformat 16.*"]
-  add_run: ["sdformat 16.*"]
-slam_toolbox:
-  add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
-  add_host: ["blas-devel", "ceres-solver"]
-spatio_temporal_voxel_layer:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"]
-spdlog_vendor:
-  add_host: ["spdlog"]
-  add_run: ["spdlog"]
-tf2_eigen_kdl:
-  add_host: ["eigen-abi-devel"]
-uncrustify_vendor:
-  add_host: ["uncrustify"]
-  add_run: ["uncrustify"]
-ur_moveit_config:
-  add_host: ["ros2-rclpy"]
-  add_run: ["ros2-rclpy"]
-vision_msgs_rviz_plugins:
-  add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
diff --git a/distros/lyrical/pkg_additional_info.yaml b/distros/lyrical/pkg_additional_info.yaml
index 5266ede76..da2d057d8 100644
--- a/distros/lyrical/pkg_additional_info.yaml
+++ b/distros/lyrical/pkg_additional_info.yaml
@@ -1,9 +1,37 @@
+ament_cmake_ros:
+  # Break the test-only runtime cycle so a new mutex migration can bootstrap.
+  remove_run: ["ros2-rmw-test-fixture-implementation"]
+autoware_behavior_velocity_planner:
+  add_host: ["cpp-expected"]
+autoware_behavior_velocity_planner_common:
+  add_host: ["cpp-expected"]
+autoware_behavior_velocity_stop_line_module:
+  add_host: ["cpp-expected"]
+autoware_trajectory:
+  add_host: ["fmt", "cpp-expected"]
+autoware_utils_debug:
+  add_host: ["fmt"]
+autoware_utils_pcl:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+backward_ros:
+  add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros2-ament-cmake-libraries"]
 cartographer_ros:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON -DCMAKE_CXX_FLAGS=-DBOOST_ZLIB_BINARY=kernel32"
+  add_host: ["cartographer 2.*", "libboost-devel", "ceres-solver"]
+console_bridge_vendor:
+  add_host: ["console_bridge"]
+  add_run: ["console_bridge"]
+depth_image_proc:
+  add_host: ["eigen-abi-devel"]
 eigenpy:
   generate_dummy_package_with_run_deps:
     dep_name: eigenpy
     max_pin: 'x.x.x'
+  add_host: ["eigen-abi-devel"]
+foxglove_bridge:
+  add_host: ["ros2-ament-cmake"]
+geometric_shapes:
+  add_host: ["libboost-devel", "octomap"]
 gtsam:
   generate_dummy_package_with_run_deps:
     dep_name: gtsam
@@ -11,6 +39,56 @@ gtsam:
     # the version on ros is actually an alpha, not a properly released version,
     # see https://discourse.ros.org/t/on-new-gtsam-version-without-boost/44307
     override_version: '4.2.0'
+gz_cmake_vendor:
+  # https://github.com/gazebo-release/gz_cmake_vendor/blob/lyrical/CMakeLists.txt#L6 for select the right major version
+  # (this is true for all gz-* vendor packages) or https://github.com/gazebo-tooling/gazebodistro/blob/master/collection-harmonic.yaml
+  # See https://gazebosim.org/docs/latest/ros_installation/#summary-of-compatible-ros-and-gazebo-combinations for mapping between ROS2 and Gazebo distros
+  # Every gz-*/sdformat vendor pins the majors of Jetty, so that no solve mixes releases: unpinned, an
+  # osx-arm64 py312 solve took gz-transport 14 (Ionic), whose builds go with a newer libabseil than Jetty's.
+  add_host: ["gz-cmake 5.*"]
+  add_run: ["gz-cmake 5.*"]
+gz_common_vendor:
+  add_host: ["gz-common 7.*"]
+  add_run: ["gz-common 7.*"]
+gz_dartsim_vendor:
+  add_host: ["dartsim-cpp", "eigen-abi-devel"]
+  add_run: ["dartsim-cpp"]
+gz_fuel_tools_vendor:
+  add_host: ["gz-fuel-tools 11.*"]
+  add_run: ["gz-fuel-tools 11.*"]
+gz_launch_vendor:
+  add_host: ["gz-launch 9.*"]
+  add_run: ["gz-launch 9.*"]
+gz_math_vendor:
+  add_host: ["gz-math 9.*"]
+  add_run: ["gz-math 9.*"]
+gz_msgs_vendor:
+  add_host: ["gz-msgs 12.*"]
+  add_run: ["gz-msgs 12.*"]
+gz_ogre_next_vendor:
+  add_host: ["ogre-next"]
+  add_run: ["ogre-next"]
+  remove_host: ["shaderc"]
+  remove_run: ["shaderc"]
+gz_physics_vendor:
+  add_host: ["gz-physics 9.*"]
+  add_run: ["gz-physics 9.*"]
+gz_plugin_vendor:
+  add_host: ["gz-plugin 4.*"]
+  add_run: ["gz-plugin 4.*"]
+gz_rendering_vendor:
+  add_host: ["gz-rendering 10.*", "swig"]
+  add_run: ["gz-rendering 10.*", "swig"]
+gz_ros2_control:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
+gz_ros2_control_demos:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+gz_tools_vendor:
+  add_host: ["gz-tools 2.*"]
+  add_run: ["gz-tools 2.*"]
+gz_utils_vendor:
+  add_host: ["gz-utils 4.*"]
+  add_run: ["gz-utils 4.*"]
 iceoryx_binding_c:
   generate_dummy_package_with_run_deps:
     dep_name: libiceoryx-binding-c
@@ -29,6 +107,14 @@ iceoryx_posh:
     max_pin: 'x.x.x'
     # the version on ROS (2.0.6) is outdated w.r.t. the conda-forge one
     override_version: '2.95.8'
+image_view:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+  # Depends on opencv with gui support, see  https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
+  add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
+intra_process_demo:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/intra_process_demo/include/image_pipeline/image_view_node.hpp#L58
+  add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
 libcamera:
   generate_dummy_package_with_run_deps:
     dep_name: libcamera
@@ -46,15 +132,79 @@ magic_enum:
   generate_dummy_package_with_run_deps:
     dep_name: magic_enum
     max_pin: 'x.x'
+mimick_vendor:
+  add_build: ["vcstool"]
+moveit_core:
+  add_host: ["eigen-abi-devel"]
+moveit_visual_tools:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+nav2_constrained_smoother:
+  add_host: ["${{ 'openblas' if win }}", "ceres-solver"]
 ompl:
   generate_dummy_package_with_run_deps:
     dep_name: ompl
     max_pin: 'x.x'
+opennav_coverage:
+  # package.xml misses deps that CMakeLists.txt finds
+  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+openvdb_vendor:
+  add_host: ["openvdb"]
+pcl_conversions:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel", "eigen-abi-devel"]
+pinocchio:
+  add_host: ["eigen-abi-devel"]
+plotjuggler_ros:
+  # Qt5-only like plotjuggler, which it links
+  remove_host: ["qt6-main"]
+  remove_run: ["qt6-main"]
+  add_host: ["qt-main"]
+  add_run: ["qt-main"]
 proxsuite:
   generate_dummy_package_with_run_deps:
     dep_name: proxsuite
     max_pin: 'x.x'
     override_version: '0.7.3'
+py_trees:
+  add_host: ["hatchling"]
+py_trees_js:
+  add_host: ["hatchling"]
+py_trees_ros:
+  add_host: ["poetry-core"]
+py_trees_ros_tutorials:
+  # the mock GUI is ported to PyQt6 (patch/ros2-py-trees-ros-tutorials.patch)
+  add_run: ["pyqt6"]
+py_trees_ros_viewer:
+  add_host: ["poetry-core"]
+pybind11_json_vendor:
+  add_host: ["pybind11_json"]
+  add_run: ["pybind11_json"]
+python_qt_binding:
+  add_host: ["pyqt-builder", "qt6-main", "pyqt6"]
+  add_run: ["pyqt-builder", "qt6-main", "pyqt6"]
+qt_gui_cpp:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "qt6-main", "pyqt6"]
+  add_run: ["pyqt-builder", "qt6-main", "pyqt6"]
+rclpy:
+  add_host: ["typing_extensions"]
+  add_run: ["typing_extensions"]
+rmf_building_map_tools:
+  add_host: ["ros2-rmf-site-map-msgs"]
+  add_run: ["gz-fuel-tools 11.*"]
+  remove_run: ["ros2-gz-fuel-tools-vendor"]
+rmf_fleet_adapter:
+  add_host: ["eigen-abi-devel"]
+  remove_host: ["eigen"]
+rmf_task_sequence:
+  # The vendor package's ament config does not load the imported validator
+  # target. Make the conda-forge CMake package directly available.
+  add_host: ["json_schema_validator"]
+  add_run: ["json_schema_validator"]
+rmf_traffic:
+  add_host: ["octomap"]
+  add_run: ["octomap"]
+rmf_visualization_schedule:
+  add_host: ["asio"]
 roboplan:
   generate_dummy_package_with_run_deps:
     dep_name: roboplan-python
@@ -91,13 +241,38 @@ roboplan_toppra:
   generate_dummy_package_with_run_deps:
     dep_name: roboplan-toppra-python
     max_pin: 'x.x'
+ros_gz_sim:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
+rqt_gui_cpp:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rtabmap:
   # its tests (corelib/test) don't build with MSVC (as in jazzy, same 0.23.13)
   additional_cmake_args: -DBUILD_TESTING=OFF
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "libboost-devel", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
+sdformat_urdf:
+  add_host: ["sdformat 16.*"]
+  add_run: ["sdformat 16.*"]
+sdformat_vendor:
+  add_host: ["sdformat 16.*"]
+  add_run: ["sdformat 16.*"]
+slam_toolbox:
+  add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
+  add_host: ["blas-devel", "ceres-solver"]
+spdlog_vendor:
+  add_host: ["spdlog"]
+  add_run: ["spdlog"]
+tf2_eigen_kdl:
+  add_host: ["eigen-abi-devel"]
 toppra:
   generate_dummy_package_with_run_deps:
     dep_name: toppra-python
     max_pin: 'x.x.x'
+uncrustify_vendor:
+  add_host: ["uncrustify"]
+  add_run: ["uncrustify"]
+ur_moveit_config:
+  add_host: ["ros2-rclpy"]
+  add_run: ["ros2-rclpy"]
 urdfdom:
   generate_dummy_package_with_run_deps:
     dep_name: urdfdom
@@ -110,6 +285,9 @@ urdfdom_headers:
     max_pin: 'x.x'
     # the version on ros is outdated w.r.t. to the conda-forge one
     override_version: '3.0.0'
+vision_msgs_rviz_plugins:
+  add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 zenoh_cpp_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DUSE_SYSTEM_ZENOH=ON"
 # Remove build_number fields below on new full rebuild
@@ -119,20 +297,41 @@ fuse_viz:
   build_number: 31
 grid_map_rviz_plugin:
   build_number: 31
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
 gz_gui_vendor:
   build_number: 33
+  add_host: ["gz-gui 10.*"]
+  add_run: ["gz-gui 10.*"]
 gz_sensors_vendor:
   build_number: 33
+  add_host: ["gz-sensors 10.*"]
+  add_run: ["gz-sensors 10.*"]
 gz_sim_vendor:
   build_number: 33
+  add_host: ["libgz-sim 10.*"]
+  add_run: ["libgz-sim 10.*"]
 gz_transport_vendor:
   build_number: 33
+  add_host: ["libgz-transport 15.*"]
+  add_run: ["libgz-transport 15.*"]
+launch:
+  build_number: 34
 moveit_ros_visualization:
   build_number: 31
 moveit_task_constructor_visualization:
   build_number: 31
+nav2_common:
+  build_number: 34
 nav2_rviz_plugins:
   build_number: 31
+plotjuggler:
+  build_number: 34
+  # PlotJuggler 3.17 is Qt5-only (find_package(Qt5 ...)); the Qt rosdep keys map to Qt6 here
+  remove_host: ["qt6-main"]
+  remove_run: ["qt6-main"]
+  # python: embeds the interpreter (links libpython) without declaring it
+  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "qt-main", "python"]
+  add_run: ["qt-main"]
 rtabmap_rviz_plugins:
   build_number: 31
 rtabmap_slam:  # its recipe test stops the node for sure (package tests hung on macOS)
@@ -148,9 +347,13 @@ rviz_imu_plugin:
 rviz_ogre_vendor:
   additional_cmake_args: "-DRVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ=ON"
   build_number: 32  # built without the EXR codec (ros2-rviz-ogre-vendor.patch), absolute install names on macOS (.osx.patch)
+  add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"]
+  add_build: ["vcstool"]
+  add_run: ["assimp"]
 rviz_rendering:
   build_number: 31
 rviz_satellite:
   build_number: 31
 spatio_temporal_voxel_layer:
   build_number: 31
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "openvdb"]
diff --git a/distros/lyrical/rosdistro_additional_recipes.yaml b/distros/lyrical/rosdistro_additional_recipes.yaml
index eac114ff1..aa34f80f3 100644
--- a/distros/lyrical/rosdistro_additional_recipes.yaml
+++ b/distros/lyrical/rosdistro_additional_recipes.yaml
@@ -22,10 +22,6 @@ autoware_behavior_velocity_stop_line_module:
   tag: release/humble/autoware_behavior_velocity_stop_line_module/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_cmake:
-  tag: release/jazzy/autoware_cmake/1.1.0-1
-  url: https://github.com/ros2-gbp/autoware_cmake-release.git
-  version: 1.1.0
 autoware_component_interface_specs:
   tag: release/humble/autoware_component_interface_specs/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -106,14 +102,6 @@ autoware_gyro_odometer:
   tag: release/humble/autoware_gyro_odometer/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_internal_localization_msgs:
-  tag: release/jazzy/autoware_internal_localization_msgs/1.10.0-1
-  url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.10.0
-autoware_internal_planning_msgs:
-  tag: release/humble/autoware_internal_planning_msgs/1.12.0-1
-  url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.12.0
 autoware_interpolation:
   tag: release/humble/autoware_interpolation/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -123,10 +111,12 @@ autoware_kalman_filter:
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
 autoware_lanelet2_extension:
+  override: "0.8.0 is newer than lyrical's release 0.7.2"
   tag: release/humble/autoware_lanelet2_extension/0.8.0-1
   url: https://github.com/ros2-gbp/autoware_lanelet2_extension-release.git
   version: 0.8.0
 autoware_lanelet2_extension_python:
+  override: "0.8.0 is newer than lyrical's release 0.7.2"
   tag: release/humble/autoware_lanelet2_extension_python/0.8.0-1
   url: https://github.com/ros2-gbp/autoware_lanelet2_extension-release.git
   version: 0.8.0
@@ -138,10 +128,6 @@ autoware_lanelet2_utils:
   tag: release/humble/autoware_lanelet2_utils/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_localization_msgs:
-  tag: release/humble/autoware_localization_msgs/1.9.0-1
-  url: https://github.com/ros2-gbp/autoware_msgs-release.git
-  version: 1.9.0
 autoware_localization_util:
   tag: release/humble/autoware_localization_util/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -214,10 +200,6 @@ autoware_planning_factor_interface:
   tag: release/humble/autoware_planning_factor_interface/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_planning_msgs:
-  tag: release/humble/autoware_planning_msgs/1.9.0-1
-  url: https://github.com/ros2-gbp/autoware_msgs-release.git
-  version: 1.9.0
 autoware_planning_test_manager:
   tag: release/humble/autoware_planning_test_manager/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -262,10 +244,6 @@ autoware_stop_filter:
   tag: release/humble/autoware_stop_filter/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_system_msgs:
-  tag: release/humble/autoware_system_msgs/1.9.0-1
-  url: https://github.com/ros2-gbp/autoware_msgs-release.git
-  version: 1.9.0
 autoware_test_node:
   tag: release/humble/autoware_test_node/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -286,54 +264,6 @@ autoware_twist2accel:
   tag: release/humble/autoware_twist2accel/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_utils:
-  tag: release/jazzy/autoware_utils/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_debug:
-  tag: release/jazzy/autoware_utils_debug/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_diagnostics:
-  tag: release/jazzy/autoware_utils_diagnostics/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_geometry:
-  tag: release/jazzy/autoware_utils_geometry/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_logging:
-  tag: release/jazzy/autoware_utils_logging/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_math:
-  tag: release/jazzy/autoware_utils_math/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_pcl:
-  tag: release/jazzy/autoware_utils_pcl/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_rclcpp:
-  tag: release/jazzy/autoware_utils_rclcpp/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_system:
-  tag: release/jazzy/autoware_utils_system/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_tf:
-  tag: release/jazzy/autoware_utils_tf/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_uuid:
-  tag: release/jazzy/autoware_utils_uuid/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_visualization:
-  tag: release/jazzy/autoware_utils_visualization/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
 autoware_vehicle_info_utils:
   tag: release/humble/autoware_vehicle_info_utils/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -483,7 +413,7 @@ ros2_easy_test:  # Until: https://github.com/felixdivo/ros2-easy-test/issues/53
   version: 0.3.0
   additional_folder: ros2_easy_test
 rplidar_ros:
-  # 2.1.4 (as humble) for its win32 SDK arch; the released 2.1.0 is POSIX only
+  override: "2.1.4 (as humble) for its win32 SDK arch; the released 2.1.0 is POSIX only"
   tag: 2.1.4
   url: https://github.com/Slamtec/rplidar_ros.git
   version: 2.1.4
diff --git a/distros/noetic/robostack.yaml b/distros/noetic/robostack.yaml
new file mode 100644
index 000000000..f8b7e757d
--- /dev/null
+++ b/distros/noetic/robostack.yaml
@@ -0,0 +1,71 @@
+# noetic: its own rosdep mappings, over shared/robostack.yaml:
+# Qt 5, and the xtensor its packages were built with. noetic isn't built here (no
+# vinca.yaml); this is for pixi-build-ros (robostack-bot sync-pixi-mappings).
+libqt5-core:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-gui:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-opengl-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-svg-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-websockets-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5-widgets:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+libqt5x11extras5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+python-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings:
+  robostack: [pyqt, pyqt-builder]
+python3-qt5-bindings-gl:
+  robostack: [pyqt, pyqt-builder]
+qt5-image-formats-plugins:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qt5-qmake:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+qtbase5-dev:
+  robostack:
+    linux: [qt-main, libopengl-devel, libgl-devel]
+    osx: [qt-main]
+    win64: [qt-main]
+xtensor:
+  robostack: [xtensor ==0.24.7]
diff --git a/distros/rolling/patch/dependencies.yaml b/distros/rolling/patch/dependencies.yaml
deleted file mode 100644
index 8110c4378..000000000
--- a/distros/rolling/patch/dependencies.yaml
+++ /dev/null
@@ -1,205 +0,0 @@
-autoware_behavior_velocity_planner:
-  add_host: ["cpp-expected"]
-autoware_behavior_velocity_planner_common:
-  add_host: ["cpp-expected"]
-autoware_behavior_velocity_stop_line_module:
-  add_host: ["cpp-expected"]
-autoware_trajectory:
-  add_host: ["fmt", "cpp-expected"]
-autoware_utils_debug:
-  add_host: ["fmt"]
-autoware_utils_pcl:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-backward_ros:
-  add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros2-ament-cmake-libraries"]
-cartographer_ros:
-  # ceres-solver pinned to cpu since RoboStack disables CUDA.
-  add_host: ["cartographer 2.*", "libboost-devel", "ceres-solver * cpu*", "ros2-pcl-conversions"]
-  add_run: ["ros2-pcl-conversions"]
-console_bridge_vendor:
-  add_host: ["console_bridge"]
-  add_run: ["console_bridge"]
-depth_image_proc:
-  add_host: ["eigen-abi-devel"]
-eigenpy:
-  add_host: ["eigen-abi-devel"]
-foxglove_bridge:
-  add_host: ["ros2-ament-cmake"]
-geometric_shapes:
-  add_host: ["libboost-devel", "octomap"]
-grid_map_octomap:
-  add_host: ["octomap"]
-  add_run: ["octomap"]
-gz_cmake_vendor:
-  # Every gz-*/sdformat vendor pins the majors of one Gazebo release, so that no solve mixes releases
-  # (unpinned, a solve can fall back to an older release whose builds go with other abseil/protobuf).
-  # rolling's vendors already target the next Gazebo (prereleases, e.g. gz-sim 11), which conda-forge
-  # does not ship yet: build against Jetty, as lyrical does, and move once conda-forge has it.
-  add_host: ["gz-cmake 5.*"]
-  add_run: ["gz-cmake 5.*"]
-gz_common_vendor:
-  add_host: ["gz-common 7.*"]
-  add_run: ["gz-common 7.*"]
-gz_dartsim_vendor:
-  add_host: ["dartsim-cpp", "eigen-abi-devel"]
-  add_run: ["dartsim-cpp"]
-gz_fuel_tools_vendor:
-  add_host: ["gz-fuel-tools 11.*"]
-  add_run: ["gz-fuel-tools 11.*"]
-gz_gui_vendor:
-  add_host: ["gz-gui 10.*"]
-  add_run: ["gz-gui 10.*"]
-gz_launch_vendor:
-  add_host: ["gz-launch 9.*"]
-  add_run: ["gz-launch 9.*"]
-gz_math_vendor:
-  add_host: ["gz-math 9.*"]
-  add_run: ["gz-math 9.*"]
-gz_msgs_vendor:
-  add_host: ["gz-msgs 12.*"]
-  add_run: ["gz-msgs 12.*"]
-gz_ogre_next_vendor:
-  add_host: ["ogre-next"]
-  add_run: ["ogre-next"]
-  remove_host: ["shaderc"]
-  remove_run: ["shaderc"]
-gz_physics_vendor:
-  add_host: ["gz-physics 9.*"]
-  add_run: ["gz-physics 9.*"]
-gz_plugin_vendor:
-  add_host: ["gz-plugin 4.*"]
-  add_run: ["gz-plugin 4.*"]
-gz_rendering_vendor:
-  add_host: ["gz-rendering 10.*", "swig"]
-  add_run: ["gz-rendering 10.*", "swig"]
-gz_ros2_control:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
-gz_ros2_control_demos:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-gz_sensors_vendor:
-  add_host: ["gz-sensors 10.*"]
-  add_run: ["gz-sensors 10.*"]
-gz_sim_vendor:
-  add_host: ["libgz-sim 10.*"]
-  add_run: ["libgz-sim 10.*"]
-gz_tools_vendor:
-  add_host: ["gz-tools 2.*"]
-  add_run: ["gz-tools 2.*"]
-gz_transport_vendor:
-  add_host: ["libgz-transport 15.*"]
-  add_run: ["libgz-transport 15.*"]
-gz_utils_vendor:
-  add_host: ["gz-utils 4.*"]
-  add_run: ["gz-utils 4.*"]
-image_view:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-  # Depends on opencv with gui support, see  https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
-  add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
-intra_process_demo:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/intra_process_demo/include/image_pipeline/image_view_node.hpp#L58
-  add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
-libg2o:
-  add_host: ["${{ 'libglu' if linux }}", "${{ 'freeglut' if not osx }}"]
-mimick_vendor:
-  add_build: ["vcstool"]
-moveit_core:
-  add_host: ["eigen-abi-devel"]
-moveit_visual_tools:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
-opennav_coverage:
-  # package.xml misses deps that CMakeLists.txt finds
-  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
-  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
-pcl_conversions:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel", "eigen-abi-devel"]
-pinocchio:
-  add_host: ["eigen-abi-devel"]
-plotjuggler:
-  # PlotJuggler 3.17 is Qt5-only (find_package(Qt5 ...)); the Qt rosdep keys map to Qt6 here
-  remove_host: ["qt6-main"]
-  remove_run: ["qt6-main"]
-  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "qt-main"]
-  add_run: ["qt-main"]
-plotjuggler_ros:
-  # Qt5-only like plotjuggler, which it links
-  remove_host: ["qt6-main"]
-  remove_run: ["qt6-main"]
-  add_host: ["qt-main"]
-  add_run: ["qt-main"]
-py_trees:
-  add_host: ["hatchling"]
-py_trees_js:
-  add_host: ["hatchling"]  # 0.7 builds with hatchling (as in humble/jazzy)
-py_trees_ros:
-  add_host: ["poetry-core"]
-py_trees_ros_tutorials:
-  # the mock GUI is ported to PyQt6 (patch/ros2-py-trees-ros-tutorials.patch)
-  add_run: ["pyqt6"]
-py_trees_ros_viewer:
-  add_host: ["poetry-core"]
-python_qt_binding:
-  # sip <6.16: conda_build_config's variant pin doesn't apply transitively here; 6.16.x regressed ABI targeting for PyQt-based bindings.
-  add_host: ["pyqt-builder", "qt6-main", "pyqt6", "sip <6.16"]
-  add_run: ["pyqt-builder", "qt6-main", "pyqt6"]
-qt_gui_cpp:
-  # sip pinned directly for the same reason as python_qt_binding above.
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "qt6-main", "pyqt6", "sip <6.16"]
-  add_run: ["pyqt-builder", "qt6-main", "pyqt6"]
-rclpy:
-  add_host: ["typing_extensions"]
-  add_run: ["typing_extensions"]
-rmf_fleet_adapter_python:
-  add_host: ["pybind11_json"]
-rmf_visualization_schedule:
-  # asio isn't declared in package.xml; websocketpp's own headers need it directly (websocketpp/common/asio.hpp).
-  add_host: ["asio"]
-  add_run: ["asio"]
-rmf_websocket:
-  # asio isn't declared in package.xml; websocketpp's own headers need it directly (websocketpp/common/asio.hpp).
-  add_host: ["asio"]
-  add_run: ["asio"]
-roboplan_example_models:
-  # src/resources.cpp uses dladdr() from dlfcn.h, which is POSIX-only.
-  # On Windows we need to depend on dlfcn-win32 instead.
-  add_host: ["${{ 'dlfcn-win32' if win }}"]
-roboplan_ros_examples:
-  add_host: ["ros2-ament-cmake"]
-ros_gz_sim:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
-rqt_gui_cpp:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rtabmap:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
-rviz_ogre_vendor:
-  add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"]
-  add_build: ["vcstool"]
-  add_run: ["assimp"]
-sdformat_urdf:
-  add_host: ["sdformat 16.*"]
-  add_run: ["sdformat 16.*"]
-sdformat_vendor:
-  add_host: ["sdformat 16.*"]
-  add_run: ["sdformat 16.*"]
-slam_toolbox:
-  add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver * cpu*"]
-spdlog_vendor:
-  add_host: ["spdlog"]
-  add_run: ["spdlog"]
-tf2_eigen_kdl:
-  add_host: ["eigen-abi-devel"]
-uncrustify_vendor:
-  add_host: ["uncrustify"]
-  add_run: ["uncrustify"]
-ur_moveit_config:
-  add_host: ["ros2-rclpy"]
-  add_run: ["ros2-rclpy"]
-vision_msgs_rviz_plugins:
-  add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-yasmin_pcl:
-  add_host: ["ros2-pcl-conversions"]
-  add_run: ["ros2-pcl-conversions"]
-zstd_point_cloud_transport:
-  add_host: ["ros2-zstd-cmake-module", "zstd"]
diff --git a/distros/rolling/patch/ros2-autoware-lanelet2-extension.patch b/distros/rolling/patch/ros2-autoware-lanelet2-extension.patch
index 18e931851..bdc703333 100644
--- a/distros/rolling/patch/ros2-autoware-lanelet2-extension.patch
+++ b/distros/rolling/patch/ros2-autoware-lanelet2-extension.patch
@@ -1,8 +1,8 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a3ec429..6a64b82 100644
+index 6c1f16c..36ea672 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -25,6 +25,14 @@ ament_auto_add_library(${PROJECT_NAME}_lib SHARED
+@@ -29,6 +29,14 @@ ament_auto_add_library(${PROJECT_NAME}_lib SHARED
    lib/route_checker.cpp
  )
  
@@ -14,6 +14,30 @@ index a3ec429..6a64b82 100644
 +  )
 +endif()
 +
- ament_auto_add_executable(${PROJECT_NAME}_sample src/sample_code.cpp)
- target_link_libraries(${PROJECT_NAME}_sample
-   ${PROJECT_NAME}_lib
+ # Suppress boost geometry uninitialized variable warnings
+ # This is a known issue in boost geometry library where internal template code
+ # may trigger maybe-uninitialized warnings that are false positives.
+@@ -36,7 +44,9 @@ ament_auto_add_library(${PROJECT_NAME}_lib SHARED
+ # and do not affect the actual functionality of the code.
+ # Related: https://www.boost.org/doc/libs/latest/libs/utility/doc/html/utility/utilities/value_init.html
+ # and https://www.boost.org/doc/libs/1_89_0/libs/optional/doc/html/boost_optional/design/gotchas/false_positive_with__wmaybe_uninitialized.html
+-target_compile_options(${PROJECT_NAME}_lib PRIVATE -Wno-error=maybe-uninitialized)
++if(NOT MSVC)
++  target_compile_options(${PROJECT_NAME}_lib PRIVATE -Wno-error=maybe-uninitialized)
++endif()
+ 
+ if(BUILD_TESTING)
+   ament_add_ros_isolated_gtest(projector-test test/src/test_projector.cpp)
+diff --git a/lib/deprecated.cpp b/lib/deprecated.cpp
+index 7a78e45..1220fc2 100644
+--- a/lib/deprecated.cpp
++++ b/lib/deprecated.cpp
+@@ -20,6 +20,8 @@
+ 
+ #include "deprecated.hpp"
+ 
++#include <rclcpp/clock.hpp>
++#include <rclcpp/logging.hpp>
+ #include <tf2/utils.hpp>
+ 
+ #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
diff --git a/distros/rolling/patch/ros2-autoware-lanelet2-extension.win.patch b/distros/rolling/patch/ros2-autoware-lanelet2-extension.win.patch
index febfdc433..3c76f9af1 100644
--- a/distros/rolling/patch/ros2-autoware-lanelet2-extension.win.patch
+++ b/distros/rolling/patch/ros2-autoware-lanelet2-extension.win.patch
@@ -1,5 +1,5 @@
 diff --git a/src/check_right_of_way.cpp b/src/check_right_of_way.cpp
-index d59ec14..e62be74 100644
+index ff48015..23af2e8 100644
 --- a/src/check_right_of_way.cpp
 +++ b/src/check_right_of_way.cpp
 @@ -15,13 +15,6 @@
@@ -16,7 +16,7 @@ index d59ec14..e62be74 100644
  
  #include <lanelet2_core/LaneletMap.h>
  #include <lanelet2_io/Io.h>
-@@ -57,16 +50,17 @@ int main(int argc, char ** argv)
+@@ -75,16 +68,17 @@ int main(int argc, char ** argv)
    lanelet::routing::RoutingGraphPtr routing_graph_ptr =
      lanelet::routing::RoutingGraph::build(*map, *traffic_rules);
  
diff --git a/distros/rolling/pkg_additional_info.yaml b/distros/rolling/pkg_additional_info.yaml
index 8e3d8466e..cf7643e03 100644
--- a/distros/rolling/pkg_additional_info.yaml
+++ b/distros/rolling/pkg_additional_info.yaml
@@ -1,9 +1,36 @@
+autoware_behavior_velocity_planner:
+  add_host: ["cpp-expected"]
+autoware_behavior_velocity_planner_common:
+  add_host: ["cpp-expected"]
+autoware_behavior_velocity_stop_line_module:
+  add_host: ["cpp-expected"]
+autoware_trajectory:
+  add_host: ["fmt", "cpp-expected"]
+autoware_utils_debug:
+  add_host: ["fmt"]
+autoware_utils_pcl:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+backward_ros:
+  add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros2-ament-cmake-libraries"]
 cartographer_ros:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON -DCMAKE_CXX_FLAGS=-DBOOST_ZLIB_BINARY=kernel32"
+  # ceres-solver pinned to cpu since RoboStack disables CUDA.
+  add_host: ["cartographer 2.*", "libboost-devel", "ceres-solver * cpu*", "ros2-pcl-conversions"]
+  add_run: ["ros2-pcl-conversions"]
+console_bridge_vendor:
+  add_host: ["console_bridge"]
+  add_run: ["console_bridge"]
+depth_image_proc:
+  add_host: ["eigen-abi-devel"]
 eigenpy:
   generate_dummy_package_with_run_deps:
     dep_name: eigenpy
     max_pin: 'x.x.x'
+  add_host: ["eigen-abi-devel"]
+foxglove_bridge:
+  add_host: ["ros2-ament-cmake"]
+geometric_shapes:
+  add_host: ["libboost-devel", "octomap"]
 gtsam:
   generate_dummy_package_with_run_deps:
     dep_name: gtsam
@@ -11,6 +38,64 @@ gtsam:
     # the version on ros is actually an alpha, not a properly released version,
     # see https://discourse.ros.org/t/on-new-gtsam-version-without-boost/44307
     override_version: '4.2.0'
+gz_cmake_vendor:
+  # Every gz-*/sdformat vendor pins the majors of one Gazebo release, so that no solve mixes releases
+  # (unpinned, a solve can fall back to an older release whose builds go with other abseil/protobuf).
+  # rolling's vendors already target the next Gazebo (prereleases, e.g. gz-sim 11), which conda-forge
+  # does not ship yet: build against Jetty, as lyrical does, and move once conda-forge has it.
+  add_host: ["gz-cmake 5.*"]
+  add_run: ["gz-cmake 5.*"]
+gz_common_vendor:
+  add_host: ["gz-common 7.*"]
+  add_run: ["gz-common 7.*"]
+gz_dartsim_vendor:
+  add_host: ["dartsim-cpp", "eigen-abi-devel"]
+  add_run: ["dartsim-cpp"]
+gz_fuel_tools_vendor:
+  add_host: ["gz-fuel-tools 11.*"]
+  add_run: ["gz-fuel-tools 11.*"]
+gz_gui_vendor:
+  add_host: ["gz-gui 10.*"]
+  add_run: ["gz-gui 10.*"]
+gz_math_vendor:
+  add_host: ["gz-math 9.*"]
+  add_run: ["gz-math 9.*"]
+gz_msgs_vendor:
+  add_host: ["gz-msgs 12.*"]
+  add_run: ["gz-msgs 12.*"]
+gz_ogre_next_vendor:
+  add_host: ["ogre-next"]
+  add_run: ["ogre-next"]
+  remove_host: ["shaderc"]
+  remove_run: ["shaderc"]
+gz_physics_vendor:
+  add_host: ["gz-physics 9.*"]
+  add_run: ["gz-physics 9.*"]
+gz_plugin_vendor:
+  add_host: ["gz-plugin 4.*"]
+  add_run: ["gz-plugin 4.*"]
+gz_rendering_vendor:
+  add_host: ["gz-rendering 10.*", "swig"]
+  add_run: ["gz-rendering 10.*", "swig"]
+gz_ros2_control:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
+gz_ros2_control_demos:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+gz_sensors_vendor:
+  add_host: ["gz-sensors 10.*"]
+  add_run: ["gz-sensors 10.*"]
+gz_sim_vendor:
+  add_host: ["libgz-sim 10.*"]
+  add_run: ["libgz-sim 10.*"]
+gz_tools_vendor:
+  add_host: ["gz-tools 2.*"]
+  add_run: ["gz-tools 2.*"]
+gz_transport_vendor:
+  add_host: ["libgz-transport 15.*"]
+  add_run: ["libgz-transport 15.*"]
+gz_utils_vendor:
+  add_host: ["gz-utils 4.*"]
+  add_run: ["gz-utils 4.*"]
 iceoryx_binding_c:
   generate_dummy_package_with_run_deps:
     dep_name: libiceoryx-binding-c
@@ -29,6 +114,14 @@ iceoryx_posh:
     max_pin: 'x.x.x'
     # the version on ROS (2.0.6) is outdated w.r.t. the conda-forge one
     override_version: '2.95.8'
+image_view:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+  # Depends on opencv with gui support, see  https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/image_view/src/stereo_view_node.cpp#L253
+  add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
+intra_process_demo:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/intra_process_demo/include/image_pipeline/image_view_node.hpp#L58
+  add_run: ["${{ 'libopencv * *qt6*' if not (ppc64le or aarch64 or osx) }}"]
 libcamera:
   generate_dummy_package_with_run_deps:
     dep_name: libcamera
@@ -37,6 +130,7 @@ libcamera:
     override_version: '0.5.2'
 libg2o:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  add_host: ["${{ 'libglu' if linux }}", "${{ 'freeglut' if not osx }}"]
 librealsense2:
   generate_dummy_package_with_run_deps:
     dep_name: librealsense
@@ -46,17 +140,97 @@ magic_enum:
   generate_dummy_package_with_run_deps:
     dep_name: magic_enum
     max_pin: 'x.x'
+mimick_vendor:
+  add_build: ["vcstool"]
+moveit_core:
+  add_host: ["eigen-abi-devel"]
+moveit_visual_tools:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
 ompl:
   generate_dummy_package_with_run_deps:
     dep_name: ompl
     max_pin: 'x.x'
+opennav_coverage:
+  # package.xml misses deps that CMakeLists.txt finds
+  add_host: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+  add_run: [ros2-rclcpp-components, ros2-std-msgs, ros2-visualization-msgs]
+pcl_conversions:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel", "eigen-abi-devel"]
+pinocchio:
+  add_host: ["eigen-abi-devel"]
+plotjuggler_ros:
+  # Qt5-only like plotjuggler, which it links
+  remove_host: ["qt6-main"]
+  remove_run: ["qt6-main"]
+  add_host: ["qt-main"]
+  add_run: ["qt-main"]
 proxsuite:
   generate_dummy_package_with_run_deps:
     dep_name: proxsuite
     max_pin: 'x.x'
     override_version: '0.7.3'
+py_trees:
+  add_host: ["hatchling"]
+py_trees_js:
+  add_host: ["hatchling"]  # 0.7 builds with hatchling (as in humble/jazzy)
+py_trees_ros:
+  add_host: ["poetry-core"]
+py_trees_ros_tutorials:
+  # the mock GUI is ported to PyQt6 (patch/ros2-py-trees-ros-tutorials.patch)
+  add_run: ["pyqt6"]
+py_trees_ros_viewer:
+  add_host: ["poetry-core"]
+python_qt_binding:
+  # sip <6.16: conda_build_config's variant pin doesn't apply transitively here; 6.16.x regressed ABI targeting for PyQt-based bindings.
+  add_host: ["pyqt-builder", "qt6-main", "pyqt6", "sip <6.16"]
+  add_run: ["pyqt-builder", "qt6-main", "pyqt6"]
+qt_gui_cpp:
+  # sip pinned directly for the same reason as python_qt_binding above.
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "pyqt-builder", "qt6-main", "pyqt6", "sip <6.16"]
+  add_run: ["pyqt-builder", "qt6-main", "pyqt6"]
+rclpy:
+  add_host: ["typing_extensions"]
+  add_run: ["typing_extensions"]
+rmf_fleet_adapter_python:
+  add_host: ["pybind11_json"]
+rmf_visualization_schedule:
+  # asio isn't declared in package.xml; websocketpp's own headers need it directly (websocketpp/common/asio.hpp).
+  add_host: ["asio"]
+  add_run: ["asio"]
+rmf_websocket:
+  # asio isn't declared in package.xml; websocketpp's own headers need it directly (websocketpp/common/asio.hpp).
+  add_host: ["asio"]
+  add_run: ["asio"]
+roboplan_example_models:
+  # src/resources.cpp uses dladdr() from dlfcn.h, which is POSIX-only.
+  # On Windows we need to depend on dlfcn-win32 instead.
+  add_host: ["${{ 'dlfcn-win32' if win }}"]
+roboplan_ros_examples:
+  add_host: ["ros2-ament-cmake"]
+ros_gz_sim:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
+rqt_gui_cpp:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rtabmap:
   additional_cmake_args: -DBUILD_TESTING=OFF
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ceres-solver", "${{ 'libdc1394' if not win }}", "libusb", "vtk"]
+sdformat_urdf:
+  add_host: ["sdformat 16.*"]
+  add_run: ["sdformat 16.*"]
+sdformat_vendor:
+  add_host: ["sdformat 16.*"]
+  add_run: ["sdformat 16.*"]
+spdlog_vendor:
+  add_host: ["spdlog"]
+  add_run: ["spdlog"]
+tf2_eigen_kdl:
+  add_host: ["eigen-abi-devel"]
+uncrustify_vendor:
+  add_host: ["uncrustify"]
+  add_run: ["uncrustify"]
+ur_moveit_config:
+  add_host: ["ros2-rclpy"]
+  add_run: ["ros2-rclpy"]
 urdfdom:
   generate_dummy_package_with_run_deps:
     dep_name: urdfdom
@@ -69,16 +243,37 @@ urdfdom_headers:
     max_pin: 'x.x'
     # the version on ros is outdated w.r.t. to the conda-forge one
     override_version: '3.0.0'
+vision_msgs_rviz_plugins:
+  add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+yasmin_pcl:
+  add_host: ["ros2-pcl-conversions"]
+  add_run: ["ros2-pcl-conversions"]
 zenoh_cpp_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK -DUSE_SYSTEM_ZENOH=ON"
+zstd_point_cloud_transport:
+  add_host: ["ros2-zstd-cmake-module", "zstd"]
 aruco_ros:  # its recipe test stops the node for sure (package tests hung on macOS)
   build_number: 33
 fuse_viz:
   build_number: 33
+launch:
+  build_number: 35
 moveit_ros_visualization:
   build_number: 33
 moveit_task_constructor_visualization:
   build_number: 33
+nav2_common:
+  build_number: 35
+orbbec_camera:
+  build_number: 35
+plotjuggler:
+  build_number: 35
+  # PlotJuggler 3.17 is Qt5-only (find_package(Qt5 ...)); the Qt rosdep keys map to Qt6 here
+  remove_host: ["qt6-main"]
+  remove_run: ["qt6-main"]
+  add_host: ["libxcb", "${{ 'elfutils' if linux }}", "ros2-ros-workspace", "qt-main"]
+  add_run: ["qt-main"]
 rviz_2d_overlay_plugins:
   build_number: 33
 rviz_common:
@@ -90,6 +285,9 @@ rviz_imu_plugin:
 rviz_ogre_vendor:
   additional_cmake_args: "-DRVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ=ON"
   build_number: 34  # built without the EXR codec (ros2-rviz-ogre-vendor.patch), absolute install names on macOS (.osx.patch)
+  add_host: ["zlib", "freeimage", "freetype", "assimp", "zziplib", "pugixml", "${{ 'libglu' if linux }}"]
+  add_build: ["vcstool"]
+  add_run: ["assimp"]
 rviz_rendering:
   build_number: 33
 rviz_satellite:
diff --git a/distros/rolling/rosdistro_additional_recipes.yaml b/distros/rolling/rosdistro_additional_recipes.yaml
index ba8be1d8e..f151104a5 100644
--- a/distros/rolling/rosdistro_additional_recipes.yaml
+++ b/distros/rolling/rosdistro_additional_recipes.yaml
@@ -22,10 +22,6 @@ autoware_behavior_velocity_stop_line_module:
   tag: release/humble/autoware_behavior_velocity_stop_line_module/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_cmake:
-  tag: release/jazzy/autoware_cmake/1.1.0-1
-  url: https://github.com/ros2-gbp/autoware_cmake-release.git
-  version: 1.1.0
 autoware_component_interface_specs:
   tag: release/humble/autoware_component_interface_specs/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -106,14 +102,6 @@ autoware_gyro_odometer:
   tag: release/humble/autoware_gyro_odometer/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_internal_localization_msgs:
-  tag: release/jazzy/autoware_internal_localization_msgs/1.10.0-1
-  url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.10.0
-autoware_internal_planning_msgs:
-  tag: release/humble/autoware_internal_planning_msgs/1.12.0-1
-  url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.12.0
 autoware_interpolation:
   tag: release/humble/autoware_interpolation/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -122,14 +110,6 @@ autoware_kalman_filter:
   tag: release/humble/autoware_kalman_filter/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_lanelet2_extension:
-  tag: release/humble/autoware_lanelet2_extension/0.8.0-1
-  url: https://github.com/ros2-gbp/autoware_lanelet2_extension-release.git
-  version: 0.8.0
-autoware_lanelet2_extension_python:
-  tag: release/humble/autoware_lanelet2_extension_python/0.8.0-1
-  url: https://github.com/ros2-gbp/autoware_lanelet2_extension-release.git
-  version: 0.8.0
 autoware_lanelet2_map_visualizer:
   tag: release/humble/autoware_lanelet2_map_visualizer/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -138,10 +118,6 @@ autoware_lanelet2_utils:
   tag: release/humble/autoware_lanelet2_utils/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_localization_msgs:
-  tag: release/humble/autoware_localization_msgs/1.9.0-1
-  url: https://github.com/ros2-gbp/autoware_msgs-release.git
-  version: 1.9.0
 autoware_localization_util:
   tag: release/humble/autoware_localization_util/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -214,10 +190,6 @@ autoware_planning_factor_interface:
   tag: release/humble/autoware_planning_factor_interface/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_planning_msgs:
-  tag: release/humble/autoware_planning_msgs/1.9.0-1
-  url: https://github.com/ros2-gbp/autoware_msgs-release.git
-  version: 1.9.0
 autoware_planning_test_manager:
   tag: release/humble/autoware_planning_test_manager/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -262,10 +234,6 @@ autoware_stop_filter:
   tag: release/humble/autoware_stop_filter/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_system_msgs:
-  tag: release/humble/autoware_system_msgs/1.9.0-1
-  url: https://github.com/ros2-gbp/autoware_msgs-release.git
-  version: 1.9.0
 autoware_test_node:
   tag: release/humble/autoware_test_node/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -286,54 +254,6 @@ autoware_twist2accel:
   tag: release/humble/autoware_twist2accel/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
   version: 1.7.0
-autoware_utils:
-  tag: release/jazzy/autoware_utils/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_debug:
-  tag: release/jazzy/autoware_utils_debug/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_diagnostics:
-  tag: release/jazzy/autoware_utils_diagnostics/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_geometry:
-  tag: release/jazzy/autoware_utils_geometry/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_logging:
-  tag: release/jazzy/autoware_utils_logging/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_math:
-  tag: release/jazzy/autoware_utils_math/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_pcl:
-  tag: release/jazzy/autoware_utils_pcl/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_rclcpp:
-  tag: release/jazzy/autoware_utils_rclcpp/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_system:
-  tag: release/jazzy/autoware_utils_system/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_tf:
-  tag: release/jazzy/autoware_utils_tf/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_uuid:
-  tag: release/jazzy/autoware_utils_uuid/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
-autoware_utils_visualization:
-  tag: release/jazzy/autoware_utils_visualization/1.4.2-1
-  url: https://github.com/ros2-gbp/autoware_utils-release.git
-  version: 1.4.2
 autoware_vehicle_info_utils:
   tag: release/humble/autoware_vehicle_info_utils/1.7.0-1
   url: https://github.com/ros2-gbp/autoware_core-release.git
@@ -694,13 +614,6 @@ rslidar_sdk:
   tag: v1.5.18
   url: https://github.com/RoboSense-LiDAR/rslidar_sdk.git
   version: 1.5.18
-rtabmap:
-  # rolling's own release is 0.22.1, which no longer links on Windows against gtsam (LNK2005
-  # on a std::vector<std::uint64_t, tbb_allocator> member); jazzy's 0.23.13 does. rolling has
-  # no rtabmap_ros to keep in step.
-  tag: release/jazzy/rtabmap/0.23.13-1
-  url: https://github.com/ros2-gbp/rtabmap-release.git
-  version: 0.23.13
 yaets:
   tag: release/lyrical/yaets/1.2.0-1
   url: https://github.com/fmrico/yaets-release.git
diff --git a/pixi.lock b/pixi.lock
index ab0edb4f3..c08eb8dd6 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -32,6 +32,7 @@ environments:
   default:
     channels:
     - url: https://prefix.dev/conda-forge/
+    - url: https://prefix.dev/tobias-fischer/robostack-tools/
     indexes:
     - https://pypi.org/simple
     packages:
@@ -90,6 +91,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/noarch/tomli-2.5.0-pyh5ded981_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/typing_extensions-4.16.0-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/tzdata-2026c-h151e31d_0.conda
+      - conda_source: vinca-rs[606d2182] @ git+https://github.com/tobias-fischer/vinca-rs?rev=7532d43e2147c7b9279d25b28f8b571f62e84172#7532d43e2147c7b9279d25b28f8b571f62e84172
       - pypi: git+https://github.com/RoboStack/vinca.git?rev=74d1e856d5b00c0cb5ee0c1be41dac4afcae7bf5#74d1e856d5b00c0cb5ee0c1be41dac4afcae7bf5
       - pypi: https://files.pythonhosted.org/packages/0b/a7/71ac2cff56fec219ed242bb11b8efb69fcc4bec75db06fb7bfe35de520e6/certifi-2026.7.22-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/12/74/ef303ec980ef962ffe548fa36cb138bb399d1d1315731ba7bb81da85f7e0/rosdistro-1.1.0-py3-none-any.whl
@@ -170,6 +172,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/noarch/tomli-2.5.0-pyh5ded981_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/typing_extensions-4.16.0-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/tzdata-2026c-h151e31d_0.conda
+      - conda_source: vinca-rs[1d6674fe] @ git+https://github.com/tobias-fischer/vinca-rs?rev=7532d43e2147c7b9279d25b28f8b571f62e84172#7532d43e2147c7b9279d25b28f8b571f62e84172
       - pypi: git+https://github.com/RoboStack/vinca.git?rev=74d1e856d5b00c0cb5ee0c1be41dac4afcae7bf5#74d1e856d5b00c0cb5ee0c1be41dac4afcae7bf5
       - pypi: https://files.pythonhosted.org/packages/0b/a7/71ac2cff56fec219ed242bb11b8efb69fcc4bec75db06fb7bfe35de520e6/certifi-2026.7.22-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/12/74/ef303ec980ef962ffe548fa36cb138bb399d1d1315731ba7bb81da85f7e0/rosdistro-1.1.0-py3-none-any.whl
@@ -243,6 +246,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/osx-64/tk-8.6.13-ha6c374e_4.conda
       - conda: https://prefix.dev/conda-forge/osx-64/yaml-0.2.5-had63097_3.conda
       - conda: https://prefix.dev/conda-forge/osx-64/zstd-1.5.7-hbc1a06c_7.conda
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+  subdir: win-64
+  variants:
+    c_compiler: vs2022
+    target_platform: win-64
+  depends:
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  license: MIT
+  build_packages:
+  - conda: https://prefix.dev/conda-forge/noarch/rust-std-x86_64-pc-windows-msvc-1.99.1-h5a2a77e_1.conda
+  - conda: https://prefix.dev/conda-forge/noarch/vswhere-3.1.7-h40126e0_1.conda
+  - conda: https://prefix.dev/conda-forge/win-64/rust-1.99.1-h419297b_1.conda
+  - conda: https://prefix.dev/conda-forge/win-64/rust_win-64-1.99.1-hb8c729a_0.conda
+  - conda: https://prefix.dev/conda-forge/win-64/vs2022_win-64-19.44.35207-h5f61962_43.conda
+  - conda: https://prefix.dev/conda-forge/win-64/vs_win-64-2022.14-h5f61962_43.conda
+  host_packages:
+  - conda: https://prefix.dev/conda-forge/win-64/ucrt-10.0.26100.0-h57928b3_0.conda
+  - conda: https://prefix.dev/conda-forge/win-64/vc-14.5-hda273ae_43.conda
+  - conda: https://prefix.dev/conda-forge/win-64/vc14_runtime-14.51.36247-h072b54c_43.conda
+  - conda: https://prefix.dev/conda-forge/win-64/vcomp14-14.51.36247-h1c3f1cb_43.conda
+- conda_source: vinca-rs[606d2182] @ git+https://github.com/tobias-fischer/vinca-rs?rev=7532d43e2147c7b9279d25b28f8b571f62e84172#7532d43e2147c7b9279d25b28f8b571f62e84172
+  version: 0.1.9
+  build: h41f06ac_0
+  subdir: linux-64
+  variants:
+    c_stdlib: sysroot
+    c_stdlib_version: '2.17'
+    target_platform: linux-64
+  depends:
+  - libgcc >=16
+  - __glibc >=2.17,<3.0.a0
+  constrains:
+  - __glibc >=2.17
+  - __glibc >=2.17
+  license: MIT
+  build_packages:
+  - conda: https://prefix.dev/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/binutils_impl_linux-64-2.46.1-default_hfdba357_103.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/binutils_linux-64-2.46.1-default_h4852527_103.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/gcc_impl_linux-64-16.2.0-h9891192_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/gcc_linux-64-16.2.0-h0ab548f_2.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/ld_impl_linux-64-2.46.1-default_hbd61a6d_103.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/libgcc-16.2.0-ha9f2e26_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/libgomp-16.2.0-he0feb66_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/libsanitizer-16.2.0-h3048135_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/libstdcxx-16.2.0-h934c35e_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_3.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/rust-1.99.1-h6344a40_1.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/rust_linux-64-1.99.1-h6463082_0.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_7.conda
+  - conda: https://prefix.dev/conda-forge/noarch/kernel-headers_linux-64-3.10.0-he073ed8_18.conda
+  - conda: https://prefix.dev/conda-forge/noarch/libgcc-devel_linux-64-16.2.0-he3ce08f_107.conda
+  - conda: https://prefix.dev/conda-forge/noarch/libstdcxx-devel_linux-64-16.2.0-h86e191b_107.conda
+  - conda: https://prefix.dev/conda-forge/noarch/rust-std-x86_64-unknown-linux-gnu-1.99.1-h480d76f_1.conda
+  - conda: https://prefix.dev/conda-forge/noarch/sysroot_linux-64-2.17-h0157908_18.conda
+  - conda: https://prefix.dev/conda-forge/noarch/tzdata-2026e-h5d301ff_0.conda
+  host_packages:
+  - conda: https://prefix.dev/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/libgcc-16.2.0-ha9f2e26_7.conda
+  - conda: https://prefix.dev/conda-forge/linux-64/libgomp-16.2.0-he0feb66_7.conda
+- conda_source: vinca-rs[f85bee14] @ git+https://github.com/tobias-fischer/vinca-rs?rev=7532d43e2147c7b9279d25b28f8b571f62e84172#7532d43e2147c7b9279d25b28f8b571f62e84172
+  version: 0.1.9
+  build: hea27dcd_0
+  subdir: osx-arm64
+  variants:
+    c_stdlib: macosx_deployment_target
+    c_stdlib_version: '13.0'
+    target_platform: osx-arm64
+  depends:
+  - __osx >=13.0
+  constrains:
+  - __osx >=11.0
+  license: MIT
+  build_packages:
+  - conda: https://prefix.dev/conda-forge/noarch/ca-certificates-2026.10.23-hbd8a1cb_0.conda
+  - conda: https://prefix.dev/conda-forge/noarch/compiler-rt23_osx-arm64-23.1.4-hb8825d9_0.conda
+  - conda: https://prefix.dev/conda-forge/noarch/compiler-rt_osx-arm64-23.1.4-hce30654_0.conda
+  - conda: https://prefix.dev/conda-forge/noarch/macosx_deployment_target_osx-arm64-13.0-h95484f9_7.conda
+  - conda: https://prefix.dev/conda-forge/noarch/rust-std-aarch64-apple-darwin-1.99.1-h4899003_1.conda
+  - conda: https://prefix.dev/conda-forge/noarch/sdkroot_env_osx-arm64-26.0-ha3f98da_7.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/cctools_impl_osx-arm64-1030.6.3-llvm23_1_hf5e010b_7.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/cctools_osx-arm64-1030.6.3-llvm23_1_h54b4f4b_7.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/clang-23-23.1.4-default_hde1afa0_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/clang_impl_osx-arm64-23.1.4-default_h8bbc02d_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/clang_osx-arm64-23.1.4-h2adb7b3_36.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/compiler-rt-23.1.4-hce30654_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/compiler-rt23-23.1.4-hdb3d66b_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/icu-78.3-py310h579977c_2.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/ld64_osx-arm64-956.6-llvm23_1_hc8058f9_7.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/libclang-cpp23.1-23.1.4-default_h8bbc02d_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/libcompiler-rt-23.1.4-hdb3d66b_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/libcxx-23.1.5-hc645fd0_2.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/libiconv-1.18-he4c29f2_3.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/libllvm23-23.1.5-h759d1ac_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/liblzma-5.8.3-h8088a28_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/libsigtool-0.1.3-h98dc951_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/libxml2-16-2.15.4-heb56d2d_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/libxml2-2.15.4-h550178d_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/libzlib-1.3.2-h8088a28_3.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/llvm-tools-23-23.1.5-h79441dc_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/llvm-tools-23.1.5-hdb3d66b_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/ncurses-6.6-he64c551_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/openssl-3.6.5-h55eecbc_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/rust-1.99.1-hc99db57_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/rust_osx-arm64-1.99.1-h76be34a_0.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/sigtool-codesign-0.1.3-h98dc951_1.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/tapi-1600.0.11.8-hb561403_4.conda
+  - conda: https://prefix.dev/conda-forge/osx-arm64/zstd-1.5.7-hf451053_7.conda
 - pypi: git+https://github.com/RoboStack/vinca.git?rev=74d1e856d5b00c0cb5ee0c1be41dac4afcae7bf5#74d1e856d5b00c0cb5ee0c1be41dac4afcae7bf5
   name: vinca
   version: 0.2.0
diff --git a/pixi.toml b/pixi.toml
index c76cfff92..39bd4d9a2 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -1,8 +1,9 @@
 [workspace]
+preview = ["pixi-build"]  # TEMPORARY, for the vinca-rs git source
 name = "robostack"
 description = "RoboStack: conda packages for all ROS 2 distributions, from one repository"
 authors = ["Tobias Fischer <tobias.fischer@qut.edu.au>", "Wolf Vollprecht <w.vollprecht@gmail.com>", "Silvio Traversaro <silvio@traversaro.it>", "Daisuke Nishimatsu <daisuke.nishimatsu1021@gmail.com>"]
-channels = ["https://prefix.dev/conda-forge"]
+channels = ["https://prefix.dev/conda-forge", "https://prefix.dev/tobias-fischer/robostack-tools"]
 platforms = [
   "osx-arm64",
   # 2.17 is the glibc version used in CentOS 7
@@ -27,6 +28,8 @@ git-lfs = "*"
 pytest = ">=9.1.1,<10"
 # gh for the workflows: one version everywhere (the runner's is not on PATH on Windows)
 gh = ">=2.102.0,<3"
+# TEMPORARY: vinca-rs built from the branch with the unified cmake templates (prefix-dev/pixi#7540)
+vinca-rs = { git = "https://github.com/Tobias-Fischer/vinca-rs.git", rev = "7532d43e2147c7b9279d25b28f8b571f62e84172" }
 
 [target.win-64.dependencies]
 # patch is required by rattler-build
@@ -42,7 +45,7 @@ vinca = { git = "https://github.com/RoboStack/vinca.git", rev = "74d1e856d5b00c0
 
 [tasks]
 rs = { cmd = "python tools/robostack.py", description = "Run a task for one distribution: `pixi run rs <distro> <task>` (generate-recipes, build, build-one, check-patches, check-deps, create-snapshot, render-pinning, sort, ...)." }
-sort = { cmd = "sh -lc 'vinca-sort-vinca-lists $@ shared/vinca.yaml && vinca-sort-yaml-keys $@ shared/robostack.yaml shared/pkg_additional_info.yaml shared/patch/dependencies.yaml && for d in distros/*/; do (cd $d && vinca-sort-vinca-lists $@ vinca.yaml && vinca-sort-yaml-keys $@ pkg_additional_info.yaml rosdistro_additional_recipes.yaml $(ls patch/dependencies.yaml 2>/dev/null)) || exit 1; done' --", description = "Sort the YAML files of all distributions (`--check` to only check)." }
+sort = { cmd = "sh -lc 'vinca-sort-vinca-lists $@ shared/vinca.yaml && vinca-sort-yaml-keys $@ shared/robostack.yaml shared/pkg_additional_info.yaml && for d in distros/*/; do [ -f $d/vinca.yaml ] || continue; (cd $d && vinca-sort-vinca-lists $@ vinca.yaml && vinca-sort-yaml-keys $@ pkg_additional_info.yaml rosdistro_additional_recipes.yaml) || exit 1; done' --", description = "Sort the YAML files of all distributions (`--check` to only check)." }
 test = { cmd = "python -m pytest tools/tests", description = "Unit tests of the repository tooling (tools/tests)." }
 abi-check = { cmd = "pixi exec -s python=3.14 -s zstandard -s pyyaml -s pyelftools python tools/abi_check.py", description = "Compare the ABI of package builds with libabigail (Linux only): `pixi run abi-check --distro jazzy --latest-pairs 30`, `--old a.conda --new b.conda`, or `--pr-builds <dir>` (a pull request's builds against the released ones)." }
-render-pinning = { cmd = "sh -lc 'for d in distros/*/; do python tools/robostack.py $(basename $d) render-pinning || exit 1; done'", description = "Regenerate every distribution's conda_build_config.yaml from shared/pinning and its distro.yaml." }
+render-pinning = { cmd = "sh -lc 'for d in distros/*/; do [ -f $d/vinca.yaml ] || continue; python tools/robostack.py $(basename $d) render-pinning || exit 1; done'", description = "Regenerate every distribution's conda_build_config.yaml from shared/pinning and its distro.yaml." }
diff --git a/shared/files/ros2-ros-workspace/activate.bat b/shared/files/ros2-ros-workspace/activate.bat
new file mode 100644
index 000000000..0c17d5f5c
--- /dev/null
+++ b/shared/files/ros2-ros-workspace/activate.bat
@@ -0,0 +1,13 @@
+@if not defined CONDA_PREFIX goto:eof
+
+@REM Don't do anything when we are in conda build.
+@if defined SYS_PREFIX exit /b 0
+
+@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins"
+
+@call "%CONDA_PREFIX%\Library\local_setup.bat"
+@set PYTHONHOME=
+@set "ROS_OS_OVERRIDE=conda:win64"
+@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros"
+@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library"
+@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe"
diff --git a/shared/files/ros2-ros-workspace/activate.ps1 b/shared/files/ros2-ros-workspace/activate.ps1
new file mode 100644
index 000000000..4e225b56a
--- /dev/null
+++ b/shared/files/ros2-ros-workspace/activate.ps1
@@ -0,0 +1,14 @@
+if ($null -eq ${env:CONDA_PREFIX}) { Exit }
+
+# Don't do anything when we are in conda build.
+if ($null -ne ${env:SYS_PREFIX}) { Exit 0 }
+
+$Env:QT_PLUGIN_PATH="${env:CONDA_PREFIX}\Library\plugins"
+
+& "${env:CONDA_PREFIX}\Library\local_setup.ps1"
+
+$Env:PYTHONHOME=''
+$Env:ROS_OS_OVERRIDE='conda:win64'
+$Env:ROS_ETC_DIR="${env:CONDA_PREFIX}\Library\etc\ros"
+$Env:AMENT_PREFIX_PATH="${env:CONDA_PREFIX}\Library"
+$Env:AMENT_PYTHON_EXECUTABLE="${env:CONDA_PREFIX}\python.exe"
diff --git a/shared/files/ros2-ros-workspace/activate.sh b/shared/files/ros2-ros-workspace/activate.sh
new file mode 100644
index 000000000..8ebb90fe1
--- /dev/null
+++ b/shared/files/ros2-ros-workspace/activate.sh
@@ -0,0 +1,93 @@
+# if [ -z "${CONDA_PREFIX}" ]; then
+#     exit 0;
+# fi
+
+case "$OSTYPE" in
+  msys*|cygwin*)
+    # Windows: conda runs this script (not activate.bat) when the environment
+    # is activated from Git Bash / MSYS2 / Cygwin. The ROS packages only ship
+    # .bat/.dsv environment hooks there (under %CONDA_PREFIX%\Library), so do
+    # what activate.bat -> local_setup.bat does: let ament's
+    # _local_setup_util.py evaluate every package's .dsv hooks, in "sh" mode,
+    # and apply the result. Values stay in Windows form (C:\...;C:\...) since
+    # native Windows programs (python, cmake, ros2) read them; only PATH is
+    # converted to the form the shell itself uses.
+    if [ -n "${SYS_PREFIX:-}" ]; then
+      # Don't do anything when we are in conda build (as activate.bat).
+      :
+    elif ! command -v cygpath > /dev/null 2>&1; then
+      echo "Not activating ROS: cygpath not found" >&2
+    else
+      # Keep an absolute path: a .dsv assignment may remove cygpath from PATH.
+      _ros_cygpath="$(command -v cygpath)"
+      _ros_prefix_w="$(cygpath -w "$CONDA_PREFIX")"
+      _ros_python="$(cygpath -u "$_ros_prefix_w\\python.exe")"
+      _ros_util="$(cygpath -u "$_ros_prefix_w\\Library\\_local_setup_util.py")"
+
+      export QT_PLUGIN_PATH="$_ros_prefix_w\\Library\\plugins"
+      unset PYTHONHOME
+
+      if [ -f "$_ros_util" ]; then
+        while IFS= read -r _ros_line; do
+          case "$_ros_line" in
+            "export "*"#:}")
+              # strip a leading separator: ';' on Windows, not ':'
+              _ros_line="${_ros_line%#:\}}#;}"
+              ;;
+            "export "*"%:}")
+              # strip a trailing separator: ';' on Windows, not ':'
+              _ros_line="${_ros_line%\%:\}}%;}"
+              ;;
+          esac
+          case "$_ros_line" in
+            "export PATH="*)
+              # ament emits Windows lists even in sh mode. Evaluate against a
+              # Windows PATH in a subshell, then convert the complete result.
+              # This handles prepends, appends and assignments without mixing
+              # semicolons, drive-letter colons and Bash's ':' separators.
+              _ros_value="$(
+                PATH="$("$_ros_cygpath" -w -p "$PATH")"
+                eval "$_ros_line"
+                printf '%s' "$PATH"
+              )"
+              export PATH="$("$_ros_cygpath" -u -p "$_ros_value")"
+              ;;
+            "export "*)
+              eval "$_ros_line"
+              ;;
+          esac
+        done <<EOF
+$("$_ros_python" "$_ros_util" sh | tr -d '\r')
+EOF
+      fi
+
+      export ROS_OS_OVERRIDE="conda:win64"
+      export ROS_ETC_DIR="$_ros_prefix_w\\Library\\etc\\ros"
+      export AMENT_PREFIX_PATH="$_ros_prefix_w\\Library"
+      export AMENT_PYTHON_EXECUTABLE="$_ros_prefix_w\\python.exe"
+      unset _ros_prefix_w _ros_python _ros_util _ros_line _ros_value _ros_cygpath
+    fi
+    ;;
+  *)
+    # Not sure if this is necessary on UNIX?
+    # export QT_PLUGIN_PATH=$CONDA_PREFIX\plugins
+
+    if [ "$CONDA_BUILD" = "1" -a "$target_platform" != "$build_platform" ]; then
+        # ignore sourcing
+        echo "Not activating ROS when cross-compiling";
+    else
+        source $CONDA_PREFIX/setup.sh
+    fi
+
+    case "$OSTYPE" in
+      darwin*)  export ROS_OS_OVERRIDE="conda:osx";;
+      linux*)   export ROS_OS_OVERRIDE="conda:linux";;
+    esac
+
+    export ROS_ETC_DIR=$CONDA_PREFIX/etc/ros
+    export AMENT_PREFIX_PATH=$CONDA_PREFIX
+
+    # Looks unnecessary for UNIX
+    # unset PYTHONHOME=
+    ;;
+esac
diff --git a/shared/files/ros2-ros-workspace/deactivate.bat b/shared/files/ros2-ros-workspace/deactivate.bat
new file mode 100644
index 000000000..31f6f50df
--- /dev/null
+++ b/shared/files/ros2-ros-workspace/deactivate.bat
@@ -0,0 +1,16 @@
+@if not defined CONDA_PREFIX goto:eof
+
+@set ROS_OS_OVERRIDE=
+@set ROS_DISTRO=
+@set ROS_ETC_DIR=
+@set ROS_PACKAGE_PATH=
+@set ROS_PYTHON_VERSION=
+@set ROS_VERSION=
+@set PYTHONHOME=
+@set PYTHONPATH=
+@set CMAKE_PREFIX_PATH=
+@set AMENT_PREFIX_PATH=
+@set COLCON_PREFIX_PATH=
+@set QT_PLUGIN_PATH=
+@set ROS_LOCALHOST_ONLY=
+@set ament_python_executable=
diff --git a/shared/files/ros2-ros-workspace/deactivate.ps1 b/shared/files/ros2-ros-workspace/deactivate.ps1
new file mode 100644
index 000000000..57f87aa54
--- /dev/null
+++ b/shared/files/ros2-ros-workspace/deactivate.ps1
@@ -0,0 +1,16 @@
+if ($null -eq ${env:CONDA_PREFIX}) { Exit }
+
+$Env:ROS_OS_OVERRIDE=''
+$Env:ROS_DISTRO=''
+$Env:ROS_ETC_DIR=''
+$Env:ROS_PACKAGE_PATH=''
+$Env:ROS_PYTHON_VERSION=''
+$Env:ROS_VERSION=''
+$Env:PYTHONHOME=''
+$Env:PYTHONPATH=''
+$Env:CMAKE_PREFIX_PATH=''
+$Env:AMENT_PREFIX_PATH=''
+$Env:COLCON_PREFIX_PATH=''
+$Env:QT_PLUGIN_PATH=''
+$Env:ROS_LOCALHOST_ONLY=''
+$Env:ament_python_executable=''
diff --git a/shared/files/ros2-ros-workspace/deactivate.sh b/shared/files/ros2-ros-workspace/deactivate.sh
new file mode 100644
index 000000000..b63f6feb7
--- /dev/null
+++ b/shared/files/ros2-ros-workspace/deactivate.sh
@@ -0,0 +1,30 @@
+if [ -z "${CONDA_PREFIX}" ]; then
+	exit 0
+fi
+
+unset ROS_DISTRO
+unset ROS_ETC_DIR
+unset ROS_PACKAGE_PATH
+unset ROS_PYTHON_VERSION
+unset CMAKE_PREFIX_PATH
+unset AMENT_PREFIX_PATH
+unset COLCON_PREFIX_PATH
+unset ROS_VERSION
+unset ROS_OS_OVERRIDE
+# unset PYTHONPATH
+# unset PYTHONHOME
+# unset QT_PLUGIN_PATH
+unset ROS_LOCALHOST_ONLY
+unset ament_python_executable
+unset RMW_IMPLEMENTATION
+
+case "$OSTYPE" in
+  msys*|cygwin*)
+    # Windows (Git Bash / MSYS2 / Cygwin): also undo what activate.sh sets
+    # there, as deactivate.bat does.
+    unset PYTHONHOME
+    unset PYTHONPATH
+    unset QT_PLUGIN_PATH
+    unset AMENT_PYTHON_EXECUTABLE
+    ;;
+esac
diff --git a/shared/patch/dependencies.yaml b/shared/patch/dependencies.yaml
deleted file mode 100644
index b2b946bd4..000000000
--- a/shared/patch/dependencies.yaml
+++ /dev/null
@@ -1,182 +0,0 @@
-# Dependency fixes shared by every distribution; distros/<d>/patch/dependencies.yaml
-# adds its own and wins per package.
-ament_package:
-  add_host: ['importlib_resources']
-behaviortree_cpp:
-  add_host: ["libboost-devel", "cppzmq", "zeromq", "sqlite"]
-  add_run: ["libboost"]
-camera_calibration:
-  # Depends on opencv with gui support, see https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/src/camera_calibration/camera_calibrator.py#L286
-  add_run: ["libopencv * *qt6*"]
-cuda_buffer:
-  # FindCUDAToolkit needs nvcc; CUDA::cuda_driver links against the driver stub.
-  add_host: ["cuda-driver-dev", "cuda-nvcc"]
-cuda_buffer_backend:
-  add_host: ["cuda-driver-dev", "cuda-nvcc"]
-dolly_ignition:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-fmilibrary_vendor:
-  add_host: ["fmilib"]
-foonathan_memory_vendor:
-  add_host: ["foonathan-memory"]
-  add_run: ["foonathan-memory"]
-force_torque_sensor_broadcaster:
-  add_host: ["typeguard", "jinja2"]
-franka_example_controllers:
-  add_host: ["ros2-moveit-core"]
-  add_run: ["ros2-moveit-core"]
-franka_hardware:
-  add_host: ["ros2-rclcpp-action", "ros2-rclcpp-components"]
-  add_run: ["ros2-rclcpp-action", "ros2-rclcpp-components"]
-franka_ign_ros2_control:
-  add_host: ["ros2-urdf", "ros2-kdl-parser", "ros2-tf2-geometry-msgs", "ros2-tf2-eigen", "${{ 'libgl-devel' if linux }}"]
-  add_run: ["ros2-urdf", "ros2-kdl-parser", "ros2-tf2-geometry-msgs", "ros2-tf2-eigen"]
-franka_robot_state_broadcaster:
-  add_host: ["ros2-visualization-msgs"]
-  add_run: ["ros2-visualization-msgs"]
-franka_semantic_components:
-  add_host: ["ros2-urdf", "ros2-controller-interface"]
-  add_run: ["ros2-urdf", "ros2-controller-interface"]
-gazebo_ros:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-google_benchmark_vendor:
-  add_host: ["benchmark"]
-  add_run: ["benchmark"]
-gscam:
-  add_host: ["glib"]
-ignition_cmake2_vendor:
-  add_host: ["libignition-cmake2"]
-  add_run: ["libignition-cmake2"]
-ignition_math6_vendor:
-  add_host: ["libignition-math6"]
-  add_run: ["libignition-math6"]
-image_tools:
-  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/image_tools/src/showimage.cpp#L190
-  add_run: ["libopencv * *qt6*"]
-imu_calib:
-  add_host: ["ros2-eigen3-cmake-module"]
-  add_run: ["ros2-eigen3-cmake-module"]
-libcurl_vendor:
-  add_host: ["libcurl"]
-  add_run: ["libcurl"]
-libphidget22:
-  add_host: ["libusb"]
-libyaml_vendor:
-  add_host: ["yaml-cpp", "yaml"]
-  add_run: ["yaml-cpp", "yaml"]
-livox_ros_driver2:
-  add_host: ["livox-sdk2"]
-  add_run: ["livox-sdk2"]
-moveit:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-moveit2_tutorials:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-moveit_setup_app_plugins:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-moveit_setup_assistant:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-moveit_setup_controllers:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-moveit_setup_core_plugins:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-moveit_setup_framework:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-moveit_setup_srdf_plugins:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-mrpt_common:
-  # CMakeLists.txt calls find_package(ament_cmake) when ROS_VERSION=2 (set by ros_environment),
-  # but package.xml (build_type cmake) does not declare it
-  add_host: ["ros2-ament-cmake"]
-mrpt_gui:
-  # links libwx_*; the wxwidgets/wx-common keys map to wxpython, so wxwidgets is only a
-  # transitive host dep and its (weak) run_exports never reach the run requirements
-  # Windows: nanogui links conda-forge's glad instead of its bundled copy (ros2-mrpt-gui.win.patch)
-  add_host: ["wxwidgets", "${{ 'glad' if win }}"]
-mrpt_imgui:
-  # Windows: links conda-forge's GLEW like mrpt_opengl, also for its users (ros2-mrpt-imgui.win.patch)
-  add_host: ["${{ 'glew' if win }}"]
-  add_run: ["${{ 'glew' if win }}"]
-mrpt_math:
-  # its public headers include Eigen, and its exported CMake targets (and mrpt_poses') carry
-  # the eigen3 include directory: users need the headers (eigen-abi-devel's run_exports only
-  # add eigen-abi), or dependents without their own eigen dependency fail to configure
-  add_run: ["eigen"]
-mrpt_opengl:
-  # Windows: the release source has no bundled GLEW (ros2-mrpt-opengl.win.patch); users of
-  # opengl_api.h need GL/glew.h too
-  add_host: ["${{ 'glew' if win }}"]
-  add_run: ["${{ 'glew' if win }}"]
-mujoco_ros2_control_plugins:
-  add_host:
-  - if: linux
-    then: ["libegl-devel"]  # CMake finds OpenGL COMPONENTS EGL
-mujoco_vendor:
-  add_host: ["libmujoco"]  # conda-forge's MuJoCo (linux, osx, win) instead of the bundled build
-nao_lola:
-  add_host: ["libboost-devel"]
-nav2_smac_planner:
-  add_build: ["${{ 'llvm-openmp' if osx }}"]
-  add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"]
-octomap_ros:
-  add_host: ["octomap"]
-octomap_rviz_plugins:
-  add_host: ["octomap"]
-ompl:
-  add_host: ["ompl"]
-onnxruntime_vendor:
-  add_host: [onnxruntime-cpp]
-  add_run: [onnxruntime-cpp]
-open3d_conversions:
-  # Open3D's own CMake config calls find_dependency(TBB), but conda-forge's
-  # open3d package only depends on the runtime "tbb" lib, not "tbb-devel"
-  # (which provides TBBConfig.cmake) -- add it explicitly so find_package(Open3D)
-  # can resolve its own TBB dependency.
-  add_host: ["tbb-devel"]
-ortools_vendor:
-  add_host: ["eigen", "libabseil", "libprotobuf", "re2", "zlib"]
-  add_run: ["eigen", "libabseil", "libprotobuf", "re2", "zlib"]
-pcl_ros:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
-plotjuggler_ros:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-popf:
-  add_host: ["perl"]
-pybind11_vendor:
-  add_host: ["pybind11"]
-  add_run: ["pybind11"]
-rmw_zenoh_cpp:
-  add_host: ["libzenohc", "libzenohcxx"]
-ros_ign_gazebo_demos:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rosx_introspection:
-  add_host: ["rapidjson"]
-rviz2:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rviz_assimp_vendor:
-  add_host: ["assimp"]
-  add_run: ["assimp"]
-rviz_rendering:
-  add_host: ["glew"]
-rviz_visual_testing_framework:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-sdl2_vendor:
-  add_host: ["sdl2"]
-  add_run: ["sdl2"]
-sqlite3_vendor:
-  add_host: ["sqlite"]
-  add_run: ["sqlite"]
-tvm_vendor:
-  add_host: ["libblas", "openblas", "libcblas"]
-velodyne_pointcloud:
-  add_host: ["libboost-devel"]
-webots_ros2_importer:
-  # urdf2webots imports PIL, but the package.xml doesn't declare python3-pil
-  add_run: ["pillow"]
-yaml_cpp_vendor:
-  add_host: ["yaml-cpp"]
-  add_run: ["yaml-cpp"]
-zenoh_cpp_vendor:
-  add_host: ["libzenohc", "libzenohcxx"]
-zstd_vendor:
-  add_host: ["zstd", "${{ 'zstd-static' if not win }}"]
-  add_run: ["zstd"]
diff --git a/shared/pkg_additional_info.yaml b/shared/pkg_additional_info.yaml
index e32b036ff..08a66df08 100644
--- a/shared/pkg_additional_info.yaml
+++ b/shared/pkg_additional_info.yaml
@@ -1,5 +1,7 @@
 # Per-package build settings shared by every distribution; distros/<d>/pkg_additional_info.yaml
 # adds its own and wins per key (e.g. build_number).
+ament_package:
+  add_host: ['importlib_resources']
 aruco:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 aruco_ros:
@@ -12,8 +14,14 @@ as2_platform_multirotor_simulator:
     then: '-DCMAKE_CXX_FLAGS="-include cassert"'
 aws_sdk_cpp_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+behaviortree_cpp:
+  add_host: ["libboost-devel", "cppzmq", "zeromq", "sqlite"]
+  add_run: ["libboost"]
 behaviortree_cpp_v3:
   additional_cmake_args: "-DBUILD_UNIT_TESTS=OFF"
+camera_calibration:
+  # Depends on opencv with gui support, see https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/src/camera_calibration/camera_calibrator.py#L286
+  add_run: ["libopencv * *qt6*"]
 cartographer:
   generate_dummy_package_with_run_deps:
     dep_name: cartographer
@@ -29,6 +37,11 @@ compressed_depth_image_transport:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 console_bridge_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+cuda_buffer:
+  # FindCUDAToolkit needs nvcc; CUDA::cuda_driver links against the driver stub.
+  add_host: ["cuda-driver-dev", "cuda-nvcc"]
+cuda_buffer_backend:
+  add_host: ["cuda-driver-dev", "cuda-nvcc"]
 cyclonedds:
   generate_dummy_package_with_run_deps:
     dep_name: cyclonedds
@@ -41,10 +54,33 @@ diagnostic_aggregator:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 diagnostic_updater:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+dolly_ignition:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+fmilibrary_vendor:
+  add_host: ["fmilib"]
+foonathan_memory_vendor:
+  add_host: ["foonathan-memory"]
+  add_run: ["foonathan-memory"]
 force_torque_sensor_broadcaster:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  add_host: ["typeguard", "jinja2"]
 foxglove_bridge:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+franka_example_controllers:
+  add_host: ["ros2-moveit-core"]
+  add_run: ["ros2-moveit-core"]
+franka_hardware:
+  add_host: ["ros2-rclcpp-action", "ros2-rclcpp-components"]
+  add_run: ["ros2-rclcpp-action", "ros2-rclcpp-components"]
+franka_ign_ros2_control:
+  add_host: ["ros2-urdf", "ros2-kdl-parser", "ros2-tf2-geometry-msgs", "ros2-tf2-eigen", "${{ 'libgl-devel' if linux }}"]
+  add_run: ["ros2-urdf", "ros2-kdl-parser", "ros2-tf2-geometry-msgs", "ros2-tf2-eigen"]
+franka_robot_state_broadcaster:
+  add_host: ["ros2-visualization-msgs"]
+  add_run: ["ros2-visualization-msgs"]
+franka_semantic_components:
+  add_host: ["ros2-urdf", "ros2-controller-interface"]
+  add_run: ["ros2-urdf", "ros2-controller-interface"]
 fuse_constraints:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 fuse_core:
@@ -67,6 +103,13 @@ fuse_variables:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 fuse_viz:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+gazebo_ros:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+google_benchmark_vendor:
+  add_host: ["benchmark"]
+  add_run: ["benchmark"]
+gscam:
+  add_host: ["glib"]
 gz_cmake_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 gz_common_vendor:
@@ -101,6 +144,18 @@ gz_transport_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 gz_utils_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+ignition_cmake2_vendor:
+  add_host: ["libignition-cmake2"]
+  add_run: ["libignition-cmake2"]
+ignition_math6_vendor:
+  add_host: ["libignition-math6"]
+  add_run: ["libignition-math6"]
+image_tools:
+  # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/image_tools/src/showimage.cpp#L190
+  add_run: ["libopencv * *qt6*"]
+imu_calib:
+  add_host: ["ros2-eigen3-cmake-module"]
+  add_run: ["ros2-eigen3-cmake-module"]
 imu_complementary_filter:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 imu_tools:
@@ -113,6 +168,8 @@ lanelet2_python:
   additional_cmake_args: "-DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD_REQUIRED=ON -DCMAKE_CXX_EXTENSIONS=OFF"
 libcurl_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+  add_host: ["libcurl"]
+  add_run: ["libcurl"]
 libfranka:
   generate_dummy_package_with_run_deps:
     dep_name: libfranka
@@ -123,6 +180,8 @@ liblz4_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 libnabo:
   additional_cmake_args: "-DLIBNABO_BUILD_PYTHON=OFF"
+libphidget22:
+  add_host: ["libusb"]
 libpointmatcher:
   # Windows installs libpointmatcherConfig.cmake into both <prefix>/Library/cmake and
   # share/libpointmatcher/cmake but its export file only into the latter; CMake finds the
@@ -130,42 +189,124 @@ libpointmatcher:
   additional_cmake_args:
     if: win
     then: "-DINSTALL_CMAKE_DIR=share/libpointmatcher/cmake"
+libyaml_vendor:
+  add_host: ["yaml-cpp", "yaml"]
+  add_run: ["yaml-cpp", "yaml"]
+livox_ros_driver2:
+  add_host: ["livox-sdk2"]
+  add_run: ["livox-sdk2"]
+moveit:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+moveit2_tutorials:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 moveit_ros_visualization:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+moveit_setup_app_plugins:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+moveit_setup_assistant:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+moveit_setup_controllers:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+moveit_setup_core_plugins:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+moveit_setup_framework:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+moveit_setup_srdf_plugins:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+mrpt_common:
+  # CMakeLists.txt calls find_package(ament_cmake) when ROS_VERSION=2 (set by ros_environment),
+  # but package.xml (build_type cmake) does not declare it
+  add_host: ["ros2-ament-cmake"]
 mrpt_gui:  # Windows: wxWidgets' and nanogui's GUI code needs GDI, which the ROS build scripts' CL=/DNOGDI=1 hides
   additional_cmake_args:
     if: win
     then: "-DCMAKE_CXX_FLAGS_INIT=/UNOGDI -DCMAKE_C_FLAGS_INIT=/UNOGDI"
+  # links libwx_*; the wxwidgets/wx-common keys map to wxpython, so wxwidgets is only a
+  # transitive host dep and its (weak) run_exports never reach the run requirements
+  # Windows: nanogui links conda-forge's glad instead of its bundled copy (ros2-mrpt-gui.win.patch)
+  add_host: ["wxwidgets", "${{ 'glad' if win }}"]
+mrpt_imgui:
+  # Windows: links conda-forge's GLEW like mrpt_opengl, also for its users (ros2-mrpt-imgui.win.patch)
+  add_host: ["${{ 'glew' if win }}"]
+  add_run: ["${{ 'glew' if win }}"]
 mrpt_libros_bridge:  # exports no symbols on Windows: no import library for its tests
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+mrpt_math:
+  # its public headers include Eigen, and its exported CMake targets (and mrpt_poses') carry
+  # the eigen3 include directory: users need the headers (eigen-abi-devel's run_exports only
+  # add eigen-abi), or dependents without their own eigen dependency fail to configure
+  add_run: ["eigen"]
+mrpt_opengl:
+  # Windows: the release source has no bundled GLEW (ros2-mrpt-opengl.win.patch); users of
+  # opengl_api.h need GL/glew.h too
+  add_host: ["${{ 'glew' if win }}"]
+  add_run: ["${{ 'glew' if win }}"]
+mujoco_ros2_control_plugins:
+  add_host:
+  - if: linux
+    then: ["libegl-devel"]  # CMake finds OpenGL COMPONENTS EGL
 mujoco_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+  add_host: ["libmujoco"]  # conda-forge's MuJoCo (linux, osx, win) instead of the bundled build
+nao_lola:
+  add_host: ["libboost-devel"]
+nav2_smac_planner:
+  add_build: ["${{ 'llvm-openmp' if osx }}"]
+  add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"]
 octomap_ros:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  add_host: ["octomap"]
+octomap_rviz_plugins:
+  add_host: ["octomap"]
+ompl:
+  add_host: ["ompl"]
 onnxruntime_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+  add_host: [onnxruntime-cpp]
+  add_run: [onnxruntime-cpp]
+open3d_conversions:
+  # Open3D's own CMake config calls find_dependency(TBB), but conda-forge's
+  # open3d package only depends on the runtime "tbb" lib, not "tbb-devel"
+  # (which provides TBBConfig.cmake) -- add it explicitly so find_package(Open3D)
+  # can resolve its own TBB dependency.
+  add_host: ["tbb-devel"]
 openvdb_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 orocos_kdl_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+ortools_vendor:
+  add_host: ["eigen", "libabseil", "libprotobuf", "re2", "zlib"]
+  add_run: ["eigen", "libabseil", "libprotobuf", "re2", "zlib"]
 ouster_ros:
   additional_cmake_args: "-DOUSTER_USE_VCPKG_IF_AVAILABLE=OFF"
 pcl_ros:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
 pinocchio:
   generate_dummy_package_with_run_deps:
     dep_name: pinocchio
     max_pin: 'x.x.x'
     # the version on ros is outdated w.r.t. to the conda-forge one
     override_version: '4.1.0'
+plotjuggler_ros:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+popf:
+  add_host: ["perl"]
 pybind11_json_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR"
 pybind11_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR"
+  add_host: ["pybind11"]
+  add_run: ["pybind11"]
+rmw_zenoh_cpp:
+  add_host: ["libzenohc", "libzenohcxx"]
 robot_state_publisher:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+ros_ign_gazebo_demos:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rosx_introspection:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+  add_host: ["rapidjson"]
 rtabmap_conversions:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 # rtabmap_odom/slam/util/viz on Windows: rtabmap::core links some PCL libraries by bare
@@ -187,22 +328,38 @@ rtabmap_viz:
   additional_cmake_args:
     if: win
     then: '-DCMAKE_CXX_FLAGS_INIT=/DNOMINMAX -DCMAKE_SHARED_LINKER_FLAGS_INIT=/LIBPATH:%LIBRARY_LIB% -DCMAKE_EXE_LINKER_FLAGS_INIT=/LIBPATH:%LIBRARY_LIB%'
+rviz2:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
+rviz_assimp_vendor:
+  add_host: ["assimp"]
+  add_run: ["assimp"]
+rviz_rendering:
+  add_host: ["glew"]
+rviz_visual_testing_framework:
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 sbg_driver:
   additional_cmake_args:
     if: win
     then: '-DCMAKE_CXX_FLAGS="-D_USE_MATH_DEFINES"'
 sdformat_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+sdl2_vendor:
+  add_host: ["sdl2"]
+  add_run: ["sdl2"]
 sick_scan_xd:
   additional_cmake_args: "-DBUILD_DEBUG_TARGET:BOOL=OFF -DROS_VERSION=2"
 spdlog_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 sqlite3_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+  add_host: ["sqlite"]
+  add_run: ["sqlite"]
 toppra:
   generate_dummy_package_with_run_deps:
     dep_name: toppra-python
     max_pin: 'x.x'
+tvm_vendor:
+  add_host: ["libblas", "openblas", "libcblas"]
 ublox_gps:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 uncrustify_vendor:
@@ -215,6 +372,8 @@ velodyne_laserscan:  # Windows (pulled in by rtabmap_examples): M_PI, and its li
   additional_cmake_args:
     if: win
     then: '-DCMAKE_CXX_FLAGS_INIT=/D_USE_MATH_DEFINES -DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON'
+velodyne_pointcloud:
+  add_host: ["libboost-devel"]
 visp:
   generate_dummy_package_with_run_deps:
     dep_name: visp
@@ -222,3 +381,14 @@ visp:
     # rosdistro's visp is older than conda-forge's, which is built against the current
     # OpenCV/protobuf (3.6.x needs OpenCV 4, i.e. protobuf < 7)
     override_version: '3.7.0'
+webots_ros2_importer:
+  # urdf2webots imports PIL, but the package.xml doesn't declare python3-pil
+  add_run: ["pillow"]
+yaml_cpp_vendor:
+  add_host: ["yaml-cpp"]
+  add_run: ["yaml-cpp"]
+zenoh_cpp_vendor:
+  add_host: ["libzenohc", "libzenohcxx"]
+zstd_vendor:
+  add_host: ["zstd", "${{ 'zstd-static' if not win }}"]
+  add_run: ["zstd"]
diff --git a/shared/robostack.yaml b/shared/robostack.yaml
index 3a1510ae2..246b32035 100644
--- a/shared/robostack.yaml
+++ b/shared/robostack.yaml
@@ -81,6 +81,8 @@ cppunit:
     win64: []
 cppzmq:
   robostack: [cppzmq]
+crypto++:
+  robostack: [cryptopp]
 curl:
   robostack: [libcurl]
 curlpp-dev:
@@ -211,6 +213,8 @@ ignition-transport11:
   robostack: [libignition-transport11]
 ignition-transport8:
   robostack: [libignition-transport8]
+iproute2:
+  robostack: []
 ipython3:
   robostack: [ipython]
 java:
@@ -717,6 +721,8 @@ linux-kernel-headers:
   robostack: []
 log4cxx:
   robostack: [log4cxx]
+lua-dev:
+  robostack: [lua]
 lua5.2-dev:
   robostack: [lua]
 lz4:
@@ -929,6 +935,8 @@ python3-coverage:
   robostack: [coverage]
 python3-cryptography:
   robostack: [cryptography]
+python3-dbus:
+  robostack: [dbus-python]
 python3-defusedxml:
   robostack: [defusedxml]
 python3-deprecated:
@@ -1058,6 +1066,8 @@ python3-pydantic:
   robostack: [pydantic]
 python3-pydot:
   robostack: [pydot]
+python3-pygnssutils-pip:
+  robostack: [pygnssutils]
 python3-pygraphviz:
   robostack: [graphviz, pygraphviz]
 python3-pykdl:
@@ -1126,6 +1136,8 @@ python3-sklearn:
   robostack: [scikit-learn]
 python3-sphinx:
   robostack: [sphinx]
+python3-tabulate:
+  robostack: [tabulate]
 python3-termcolor:
   robostack: [termcolor]
 python3-texttable:
@@ -1150,6 +1162,8 @@ python3-twisted:
   robostack: [twisted]
 python3-typeguard:
   robostack: [typeguard]
+python3-types-pyyaml:
+  robostack: [types-pyyaml]
 python3-typing-extensions:
   robostack: [typing_extensions]
 python3-ujson:
@@ -1229,6 +1243,8 @@ rti-connext-dds-5.3.1:
   robostack: []
 rti-connext-dds-6.0.1:
   robostack: []
+rtklib:
+  robostack: [rtklib-ex]
 ruby:
   robostack: [ruby]
 sbcl:
diff --git a/tools/check_dependency_compat.py b/tools/check_dependency_compat.py
index ff145731f..55162838e 100644
--- a/tools/check_dependency_compat.py
+++ b/tools/check_dependency_compat.py
@@ -227,10 +227,11 @@ def collect_requirements_from_vinca(
 ) -> dict[tuple[Optional[str], str], set[str]]:
     """Like collect_requirements, for every selected package of the configuration
     (not only the recipes that happen to be generated, e.g. with skip_existing)."""
-    from vinca.rebuild import requirements_from_vinca
+    sys.path.insert(0, str(Path(__file__).resolve().parent))
+    import robostack as rs
 
     requirements: dict[tuple[Optional[str], str], set[str]] = defaultdict(set)
-    packages, _ = requirements_from_vinca(vinca_path.resolve().parent, [platform])
+    packages, _ = rs.vinca_requirements(vinca_path.resolve().parent, [platform])
     for name, reqs in packages.items():
         for section in sections:
             for condition, spec in walk_requirements(reqs.get(section)):
@@ -419,13 +420,35 @@ def _by_name(requirements: Iterable[tuple[Optional[str], str]]) -> dict[str, lis
 
 
 class Solver:
-    """Thin wrapper that writes a fake recipe and solves it with rattler-build."""
+    """Writes a fake recipe and solves it: with one `vinca-rs solve` process for the
+    whole run (the repodata loaded once), else rattler-build per solve."""
 
     def __init__(self, args: argparse.Namespace, channels: list[str], workdir: Path) -> None:
         self.args = args
         self.channels = channels
         self.workdir = workdir
         self.calls = 0
+        self._server: Optional[subprocess.Popen] = None
+
+    def _vinca_rs(self) -> Optional[subprocess.Popen]:
+        if self._server is None:
+            sys.path.insert(0, str(Path(__file__).resolve().parent))
+            import robostack as rs
+
+            if not shutil.which(rs.VINCA_RS):
+                return None
+            env = dict(os.environ)
+            # the virtual packages run_solve() gives rattler-build
+            if self.args.platform.startswith("linux"):
+                env.setdefault("CONDA_OVERRIDE_GLIBC", glibc_floor(Path(self.args.variant_config), self.args.platform))
+            elif self.args.platform.startswith("osx") and sys.platform != "darwin":
+                env.setdefault("CONDA_OVERRIDE_OSX", DEFAULT_OSX)
+            cmd = [rs.VINCA_RS, "solve", "--platform", self.args.platform,
+                   "--variant-config", str(Path(self.args.variant_config).resolve())]
+            for channel in self.channels:
+                cmd += ["-c", channel]
+            self._server = subprocess.Popen(cmd, stdin=subprocess.PIPE, stdout=subprocess.PIPE, text=True, env=env)
+        return self._server
 
     def solve(
         self,
@@ -437,6 +460,14 @@ def solve(
         recipe = self.workdir / label / "recipe.yaml"
         write_fake_recipe(recipe, pins, requirements)
         self.calls += 1
+        if server := self._vinca_rs():
+            server.stdin.write(json.dumps({"recipe": str(recipe.resolve()), "glibc": glibc}) + "\n")
+            server.stdin.flush()
+            response = json.loads(server.stdout.readline())
+            # a failure that isn't the solver's answer (render, network): not a conflict
+            if response.get("error"):
+                raise RuntimeError(f"vinca-rs solve failed for {label}: {response['error']}")
+            return response["ok"], response["text"]
         return run_solve(
             recipe,
             Path(self.args.variant_config),
diff --git a/tools/import_distro.py b/tools/import_distro.py
index cf1ea4967..35a3f4458 100644
--- a/tools/import_distro.py
+++ b/tools/import_distro.py
@@ -9,7 +9,7 @@
 - vinca.yaml               extending shared/vinca.yaml, without its package selections,
                            with this repository's paths (patch_dir, snapshot paths;
                            skip_existing is derived); comments are kept
-- pkg_additional_info.yaml, patch/dependencies.yaml
+- pkg_additional_info.yaml with the old patch/dependencies.yaml merged in per package,
                            without entries identical to shared/ (build numbers stay);
                            ros-<distro>-<pkg> dependency names become ros2-<pkg>
 - patch/                   patches renamed to ros2-<pkg>[.<platform>].patch
@@ -156,9 +156,10 @@ def import_distro(src: Source, distro: str | None) -> str:
     with (dest / "vinca.yaml").open("w") as fh:
         ry.dump(vinca, fh)
 
-    # as they are (patch/dependencies.yaml is filtered below)
+    # as they are (patch/dependencies.yaml goes into pkg_additional_info.yaml below)
     shutil.rmtree(dest / "patch", ignore_errors=True)
     src.copy_dir("patch", dest)
+    (dest / "patch" / "dependencies.yaml").unlink(missing_ok=True)
     for patch in (dest / "patch").glob(f"ros-{source}-*.patch"):
         patch.rename(patch.with_name("ros2-" + patch.name.removeprefix(f"ros-{source}-")))
     # a file the old repository no longer has goes too (re-imports mirror it)
@@ -168,18 +169,26 @@ def import_distro(src: Source, distro: str | None) -> str:
         else:
             (dest / name).unlink(missing_ok=True)
 
-    # per-package files: drop entries identical to shared/ (keeping build numbers)
-    for name, shared_file, target in (
-        ("pkg_additional_info.yaml", "pkg_additional_info.yaml", dest / "pkg_additional_info.yaml"),
-        ("patch/dependencies.yaml", "patch/dependencies.yaml", dest / "patch" / "dependencies.yaml"),
-    ):
-        text = src.text(name)
-        if text is None:
-            target.unlink(missing_ok=True)
-            continue
-        text = re.sub(rf"\bros-{source}-(?=[a-z0-9])", "ros2-", text)
-        data = ry.load(text) or {}
-        common = yaml.safe_load((rs.SHARED / shared_file).read_text()) or {}
+    # pkg_additional_info.yaml, with the old repository's patch/dependencies.yaml merged
+    # in per package (its add_*/remove_* keys); drop entries identical to shared/
+    # (keeping build numbers)
+    target = dest / "pkg_additional_info.yaml"
+    texts = [t for t in (src.text("pkg_additional_info.yaml"), src.text("patch/dependencies.yaml")) if t is not None]
+    if not texts:
+        target.unlink(missing_ok=True)
+    else:
+        data = None
+        for text in texts:
+            part = ry.load(re.sub(rf"\bros-{source}-(?=[a-z0-9])", "ros2-", text)) or {}
+            if data is None:
+                data = part
+                continue
+            for key, value in part.items():
+                if isinstance(data.get(key), dict):
+                    data[key].update(value)
+                else:
+                    data[key] = value
+        common = yaml.safe_load((rs.SHARED / "pkg_additional_info.yaml").read_text()) or {}
         for key in list(data):
             if key not in common:
                 continue
diff --git a/tools/maintenance.py b/tools/maintenance.py
index 8c0f81d49..1968547d4 100644
--- a/tools/maintenance.py
+++ b/tools/maintenance.py
@@ -45,6 +45,7 @@
     "update-vinca": "move the vinca pin to the newest commit of its branch (opens a PR)",
     "update-pixi": "upgrade the tooling's dependencies in pixi.toml / pixi.lock to their newest versions (opens a PR)",
     "dependency-report": "check the dependencies against the pins, in the distribution's dependency-report issue",
+    "sync-pixi-mappings": "copy the rosdep mappings (robostack.yaml) to pixi-build-ros (opens a PR on prefix-dev/pixi)",
     "update-build-timings": "record the build times of the last week's build-branch runs, for batching by time (opens a PR)",
 }
 PER_DISTRO_COMMANDS = ("update-rosdistro-snapshot", "find-stale-packages", "update-conda-forge-pinning",
@@ -208,7 +209,7 @@ def plan_rebuild(distro: str, old_cbc: str) -> tuple[dict[str, str], int, dict[s
     changed = {k: v for k, v in changed.items() if _pin_values(v[0]) != _pin_values(v[1])}
     if not changed:
         return {}, 0, {}
-    requirements, prefix = rebuild.requirements_from_vinca(rs.prepare(distro))
+    requirements, prefix = rs.vinca_requirements(rs.prepare(distro))
     return rebuild.plan(requirements, changed, prefix), len(requirements), changed
 
 
@@ -412,7 +413,7 @@ def update_snapshot(distro: str) -> Result:
     old_text = snapshot.read_text() if snapshot.is_file() else ""
     old = _versions(snapshot)
     if rs.task(distro, "create-snapshot", ["--rosdistro-ref", ref] if ref else []):
-        return Result(f"{distro}: snapshot update failed", "`vinca-snapshot` failed, see the log.", ok=False)
+        return Result(f"{distro}: snapshot update failed", "`vinca-rs snapshot` failed, see the log.", ok=False)
     text = snapshot.read_text()
     data, ahead = keep_newer(yaml.safe_load(old_text) or {}, yaml.safe_load(text) or {},
                              (released_on_master(distro) or set()) if ref else set())
@@ -502,7 +503,7 @@ def update_pinning(distro: str) -> Result:
     before = (settings.get("conda_forge_pinning_version"), list(settings.get("conda_forge_migrations") or []))
     print(f"Collecting dependencies of {distro}", flush=True)
     work = rs.prepare(distro)
-    dependencies = pinning.dependencies_from_vinca(work, pinning.DEFAULT_PLATFORMS)
+    dependencies = rs.vinca_dependencies(work)
     version, migrations, reports = pinning.update_pinning(work / "vinca_pinning.yaml", dependencies=dependencies)
     if str(before[0]) == str(version) and before[1] == list(migrations):
         return Result(f"{distro}: pinning is up to date", f"{distro} is on conda-forge-pinning {version}.")
@@ -523,7 +524,7 @@ def update_shared_pinning() -> Result:
     for distro in distros:
         print(f"Collecting dependencies of {distro}", flush=True)
         works[distro] = rs.prepare(distro)
-        dependencies |= pinning.dependencies_from_vinca(works[distro], pinning.DEFAULT_PLATFORMS)
+        dependencies |= rs.vinca_dependencies(works[distro])
     version, migrations, reports = pinning.update_pinning(works[distros[0]] / "vinca_pinning.yaml",
                                                           dependencies=dependencies)
     if str(before[0]) == str(version) and before[1] == list(migrations):
@@ -824,7 +825,7 @@ def rebuild_packages(packages: list[str], distros: list[str], with_dependents: b
     lines: list[str] = []
     changed = False
     for distro in distros or rs.distros():
-        requirements, prefix = rebuild.requirements_from_vinca(rs.prepare(distro))
+        requirements, prefix = rs.vinca_requirements(rs.prepare(distro))
         if missing := [p for p in wanted if p not in requirements]:
             lines.append(f"- **{distro}** doesn't build {', '.join(f'`{p}`' for p in missing)}")
         plan = rebuild_plan(requirements, prefix, wanted, with_dependents)
@@ -1119,6 +1120,60 @@ def update_pixi(changes: Path | None = None) -> Result:
     return Result("Upgrade pixi dependencies", "\n".join(lines), changed=True, labels=[rs.NO_BUILD_LABEL])
 
 
+PIXI_ROS_BACKEND = Path("crates/pixi_build_ros")
+PIXI_MAPPING_HEADER = """\
+# Generated by robostack-bot from {source} in https://github.com/RoboStack/robostack:
+# change the mappings there, not here.{extra}
+"""
+
+
+def pixi_mappings() -> dict[str, str]:
+    """pixi-build-ros's copies of the rosdep mappings: shared/robostack.yaml as is, and
+    every distribution's own (distros/<distro>/robostack.yaml, over it) under its name."""
+    shared = PIXI_MAPPING_HEADER.format(source="shared/robostack.yaml", extra="")
+    shared += (rs.ROOT / "shared" / "robostack.yaml").read_text()
+    distros = PIXI_MAPPING_HEADER.format(
+        source="distros/<distro>/robostack.yaml",
+        extra="\n# Each distribution's mappings, over robostack.yaml's.")
+    for path in sorted((rs.ROOT / "distros").glob("*/robostack.yaml")):
+        lines = path.read_text().splitlines()
+        distros += f"{path.parent.name}:\n" + "".join(f"  {line}\n" if line else "\n" for line in lines)
+    return {"robostack.yaml": shared, "robostack_distros.yaml": distros}
+
+
+def _mapping_changes(name: str, old: str, new: str) -> list[str]:
+    old_map, new_map = yaml.safe_load(old) or {}, yaml.safe_load(new) or {}
+    if name == "robostack_distros.yaml":  # {distro: {key: mapping}} -> {"distro: key": mapping}
+        old_map, new_map = ({f"{d}: {k}": v for d, m in x.items() for k, v in (m or {}).items()}
+                            for x in (old_map, new_map))
+    lines = []
+    for what, keys in (("added", new_map.keys() - old_map.keys()), ("removed", old_map.keys() - new_map.keys()),
+                       ("changed", {k for k in new_map.keys() & old_map.keys() if new_map[k] != old_map[k]})):
+        if keys:
+            lines.append(f"- {what}: " + ", ".join(f"`{k}`" for k in sorted(keys)))
+    return lines
+
+
+def sync_pixi_mappings(pixi: Path) -> Result:
+    """Write pixi_mappings() into a checkout of prefix-dev/pixi, for a PR there: one set of
+    rosdep mappings for RoboStack's packages and `pixi build` of ROS packages."""
+    rev = subprocess.run(["git", "rev-parse", "HEAD"], cwd=rs.ROOT, capture_output=True, text=True,
+                         check=True).stdout.strip()
+    lines = []
+    for name, text in pixi_mappings().items():
+        path = pixi / PIXI_ROS_BACKEND / name
+        old = path.read_text() if path.exists() else ""
+        if old != text:
+            path.write_text(text)
+            lines += [f"`{PIXI_ROS_BACKEND / name}`:", *(_mapping_changes(name, old, text) or ["- comments only"]), ""]
+    if not lines:
+        return Result("pixi-build-ros's rosdep mappings are up to date", "Nothing to copy.")
+    summary = [f"The rosdep mappings of [RoboStack/robostack@{rev[:8]}](https://github.com/RoboStack/robostack/tree/{rev}), "
+               "which RoboStack's packages are built with, for pixi-build-ros.", "", *lines,
+               "Generated by robostack-bot (`sync-pixi-mappings`): mappings are changed in RoboStack/robostack."]
+    return Result("pixi-build-ros: update RoboStack's rosdep mappings", "\n".join(summary), changed=True)
+
+
 REPORT_LABEL = "dependency-report"
 REPORT_MARKER = "<!-- robostack-dependency-report -->"
 MAX_ISSUE_BODY = 60000  # GitHub's limit is 65536 characters
@@ -1343,6 +1398,41 @@ def unmatched_patches(patches: list[str], packages: set[str]) -> list[str]:
     return [p for p in patches if (m := PATCH_NAME.match(p)) and m["package"] not in names]
 
 
+def _selector_items(node):
+    """The values of a list or mapping with `- if: ... then: ... else: ...` selectors, for every platform."""
+    if isinstance(node, list):
+        for item in node:
+            yield from _selector_items(item)
+    elif isinstance(node, dict) and "if" in node and "then" in node:
+        yield from _selector_items(node["then"])
+        yield from _selector_items(node.get("else"))
+    elif node is not None:
+        yield node
+
+
+def package_key(name: str) -> str:
+    """The ROS name of a per-package entry, as vinca-rs looks it up: conda prefixes
+    (ros-<distro>-, ros2-) dropped, dashes as underscores."""
+    name = re.sub(r"^(ros-[a-z]+-|ros2-)", "", name) if name.startswith(("ros2-", "ros-")) else name
+    return name.replace("-", "_")
+
+
+def unknown_package_entries(layer: Path, packages: set[str]) -> list[tuple[str, str]]:
+    """Per-package entries of a layer (shared/ or distros/<distro>/) for packages that
+    aren't in `packages`: typos, or entries left behind when a package went away."""
+    entries = []
+    vinca = yaml.safe_load((layer / "vinca.yaml").read_text()) or {}
+    entries += [("vinca.yaml packages_select_by_deps", n) for n in _selector_items(vinca.get("packages_select_by_deps"))]
+    for name in ("pkg_additional_info.yaml",):
+        path = layer / name
+        data = yaml.safe_load(path.read_text()) if path.is_file() else None
+        for mapping in _selector_items(data):
+            if isinstance(mapping, dict):
+                entries += [(name, k) for k in mapping if k not in ("if", "then", "else")]
+    known = {p.replace("-", "_") for p in packages}
+    return sorted({(where, n) for where, n in entries if isinstance(n, str) and package_key(n) not in known})
+
+
 def check() -> Result:
     """Sanity checks: every distribution assembles and its generated files are consistent."""
     problems: list[str] = []
@@ -1387,6 +1477,8 @@ def check() -> Result:
         all_packages |= packages
         for patch in unmatched_patches(patches, packages):
             problems.append(f"{distro}: patch {patch} matches no package of the distribution, so it is never applied")
+        for where, name in unknown_package_entries(d, packages):
+            problems.append(f"{distro}: {where} has an entry for {name}, which the distribution doesn't have")
         rendered = d / "conda_build_config.yaml"
         before = rendered.read_text() if rendered.is_file() else ""
         if rs.task(distro, "render-pinning", []) or rendered.read_text() != before:
@@ -1396,6 +1488,8 @@ def check() -> Result:
     shared = sorted(p.name for p in (rs.SHARED / "patch").glob("*.patch"))
     for patch in unmatched_patches(shared, all_packages):
         problems.append(f"shared: patch {patch} matches no package of any distribution, so it is never applied")
+    for where, name in unknown_package_entries(rs.SHARED, all_packages):
+        problems.append(f"shared: {where} has an entry for {name}, which no distribution has")
     # file names: .yaml everywhere (GitHub requires FUNDING.yml by that name)
     for yml in sorted(p for p in (rs.ROOT / ".github").rglob("*.yml") if p.name != "FUNDING.yml"):
         problems.append(f"{yml.relative_to(rs.ROOT)}: use the .yaml extension")
@@ -1446,6 +1540,8 @@ def main(command: str, argv: list[str], distro: str | None = None) -> int:
     if command == "update-pixi":
         parser.add_argument("--changes", type=Path, help="output of an earlier `pixi upgrade --json`")
         parser.add_argument("--excludes", action="store_true", help="print the --exclude arguments for pixi upgrade")
+    if command == "sync-pixi-mappings":
+        parser.add_argument("pixi", type=Path, help="a checkout of prefix-dev/pixi")
     if command == "update-vinca":
         parser.add_argument("ref", nargs="?", help="vinca branch, tag or commit (default: the pinned branch)")
     args = parser.parse_args(argv)
@@ -1465,6 +1561,8 @@ def main(command: str, argv: list[str], distro: str | None = None) -> int:
         return report(dependency_report(distro), args.summary)
     if command == "update-build-timings":
         return report(update_build_timings(), args.summary)
+    if command == "sync-pixi-mappings":
+        return report(sync_pixi_mappings(args.pixi), args.summary)
     if command == "update-pixi":
         if args.excludes:
             print(" ".join(pixi_upgrade_args()[3:]))
diff --git a/tools/robostack.py b/tools/robostack.py
index 96d2f4c67..c1555bf0a 100644
--- a/tools/robostack.py
+++ b/tools/robostack.py
@@ -10,7 +10,7 @@
 Every distribution lives in distros/<distro>/ and only holds what is specific to
 it; everything else is in shared/. distros/<d>/vinca.yaml extends shared/vinca.yaml,
 and vinca combines both and the files next to each (pkg_additional_info.yaml,
-patch/ with dependencies.yaml, tests/, robostack.yaml). Tasks run in
+patch/, tests/, robostack.yaml). Tasks run in
 distros/<distro>/work/ (generated, git-ignored): its vinca.yaml extends the
 distribution's and adds the channel to skip published packages, and it holds
 vinca_pinning.yaml, conda_build_config.yaml (rendered back into distros/<d>/ by
@@ -78,20 +78,10 @@ def run(cmd: list[str], cwd: Path) -> int:
     return subprocess.run(cmd, cwd=cwd).returncode
 
 
-def run_tee(cmd: list[str], cwd: Path) -> tuple[int, bytes]:
-    """run(), also returning the combined output."""
-    print("+", " ".join(cmd), f"  (in {cwd.relative_to(ROOT)})", flush=True)
-    output = bytearray()
-    with subprocess.Popen(cmd, cwd=cwd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT) as proc:
-        for line in proc.stdout:
-            sys.stdout.buffer.write(line)
-            sys.stdout.buffer.flush()
-            output += line
-    return proc.returncode, bytes(output)
 
 
-WORKFLOW_SIZE_MESSAGE = b"exceeding the 500 KiB limit"
-MAX_BATCH_SIZE = 100
+# the recipe and workflow generator (https://github.com/Tobias-Fischer/vinca-rs)
+VINCA_RS = os.environ.get("VINCA_RS", "vinca-rs")
 
 
 # prefix.dev's sharded repodata (what rattler reads) lists a new upload a few minutes
@@ -361,6 +351,50 @@ def prepare(distro: str) -> Path:
     return w
 
 
+# the platforms RoboStack builds
+PLATFORMS = ("linux-64", "linux-aarch64", "osx-64", "osx-arm64", "win-64")
+
+
+def vinca_rs_requirements(work: Path, platform: str) -> dict:
+    """`vinca-rs requirements`: {"prefix", "packages": {ros name: {build, host, run}},
+    "run_constraints"} for every package the configuration in `work` selects."""
+    out = subprocess.run([VINCA_RS, "requirements", "--platform", platform], cwd=work,
+                         capture_output=True, text=True)
+    if out.returncode:
+        raise SystemExit(f"vinca-rs requirements --platform {platform} failed:\n{out.stderr}")
+    return json.loads(out.stdout)
+
+
+def vinca_requirements(work: Path, platforms=PLATFORMS) -> tuple[dict, str]:
+    """The requirements of every selected package, combined over the platforms
+    ({name: {"build"|"host"|"run": [each platform's list]}}), and the conda name prefix
+    of the ROS packages."""
+    from concurrent.futures import ThreadPoolExecutor
+
+    with ThreadPoolExecutor() as pool:
+        results = list(pool.map(lambda p: vinca_rs_requirements(work, p), platforms))
+    combined: dict = {}
+    for result in results:
+        for name, reqs in result["packages"].items():
+            target = combined.setdefault(name, {"build": [], "host": [], "run": []})
+            for group in target:
+                target[group].append(reqs.get(group) or [])
+    return combined, (results[0]["prefix"] if results else "")
+
+
+def vinca_dependencies(work: Path, platforms=PLATFORMS) -> set[str]:
+    """The non-ROS dependencies of every selected package (and the mutex's
+    run_constraints), on any of the platforms."""
+    from vinca.pinning import _dependency_name, _walk_requirements
+
+    names = set()
+    for platform in platforms:
+        result = vinca_rs_requirements(work, platform)
+        groups = [*result["packages"].values(), {"run_constraints": result["run_constraints"]}]
+        names |= {n for g in groups for r in _walk_requirements(g) if (n := _dependency_name(r))}
+    return names
+
+
 def read_vinca(distro: str, platform: str | None = None) -> dict:
     """The distribution's vinca configuration as vinca reads it (shared/ + distro,
     selectors resolved for the platform, default: this machine's)."""
@@ -512,7 +546,7 @@ def task(distro: str, name: str, args: list[str]) -> int:
             shutil.copy2(w / "conda_build_config.yaml", d / "conda_build_config.yaml")
         return rc
     if name == "create-snapshot":
-        return run(["vinca-snapshot", "-d", distro, "-o", "rosdistro_snapshot.yaml", *args], d)
+        return run([VINCA_RS, "snapshot", "--distro", distro, "--out", "rosdistro_snapshot.yaml", *args], d)
     if name == "sort":
         files = [f for f in ("pkg_additional_info.yaml", "rosdistro_additional_recipes.yaml") if (d / f).is_file()]
         rc = run(["vinca-sort-vinca-lists", *args, "vinca.yaml"], d)
@@ -537,7 +571,8 @@ def task(distro: str, name: str, args: list[str]) -> int:
         shutil.rmtree(w / "recipes", ignore_errors=True)
         shutil.rmtree(w / "recipes_only_patch", ignore_errors=True)
         (w / "recipes").mkdir()
-        return run(["vinca", "-m", *args], w)
+        # vinca-rs: the recipes, without those already on the skip_existing channels
+        return run([VINCA_RS, "generate", "--out", "recipes", *args], w)
     if not (w / "vinca.yaml").is_file():
         prepare(distro)
     if name == "check-orphaned-patches":
@@ -585,80 +620,38 @@ def task(distro: str, name: str, args: list[str]) -> int:
 
 
 def generate_gha(distro: str, args: list[str]) -> int:
-    """vinca-gha for one distribution; the workflow gets a distro-specific name and
-    trigger branch, the file name .github/workflows/build.yaml, and tells the build
-    scripts which distro to build."""
+    """The staged build workflow of one distribution and platform, from
+    .github/build-template.yaml (vinca-rs workflow), as .github/workflows/build.yaml."""
     parser = argparse.ArgumentParser(prog="rs <distro> gha")
     parser.add_argument("--platform", required=True)
     parser.add_argument("--batch-size", default="25")
     ns = parser.parse_args(args)
     d = work_dir(distro)
     branch = f"buildbranch_{distro}_{ns.platform.replace('-', '_')}"
-    before = set(d.glob("*.yml"))
-    # GitHub refuses workflow files over 500 KiB, which a full rebuild's many batches can
-    # reach (jazzy's win-64 at 25): then retry with larger, hence fewer, batches.
-    batch_size = int(ns.batch_size)
-    # each job keeps the build times it records (build-ci); vinca-gha packs each stage's
-    # recipes into jobs by those times (every recipe the same without them)
+    # each job keeps the build times it records (build-ci); vinca-rs packs the recipes
+    # into jobs by those times (every recipe the same without them)
     import build_timings
 
-    extra = ["--keep-file", f"distros/{distro}/work/{build_timings.JOURNAL}"]
+    extra = []
     if build_timings.vinca_timings(distro, ns.platform, d / "build_timings.json"):
         extra += ["--timings", "build_timings.json"]
-    # vinca-gha keeps the workflow under GitHub's size limit itself (a job budget); only
-    # when even the fewest jobs the batch size allows are too many, retry with larger batches
-    while True:
-        rc, output = run_tee(["vinca-gha", "--platform", ns.platform, "--trigger-branch", branch, "-d",
-                              "./recipes", "--batch_size", str(batch_size), *extra], d)
-        if not rc or WORKFLOW_SIZE_MESSAGE not in output:
-            break
-        if batch_size >= MAX_BATCH_SIZE:
-            break
-        batch_size = min(batch_size * 3 // 2, MAX_BATCH_SIZE)
-        print(f"The workflow is too large; retrying with --batch_size {batch_size}", flush=True)
-    if rc:
-        return rc
-    # Edit the text: a YAML round trip would turn the `on:` key into `true:` (YAML 1.1).
-    for wf in sorted(set(d.glob("*.yml")) - before):
-        lines = wf.read_text().splitlines()
-        # all build branches share .github/workflows/build.yaml, which GitHub lists as one
-        # workflow: run-name tells the runs apart
-        # one run per distribution and platform at a time: a newer run (the latest main's
-        # recipes and workflow) cancels the older one, and skips what that one uploaded
-        # already. Re-run failed jobs only in the newest run: re-running an older one
-        # would cancel the newer run.
-        lines = [f"name: build\nrun-name: {distro} {ns.platform}\n"
-                 f"concurrency:\n  group: build-{distro}-{ns.platform}\n  cancel-in-progress: true"
-                 if l.startswith("name: ") else l for l in lines]
-        # vinca-gha passes secrets.ANACONDA_API_TOKEN to the build jobs, for the anaconda.org
-        # upload (prefix.dev uses trusted publishing, id-token: write): each distribution
-        # has its own token (its organization's), the secret ANACONDA_API_TOKEN_<DISTRO>
-        secret = anaconda_token_secret(distro)
-        lines = [l.replace("secrets.ANACONDA_API_TOKEN }}", f"secrets.{secret} }}}}") for l in lines]
-        # jobs that declare permissions get none they don't list: checking out the
-        # repository needs contents: read (only works without it while it is public)
-        lines = [f"{l}\n{l[:len(l) - len(l.lstrip())]}contents: read" if l.strip() == "id-token: write" else l
-                 for l in lines]
-        if sum("permissions:" in l for l in lines) != sum("contents: read" in l for l in lines):
-            raise SystemExit(f"{wf}: a job with permissions but without contents: read")
-        if ns.platform == "win-64" and not any("build_win.bat" in l for l in lines):
-            raise SystemExit(f"{wf}: the Windows workflow doesn't use .scripts/build_win.bat")
-        if any(l.startswith("env:") for l in lines):
-            raise SystemExit(f"{wf}: unexpected top-level env in the vinca-gha output")
-        lines += [
-            "env:",
-            f"  ROBOSTACK_DISTRO: {distro}",
-            "  # optional repository variable: upload to this prefix.dev channel instead",
-            "  # (e.g. a test channel), or 'none' to only build",
-            "  ROBOSTACK_UPLOAD_CHANNEL: ${{ vars.ROBOSTACK_UPLOAD_CHANNEL }}",
-        ]
-        # one file name on every build branch (each branch carries only its own
-        # workflow), so a single prefix.dev Repository Access source matches them all
-        dest = ROOT / ".github" / "workflows" / "build.yaml"
-        dest.write_text("\n".join(lines) + "\n")
-        wf.unlink()
+    # one file name on every build branch (each branch carries only its own workflow),
+    # so a single prefix.dev Repository Access source matches them all
+    dest = ROOT / ".github" / "workflows" / "build.yaml"
+    variables = {
+        "distro": distro,
+        "branch": branch,
+        # each distribution has its own anaconda.org token (its organization's)
+        "secret": anaconda_token_secret(distro),
+        "keep_file": f"distros/{distro}/work/{build_timings.JOURNAL}",
+    }
+    rc = run([VINCA_RS, "workflow", "--recipes", "recipes", "--platform", ns.platform,
+              "--template", str(ROOT / ".github" / "build-template.yaml"), "--out", str(dest),
+              "--max-batch", ns.batch_size, *extra,
+              *[a for k, v in variables.items() for a in ("--var", f"{k}={v}")]], d)
+    if not rc and dest.is_file():
         print(f"wrote {dest.relative_to(ROOT)} (trigger branch {branch})")
-    return 0
+    return rc
 
 
 NO_BUILD_LABEL = "build:none"  # only the checks (tooling, CI or docs changes)
@@ -712,7 +705,8 @@ def changed_distros(base: str) -> list[str]:
 
 
 REPO_COMMANDS = ("check", "update-pinning", "new-distro", "parse-command", "add-package", "rosdistro-syncs",
-                 "rebuild", "rebuild-dependents", "update-vinca", "update-build-timings", "update-pixi")
+                 "rebuild", "rebuild-dependents", "update-vinca", "update-build-timings", "update-pixi",
+                 "sync-pixi-mappings")
 
 
 def main() -> int:
diff --git a/tools/tests/test_bot_commands.py b/tools/tests/test_bot_commands.py
index 28f0ff21e..60fb0da2d 100644
--- a/tools/tests/test_bot_commands.py
+++ b/tools/tests/test_bot_commands.py
@@ -5,6 +5,7 @@
 import json
 
 import pytest
+import yaml
 
 import maintenance
 import robostack as rs
@@ -377,3 +378,20 @@ def run(cmd, **kwargs):
     (tmp_path / "upgrade.json").write_text("{}")
     assert not maintenance.update_pixi(tmp_path / "upgrade.json").changed
     assert all(cmd[:2] != ["pixi", "upgrade"] for cmd in calls)  # the bot upgraded before `pixi run`
+
+
+def test_sync_pixi_mappings(tmp_path, monkeypatch):
+    assert jobs("@robostack-bot sync-pixi-mappings") == [
+        {"command": "sync-pixi-mappings", "distro": "", "args": "", "preview": False}]
+    assert maintenance.parse_command("@robostack-bot sync-pixi-mappings", "NONE") == []
+    backend = tmp_path / maintenance.PIXI_ROS_BACKEND
+    backend.mkdir(parents=True)
+    (backend / "robostack.yaml").write_text("gone:\n  robostack: [x]\n")
+    result = maintenance.sync_pixi_mappings(tmp_path)
+    assert result.changed
+    assert "- removed: `gone`" in result.summary
+    shared = yaml.safe_load((backend / "robostack.yaml").read_text())
+    assert shared == yaml.safe_load((rs.ROOT / "shared" / "robostack.yaml").read_text())
+    distros = yaml.safe_load((backend / "robostack_distros.yaml").read_text())
+    assert distros["humble"]["qtbase5-dev"]["robostack"]["osx"] == ["qt-main"]
+    assert not maintenance.sync_pixi_mappings(tmp_path).changed  # nothing left to copy
diff --git a/tools/tests/test_build_timings.py b/tools/tests/test_build_timings.py
index a9edd28bb..46fff0f4e 100644
--- a/tools/tests/test_build_timings.py
+++ b/tools/tests/test_build_timings.py
@@ -73,33 +73,6 @@ def collect():
     assert not maintenance.update_build_timings().changed  # nothing new: no PR
 
 
-def test_gha_keeps_the_journal_and_uses_the_times(tmp_path, monkeypatch):
-    import robostack as rs
-
-    work, root = tmp_path / "work", tmp_path / "root"
-    work.mkdir()
-    (root / ".github" / "workflows").mkdir(parents=True)
-    calls = []
-
-    def fake_run_tee(cmd, cwd):
-        calls.append(cmd)
-        (work / "linux.yml").write_text("name: build\njobs:\n  stage_0_job_0:\n    steps: []\n")
-        return 0, b""
-
-    monkeypatch.setattr(rs, "run_tee", fake_run_tee)
-    monkeypatch.setattr(rs, "work_dir", lambda distro: work)
-    monkeypatch.setattr(rs, "ROOT", root)
-    monkeypatch.setattr(build_timings, "TIMINGS", tmp_path / "timings")
-    assert rs.generate_gha("jazzy", ["--platform", "linux-64"]) == 0
-    assert "--keep-file" in calls[-1] and "--timings" not in calls[-1]  # no times yet
-    (tmp_path / "timings").mkdir()
-    (tmp_path / "timings" / "linux-64.json").write_text('{"ros2-a": {"jazzy": 3.0}}\n')
-    assert rs.generate_gha("jazzy", ["--platform", "linux-64"]) == 0
-    assert calls[-1][calls[-1].index("--timings") + 1] == "build_timings.json"
-    assert json.loads((work / "build_timings.json").read_text()) == {
-        "recipes": {"ros2-a": 3.0, "ros-jazzy-a": build_timings.ALIAS_SECONDS}, "default": 3.0}
-
-
 def test_ci_estimate_uses_the_measured_times(tmp_path, monkeypatch, capsys):
     import ci_estimate
 
diff --git a/tools/tests/test_generate_gha.py b/tools/tests/test_generate_gha.py
index c9f359a66..2b7667a4c 100644
--- a/tools/tests/test_generate_gha.py
+++ b/tools/tests/test_generate_gha.py
@@ -1,55 +1,54 @@
-"""rs <distro> gha: larger batches when the generated workflow is too large for GitHub."""
+"""rs <distro> gha: the build workflow from .github/build-template.yaml (vinca-rs workflow)."""
 
 import build_timings
 import robostack as rs
 
 
-def test_gha_retries_with_larger_batches_when_the_workflow_is_too_large(monkeypatch, tmp_path):
-    monkeypatch.setattr(build_timings, "TIMINGS", tmp_path / "no-timings")  # batching by count
-    sizes = []
-
-    def fake_run_tee(cmd, cwd):
-        sizes.append(int(cmd[cmd.index("--batch_size") + 1]))
-        if sizes[-1] < 50:
-            return 1, b"RuntimeError: Generated workflow win.yml is 530.8 KiB, exceeding the 500 KiB limit."
-        return 0, b""
-
-    monkeypatch.setattr(rs, "run_tee", fake_run_tee)
-    monkeypatch.setattr(rs, "work_dir", lambda distro: tmp_path)
-
-    assert rs.generate_gha("jazzy", ["--platform", "win-64", "--batch-size", "25"]) == 0
-    assert sizes == [25, 37, 55]
-
-
-def test_gha_does_not_retry_other_failures(monkeypatch, tmp_path):
-    sizes = []
-
-    def fake_run_tee(cmd, cwd):
-        sizes.append(int(cmd[cmd.index("--batch_size") + 1]))
-        return 1, b"some other error"
-
-    monkeypatch.setattr(rs, "run_tee", fake_run_tee)
-    monkeypatch.setattr(rs, "work_dir", lambda distro: tmp_path)
-
-    assert rs.generate_gha("jazzy", ["--platform", "win-64"]) == 1
-    assert sizes == [25]
-
-
-def test_gha_uses_the_distributions_anaconda_token(monkeypatch, tmp_path):
+def gha(monkeypatch, tmp_path, distro, platform):
+    """Run generate_gha with vinca-rs stubbed out; return the vinca-rs command."""
+    calls = []
     work, root = tmp_path / "work", tmp_path / "root"
-    work.mkdir(); (root / ".github" / "workflows").mkdir(parents=True)
+    work.mkdir(exist_ok=True)
+    (root / ".github" / "workflows").mkdir(parents=True, exist_ok=True)
 
-    def fake_run_tee(cmd, cwd):
-        (work / "linux.yml").write_text(
-            "name: build\njobs:\n  stage_0:\n    permissions:\n      id-token: write\n    env:\n"
-            "      ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}\n")
-        return 0, b""
+    def fake_run(cmd, cwd):
+        calls.append(cmd)
+        out = cmd[cmd.index("--out") + 1]
+        open(out, "w").write("name: build\n")
+        return 0
 
-    monkeypatch.setattr(rs, "run_tee", fake_run_tee)
+    monkeypatch.setattr(rs, "run", fake_run)
     monkeypatch.setattr(rs, "work_dir", lambda distro: work)
     monkeypatch.setattr(rs, "ROOT", root)
-
-    assert rs.generate_gha("lyrical", ["--platform", "linux-64"]) == 0
-    text = (root / ".github" / "workflows" / "build.yaml").read_text()
-    assert "ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN_LYRICAL }}" in text
-    assert "secrets.ANACONDA_API_TOKEN }}" not in text
+    assert rs.generate_gha(distro, ["--platform", platform]) == 0
+    return calls[-1], work, root
+
+
+def variables(cmd):
+    return dict(cmd[i + 1].split("=", 1) for i, a in enumerate(cmd) if a == "--var")
+
+
+def test_gha_renders_the_template_for_the_distribution(monkeypatch, tmp_path):
+    monkeypatch.setattr(build_timings, "TIMINGS", tmp_path / "no-timings")
+    cmd, _, root = gha(monkeypatch, tmp_path, "lyrical", "linux-64")
+    assert cmd[:2] == [rs.VINCA_RS, "workflow"]
+    assert cmd[cmd.index("--template") + 1] == str(root / ".github" / "build-template.yaml")
+    assert cmd[cmd.index("--out") + 1] == str(root / ".github" / "workflows" / "build.yaml")
+    assert variables(cmd) == {
+        "distro": "lyrical",
+        "branch": "buildbranch_lyrical_linux_64",
+        # each distribution has its own anaconda.org token
+        "secret": "ANACONDA_API_TOKEN_LYRICAL",
+        "keep_file": f"distros/lyrical/work/{build_timings.JOURNAL}",
+    }
+
+
+def test_gha_uses_the_measured_times(monkeypatch, tmp_path):
+    monkeypatch.setattr(build_timings, "TIMINGS", tmp_path / "timings")
+    cmd, _, _ = gha(monkeypatch, tmp_path, "jazzy", "linux-64")
+    assert "--timings" not in cmd  # no times yet
+    (tmp_path / "timings").mkdir()
+    (tmp_path / "timings" / "linux-64.json").write_text('{"ros2-a": {"jazzy": 3.0}}\n')
+    cmd, work, _ = gha(monkeypatch, tmp_path, "jazzy", "linux-64")
+    assert cmd[cmd.index("--timings") + 1] == "build_timings.json"
+    assert (work / "build_timings.json").is_file()