diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index e6e2742ba..7be1067f1 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -101,7 +101,7 @@ jobs:
     - name: Delete specific outdated cache entries
       shell: bash -l {0}
       run: |
-        # rm -rf ${{ matrix.folder_cache }}/ros-kilted-rosx* 2>/dev/null || true
+        rm -rf ${{ matrix.folder_cache }}/ros-kilted-chomp-motion-planner* 2>/dev/null || true
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 
diff --git a/build_gap_report.py b/build_gap_report.py
index 47c671996..4b53949ed 100644
--- a/build_gap_report.py
+++ b/build_gap_report.py
@@ -143,7 +143,7 @@ def main() -> int:
         print()
         missing = recipes - built
         print(
-            f"Recipe directories without built artifact on this platform: "
+            f"Recipe directories without built artifact on {platform} platform: "
             f"{len(missing)} out of {len(recipes)}"
         )
         if missing:
diff --git a/conda_build_config.yaml b/conda_build_config.yaml
index 8eb80de58..52b3f4ae2 100644
--- a/conda_build_config.yaml
+++ b/conda_build_config.yaml
@@ -1,40 +1,56 @@
 numpy:
   - 2
+
 assimp:
-  - 5
+  - 6
+# Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
+cmake:
+  - 3.*
+eigen_abi_devel:
+  - '5.0.1'
 libprotobuf:
   - 6.33.5
 protobuf:
   - 6.33.5
-spdlog:
-  - '1.17'
-pugixml:
-  - '1.15'
-libopencv:
-  - 4.13.0
-libxml2:
-  - '2.14'
+fmt:
+  - '12.1'
 graphviz:
   - '14'
+jsoncpp:
+  - 1.9.7
+libopencv:
+  - 4.13.0
 # Mitigation for
 # https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
 libcap:
   - '2.77'
-fmt:
-  - '12.1'
+libhwloc:
+  - 2.13.0
+libxml2:
+  - '2.14'
+libzenohc:
+  - 1.7.2
+libzenohcxx:
+  - 1.7.2
 lua:
   - 5.4
+pugixml:
+  - '1.15'
+shaderc:
+  - '2026.2'
+spdlog:
+  - '1.17'
 tbb:
   - '2022'
 tbb_devel:
   - '2022'
-# Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
-cmake:
-  - 3.*
-# as of early April 2026 key robotics packages like pinocchio still required eigen 3.4.0.*,
-# see https://github.com/conda-forge/eigenpy-feedstock/pull/184
-eigen_abi_devel:
-  - '3.4.0'
+urdfdom:
+  - '6.0'
+urdfdom_headers:
+  - '3.0'
+vtk:
+  - 9.6.2
+
 cdt_name: # [linux]
   - conda # [linux]
 python:
@@ -65,15 +81,3 @@ cxx_compiler_version: # [unix]
   - 14 # [linux]
   - 18 # [osx]
   - 14 # [linux and not ppc64le and os.environ.get("CF_CUDA_ENABLED", "False") == "True"]
-libzenohc:
-  - 1.7.2
-libzenohcxx:
-  - 1.7.2
-libhwloc:
-  - 2.12.2
-urdfdom:
-  -  4.0.1
-urdfdom-headers:
-  - 1.1.2
-shaderc:
-  - 2026.2
diff --git a/patch/ros-kilted-hls-lfcd-lds-driver.patch b/patch/ros-kilted-hls-lfcd-lds-driver.patch
index 83af04fd8..d03cad8b6 100644
--- a/patch/ros-kilted-hls-lfcd-lds-driver.patch
+++ b/patch/ros-kilted-hls-lfcd-lds-driver.patch
@@ -132,3 +132,11 @@ index 9185961..eedc6f7 100644
    hls_lfcd_lds::LFCDLaser laser(io);
  
    while (ros::ok())
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -24,4 +24,4 @@ find_package(ament_cmake REQUIRED)
+ find_package(rclcpp REQUIRED)
+ find_package(sensor_msgs REQUIRED)
+-find_package(Boost REQUIRED system)
++find_package(Boost REQUIRED)
diff --git a/patch/ros-kilted-moveit-core.patch b/patch/ros-kilted-moveit-core.patch
index 0ddb89b45..4c8d59e45 100644
--- a/patch/ros-kilted-moveit-core.patch
+++ b/patch/ros-kilted-moveit-core.patch
@@ -11,6 +11,15 @@ index 608babbeb..a006b45fc 100644
  find_package(octomap_msgs REQUIRED)
  find_package(osqp REQUIRED)
  find_package(pluginlib REQUIRED)
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -10,5 +10,4 @@ find_package(
+   program_options
+   regex
+   serialization
+-  system
+   thread)
 diff --git a/collision_detection/include/moveit/collision_detection/collision_common.hpp b/collision_detection/include/moveit/collision_detection/collision_common.hpp
 index 19777a044..af3a89442 100644
 --- a/collision_detection/include/moveit/collision_detection/collision_common.hpp
diff --git a/patch/ros-kilted-moveit-kinematics.patch b/patch/ros-kilted-moveit-kinematics.patch
index 6f2e9ac73..a24b4d67d 100644
--- a/patch/ros-kilted-moveit-kinematics.patch
+++ b/patch/ros-kilted-moveit-kinematics.patch
@@ -24,3 +24,11 @@ index 173471c7e..47e47e2db 100644
      // first center is picked randomly
      centers.push_back(std::uniform_int_distribution<size_t>{ 0, data.size() - 1 }(rsl::rng()));
      for (unsigned i = 1; i < k; ++i)
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -1,3 +1,3 @@
+ # Extras module needed for dependencies to find boost components
+ 
+-find_package(Boost REQUIRED program_options system)
++find_package(Boost REQUIRED program_options)
\ No newline at end of file
diff --git a/patch/ros-kilted-moveit-planners-ompl.patch b/patch/ros-kilted-moveit-planners-ompl.patch
new file mode 100644
index 000000000..8ea357e29
--- /dev/null
+++ b/patch/ros-kilted-moveit-planners-ompl.patch
@@ -0,0 +1,12 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 91329a1e8..5b4c45bc3 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -8,7 +8,6 @@ moveit_package()
+ find_package(
+   Boost
+   REQUIRED
+-  system
+   filesystem
+   date_time
+   thread
diff --git a/patch/ros-kilted-moveit-ros-control-interface.patch b/patch/ros-kilted-moveit-ros-control-interface.patch
new file mode 100644
index 000000000..feca79f8f
--- /dev/null
+++ b/patch/ros-kilted-moveit-ros-control-interface.patch
@@ -0,0 +1,8 @@
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -1,3 +1,3 @@
+ # Extras module needed for dependencies to find boost components
+ 
+-find_package(Boost REQUIRED COMPONENTS system thread)
++find_package(Boost REQUIRED COMPONENTS thread)
\ No newline at end of file
diff --git a/patch/ros-kilted-moveit-ros-move-group.patch b/patch/ros-kilted-moveit-ros-move-group.patch
index d38e5256a..4642e42a7 100644
--- a/patch/ros-kilted-moveit-ros-move-group.patch
+++ b/patch/ros-kilted-moveit-ros-move-group.patch
@@ -1,7 +1,7 @@
-diff --git a/moveit_ros/move_group/CMakeLists.txt b/moveit_ros/move_group/CMakeLists.txt
+diff --git a/CMakeLists.txt b/CMakeLists.txt
 index 7389985043..86bca8785d 100644
---- a/moveit_ros/move_group/CMakeLists.txt
-+++ b/moveit_ros/move_group/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
 @@ -74,7 +74,7 @@ add_executable(list_move_group_capabilities src/list_capabilities.cpp)
  ament_target_dependencies(list_move_group_capabilities
                            ${THIS_PACKAGE_INCLUDE_DEPENDS})
@@ -11,3 +11,14 @@ index 7389985043..86bca8785d 100644
  
  install(TARGETS move_group list_move_group_capabilities
          RUNTIME DESTINATION lib/moveit_ros_move_group)
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -3,7 +3,6 @@ find_package(
+ find_package(
+   Boost
+   REQUIRED
+-  system
+   filesystem
+   date_time
+   program_options
\ No newline at end of file
diff --git a/patch/ros-kilted-moveit-ros-planning-interface.patch b/patch/ros-kilted-moveit-ros-planning-interface.patch
new file mode 100644
index 000000000..a2301f531
--- /dev/null
+++ b/patch/ros-kilted-moveit-ros-planning-interface.patch
@@ -0,0 +1,9 @@
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -8,4 +8,4 @@ find_package(
+   Boost REQUIRED
+   COMPONENTS date_time filesystem program_options
+              # ${BOOST_PYTHON_COMPONENT}
+-             system thread)
++             thread)
diff --git a/patch/ros-kilted-moveit-ros-planning.patch b/patch/ros-kilted-moveit-ros-planning.patch
new file mode 100644
index 000000000..f2201556d
--- /dev/null
+++ b/patch/ros-kilted-moveit-ros-planning.patch
@@ -0,0 +1,11 @@
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -3,7 +3,6 @@ find_package(
+ find_package(
+   Boost
+   REQUIRED
+-  system
+   filesystem
+   date_time
+   program_options
diff --git a/patch/ros-kilted-moveit-ros-visualization.patch b/patch/ros-kilted-moveit-ros-visualization.patch
new file mode 100644
index 000000000..00a98324b
--- /dev/null
+++ b/patch/ros-kilted-moveit-ros-visualization.patch
@@ -0,0 +1,8 @@
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -1,3 +1,3 @@
+ # Extras module needed for dependencies to find boost components
+ 
+-find_package(Boost REQUIRED thread date_time system filesystem)
++find_package(Boost REQUIRED thread date_time filesystem)
\ No newline at end of file
diff --git a/patch/ros-kilted-moveit-ros-warehouse.patch b/patch/ros-kilted-moveit-ros-warehouse.patch
new file mode 100644
index 000000000..f75c4dac5
--- /dev/null
+++ b/patch/ros-kilted-moveit-ros-warehouse.patch
@@ -0,0 +1,11 @@
+diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
+--- a/ConfigExtras.cmake
++++ b/ConfigExtras.cmake
+@@ -4,7 +4,6 @@ find_package(
+   Boost
+   REQUIRED
+   thread
+-  system
+   filesystem
+   regex
+   date_time
\ No newline at end of file
diff --git a/patch/ros-kilted-moveit-visual-tools.patch b/patch/ros-kilted-moveit-visual-tools.patch
new file mode 100644
index 000000000..221911e67
--- /dev/null
+++ b/patch/ros-kilted-moveit-visual-tools.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 2e08aa6..49bdf1e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,7 +5,7 @@ find_package(moveit_common REQUIRED)
+ moveit_package()
+ 
+ # Load  all dependencies required for this package
+-find_package(Boost REQUIRED system)
++find_package(Boost REQUIRED)
+ find_package(Eigen3 REQUIRED)
+ find_package(geometry_msgs REQUIRED)
+ find_package(graph_msgs REQUIRED)
\ No newline at end of file
diff --git a/patch/ros-kilted-mrt-cmake-modules.patch b/patch/ros-kilted-mrt-cmake-modules.patch
index ea30f88bd..3a58f235a 100644
--- a/patch/ros-kilted-mrt-cmake-modules.patch
+++ b/patch/ros-kilted-mrt-cmake-modules.patch
@@ -24,3 +24,16 @@ index aa99d8d..8327d4e 100644
      find_package(catkin REQUIRED)
      catkin_package(CFG_EXTRAS mrt_cmake_modules-extras.cmake)
  else()
+diff --git a/yaml/cmake.yaml b/yaml/cmake.yaml
+index 6a2a6dc..1846d27 100644
+--- a/yaml/cmake.yaml
++++ b/yaml/cmake.yaml
+@@ -19,7 +19,7 @@ benchmark:
+   targets: ['benchmark::benchmark']
+ boost:
+   components: [wserialization thread random serialization log_setup prg_exec_monitor
+-      wave system chrono filesystem locale timer date_time regex graph program_options
++      wave chrono filesystem locale timer date_time regex graph program_options
+       unit_test_framework log atomic iostreams]
+   include_dirs: [Boost_INCLUDE_DIRS]
+   libraries: [Boost_LIBRARIES]
diff --git a/patch/ros-kilted-ouster-ros.patch b/patch/ros-kilted-ouster-ros.patch
index 045f339e6..fb850095a 100644
--- a/patch/ros-kilted-ouster-ros.patch
+++ b/patch/ros-kilted-ouster-ros.patch
@@ -1,20 +1,65 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index aa0f0b2..0724118 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -24,13 +24,20 @@ find_package(tf2_eigen REQUIRED)
+ find_package(OpenCV REQUIRED)
+ 
+ # ==== Options ====
+-add_compile_options(-Wall -Wextra)
++if(MSVC)
++  add_compile_options(/W2)
++  add_compile_definitions(NOMINMAX _USE_MATH_DEFINES WIN32_LEAN_AND_MEAN)
++else()
++  add_compile_options(-Wall -Wextra)
++endif()
+ if(NOT DEFINED CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 17)
+   set(CMAKE_CXX_STANDARD_REQUIRED ON)
+ endif()
+ option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON)
+ 
++set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
++
+ set(_ouster_ros_INCLUDE_DIRS
+   "include;"
+   "ouster-sdk/ouster_sensor/include;"
+diff --git a/ouster-sdk/CMakeLists.txt b/ouster-sdk/CMakeLists.txt
+index 4c6e3ac..5d17a19 100644
+--- a/ouster-sdk/CMakeLists.txt
++++ b/ouster-sdk/CMakeLists.txt
+@@ -53,0 +54 @@ option(BUILD_DEBIAN_FOR_GITHUB "Build debian for github ci" OFF)
++option(OUSTER_USE_VCPKG_IF_AVAILABLE "Use VCPKG_ROOT env variable if available" ON)
+diff --git a/ouster-sdk/cmake/Findlibzip.cmake b/ouster-sdk/cmake/Findlibzip.cmake
+index 0de2ad5..388f145 100644
+--- a/ouster-sdk/cmake/Findlibzip.cmake
++++ b/ouster-sdk/cmake/Findlibzip.cmake
+@@ -42 +42 @@ find_library(libzip_LIBRARIES NAMES
+-  libzip libzip.so libzip.dylib
++  libzip libzip.so libzip.dylib zip
+diff --git a/ouster-sdk/cmake/VcpkgEnv.cmake b/ouster-sdk/cmake/VcpkgEnv.cmake
+index c46f0f0..9d3741b 100644
+--- a/ouster-sdk/cmake/VcpkgEnv.cmake
++++ b/ouster-sdk/cmake/VcpkgEnv.cmake
+@@ -5,2 +5,2 @@
+-# set toolchain file if VCPKG_ROOT is defind
+-if(DEFINED ENV{VCPKG_ROOT} AND NOT DEFINED CMAKE_TOOLCHAIN_FILE)
++# set toolchain file if VCPKG_ROOT is defined, and OUSTER_USE_VCPKG_IF_AVAILABLE is ON
++if(OUSTER_USE_VCPKG_IF_AVAILABLE AND DEFINED ENV{VCPKG_ROOT} AND NOT DEFINED CMAKE_TOOLCHAIN_FILE)
+@@ -13 +13 @@ endif()
+-if(DEFINED ENV{VCPKG_TARGET_TRIPLET} AND NOT DEFINED VCPKG_TARGET_TRIPLET)
++if(OUSTER_USE_VCPKG_IF_AVAILABLE AND DEFINED ENV{VCPKG_TARGET_TRIPLET} AND NOT DEFINED VCPKG_TARGET_TRIPLET)
+diff --git a/ouster-sdk/ouster_client/CMakeLists.txt b/ouster-sdk/ouster_client/CMakeLists.txt
+index f17eeb4..d0bf100 100644
+--- a/ouster-sdk/ouster_client/CMakeLists.txt
++++ b/ouster-sdk/ouster_client/CMakeLists.txt
+@@ -51 +51 @@ target_link_libraries(ouster_client
+-target_compile_definitions(ouster_client PRIVATE EIGEN_MPL2_ONLY)
++target_compile_definitions(ouster_client PRIVATE EIGEN_MPL2_ONLY FMT_HEADER_ONLY)
 diff --git a/ouster-sdk/ouster_client/include/ouster/version.h b/ouster-sdk/ouster_client/include/ouster/version.h
+index 7867e3a..ef4539f 100644
 --- a/ouster-sdk/ouster_client/include/ouster/version.h
 +++ b/ouster-sdk/ouster_client/include/ouster/version.h
-@@ -13,6 +13,15 @@
- #include "ouster/deprecation.h"
- #include "ouster/visibility.h"
- 
-+// glibc may expose major/minor macros through sys/types.h, which breaks
-+// Version's field names when this header is included after libc headers.
-+#ifdef major
-+#undef major
-+#endif
-+
-+#ifdef minor
-+#undef minor
-+#endif
-+
- namespace ouster {
- namespace sdk {
- namespace core {
+@@ -47 +47 @@ struct OUSTER_API_CLASS Version {
+-        : major(maj), minor(min), patch(pat) {}
++        : major{maj}, minor{min}, patch{pat} {}
diff --git a/patch/ros-kilted-ouster-ros.win.patch b/patch/ros-kilted-ouster-ros.win.patch
deleted file mode 100644
index 97643f592..000000000
--- a/patch/ros-kilted-ouster-ros.win.patch
+++ /dev/null
@@ -1,27 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e07dcf4..8d23997 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -23,13 +23,21 @@ find_package(pcl_conversions REQUIRED)
- find_package(tf2_eigen REQUIRED)
- 
- # ==== Options ====
--add_compile_options(-Wall -Wextra)
-+if(MSVC)
-+  add_compile_options(/W2)
-+  add_compile_definitions(NOMINMAX _USE_MATH_DEFINES WIN32_LEAN_AND_MEAN)
-+else()
-+  add_compile_options(-Wall -Wextra)
-+endif()
-+
- if(NOT DEFINED CMAKE_CXX_STANDARD)
-   set(CMAKE_CXX_STANDARD 17)
-   set(CMAKE_CXX_STANDARD_REQUIRED ON)
- endif()
- option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON)
- 
-+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-+
- set(_ouster_ros_INCLUDE_DIRS
-   include
-   ouster-sdk/ouster_client/include
diff --git a/patch/ros-kilted-rosidl-generator-py.osx.patch b/patch/ros-kilted-rosidl-generator-py.osx.patch
new file mode 100644
index 000000000..c93e3cf8c
--- /dev/null
+++ b/patch/ros-kilted-rosidl-generator-py.osx.patch
@@ -0,0 +1,69 @@
+diff --git a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
+index de6a6c65..62093e4a 100644
+--- a/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
++++ b/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
+@@ -152,7 +152,7 @@ set_property(
+ 
+ set(_target_name_lib "${rosidl_generate_interfaces_TARGET}__rosidl_generator_py")
+ add_library(${_target_name_lib} SHARED ${_generated_c_files})
+-target_link_libraries(${_target_name_lib} PRIVATE
++target_link_libraries(${_target_name_lib} PUBLIC
+   ${rosidl_generate_interfaces_TARGET}__rosidl_generator_c)
+ add_dependencies(
+   ${_target_name_lib}
+@@ -160,11 +160,6 @@ add_dependencies(
+   ${rosidl_generate_interfaces_TARGET}__rosidl_typesupport_c
+ )
+ 
+-target_link_libraries(
+-  ${_target_name_lib} PRIVATE
+-  Python3::NumPy
+-  Python3::Python
+-)
+ target_include_directories(${_target_name_lib}
+   PRIVATE
+   ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_c
+@@ -176,8 +171,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   set(_extension_compile_flags -Wall -Wextra)
+ endif()
+ 
++if(APPLE)
++  target_link_libraries(${_target_name_lib} PRIVATE Python3::NumPy Python3::Module)
++  target_include_directories(${_target_name_lib} PRIVATE ${Python3_INCLUDE_DIRS} ${Python3_NumPy_INCLUDE_DIRS})
++else()
++  target_link_libraries(${_target_name_lib} PUBLIC Python3::NumPy Python3::Python)
++endif()
++
+ rosidl_get_typesupport_target(c_typesupport_target "${rosidl_generate_interfaces_TARGET}" "rosidl_typesupport_c")
+-target_link_libraries(${_target_name_lib} PRIVATE ${c_typesupport_target})
++target_link_libraries(${_target_name_lib} PUBLIC ${c_typesupport_target})
+ 
+ foreach(_typesupport_impl ${_typesupport_impls})
+   find_package(${_typesupport_impl} REQUIRED)
+@@ -210,7 +212,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
+     RUNTIME_OUTPUT_DIRECTORY ${_output_path})
+ 
+   target_link_libraries(
+-    ${_target_name} PRIVATE
++    ${_target_name} PUBLIC
+     ${_target_name_lib}
+     ${rosidl_generate_interfaces_TARGET}__${_typesupport_impl}
+     ${c_typesupport_target}
+@@ -226,7 +228,7 @@ foreach(_typesupport_impl ${_typesupport_impls})
+   )
+ 
+   foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+-    target_link_libraries(${_target_name} PRIVATE ${${_pkg_name}__TARGETS})
++    target_link_libraries(${_target_name} PUBLIC ${${_pkg_name}__TARGETS})
+   endforeach()
+ 
+   add_dependencies(${_target_name}
+@@ -243,7 +245,7 @@ endforeach()
+ 
+ # Depend on rosidl_generator_py generated targets from our dependencies
+ foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
+-  target_link_libraries(${_target_name_lib} PRIVATE ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}})
++  target_link_libraries(${_target_name_lib} PUBLIC ${${_pkg_name}_TARGETS${rosidl_generator_py_suffix}})
+ endforeach()
+ 
+ set_target_properties(${_target_name_lib} PROPERTIES COMPILE_OPTIONS "${_extension_compile_flags}")
diff --git a/patch/ros-kilted-rosidl-generator-py.patch b/patch/ros-kilted-rosidl-generator-py.patch
deleted file mode 100644
index 9dd87aeb4..000000000
--- a/patch/ros-kilted-rosidl-generator-py.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/cmake/rosidl_generator_py_generate_interfaces.cmake b/cmake/rosidl_generator_py_generate_interfaces.cmake
-index de6a6c6..1ae4830 100644
---- a/cmake/rosidl_generator_py_generate_interfaces.cmake
-+++ b/cmake/rosidl_generator_py_generate_interfaces.cmake
-@@ -163,7 +163,7 @@ add_dependencies(
- target_link_libraries(
-   ${_target_name_lib} PRIVATE
-   Python3::NumPy
--  Python3::Python
-+  Python3::Module
- )
- target_include_directories(${_target_name_lib}
-   PRIVATE
diff --git a/patch/ros-kilted-slam-toolbox.win.patch b/patch/ros-kilted-slam-toolbox.patch
similarity index 92%
rename from patch/ros-kilted-slam-toolbox.win.patch
rename to patch/ros-kilted-slam-toolbox.patch
index 3245b1f87..a0978f5af 100644
--- a/patch/ros-kilted-slam-toolbox.win.patch
+++ b/patch/ros-kilted-slam-toolbox.patch
@@ -110,13 +110,20 @@ index a620bfd..196aab5 100644
  set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
  
  find_package(ament_cmake REQUIRED)
+@@ -12,4 +14,4 @@ find_package(ament_cmake REQUIRED)
+ find_package(rclcpp REQUIRED)
+ find_package(Eigen3 REQUIRED)
+-find_package(Boost REQUIRED system serialization filesystem thread)
++find_package(Boost REQUIRED serialization filesystem thread)
+ find_package(TBB REQUIRED NO_CMAKE_PACKAGE_REGISTRY)
 @@ -29,6 +31,7 @@ add_definitions(${EIGEN3_DEFINITIONS})
  
  include_directories(include ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
  add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp)
 +target_compile_definitions(kartoSlamToolbox PRIVATE KARTO_DYNAMIC)
  ament_target_dependencies(kartoSlamToolbox ${dependencies})
- target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb)
+-target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb)
++target_link_libraries(kartoSlamToolbox Eigen3::Eigen ${Boost_LIBRARIES} TBB::tbb)
  
 diff --git a/lib/karto_sdk/src/Mapper.cpp b/lib/karto_sdk/src/Mapper.cpp
 index e969404..d87d33f 100644
@@ -210,3 +217,10 @@ index 916a207..18c2fa2 100644
      }
    }
    // server side never times out from lifecycle manager
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -93,2 +93,2 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
+ add_definitions(-DQT_NO_KEYWORDS)
+-find_package(Boost REQUIRED system serialization filesystem thread)
++find_package(Boost REQUIRED serialization filesystem thread)
diff --git a/patch/ros-kilted-warehouse-ros-sqlite.patch b/patch/ros-kilted-warehouse-ros-sqlite.patch
new file mode 100644
index 000000000..b670a49b1
--- /dev/null
+++ b/patch/ros-kilted-warehouse-ros-sqlite.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 79137d2..1b480aa 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -8,7 +8,7 @@ endif()
+ find_package(ament_cmake REQUIRED)
+ find_package(sqlite3_vendor REQUIRED)
+ find_package(SQLite3 REQUIRED)
+-find_package(Boost REQUIRED COMPONENTS filesystem system thread)
++find_package(Boost REQUIRED COMPONENTS filesystem thread)
+ find_package(class_loader REQUIRED)
+ find_package(OpenSSL REQUIRED)
+ find_package(rclcpp REQUIRED)
diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml
index 776ac83d7..9bc2f476a 100644
--- a/pkg_additional_info.yaml
+++ b/pkg_additional_info.yaml
@@ -23,13 +23,13 @@ urdfdom_headers:
   generate_dummy_package_with_run_deps:
     dep_name: urdfdom_headers
     max_pin: 'x.x'
-    override_version: '1.1.2'
+    override_version: '3.0.0'
 urdfdom:
   generate_dummy_package_with_run_deps:
     dep_name: urdfdom
     max_pin: 'x.x'
     # the version on ros is outdated w.r.t. to the conda-forge one
-    override_version: '4.0.1'
+    override_version: '6.0.0'
 cartographer:
   generate_dummy_package_with_run_deps:
     dep_name: cartographer
@@ -46,16 +46,18 @@ coal:
   generate_dummy_package_with_run_deps:
     dep_name: coal
     max_pin: 'x.x.x'
+    override_version: '3.0.3'
 eigenpy:
   generate_dummy_package_with_run_deps:
     dep_name: eigenpy
     max_pin: 'x.x.x'
+    override_version: '3.13.0'
 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: '3.9.0'
+    override_version: '4.0.0'
 gtsam:
   generate_dummy_package_with_run_deps:
     dep_name: gtsam
diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml
index 7ad347fa2..10e91f120 100644
--- a/rosdistro_snapshot.yaml
+++ b/rosdistro_snapshot.yaml
@@ -1032,29 +1032,29 @@ desktop_full:
   url: https://github.com/ros2-gbp/variants-release.git
   version: 0.12.0
 diagnostic_aggregator:
-  tag: release/kilted/diagnostic_aggregator/4.3.6-1
+  tag: release/kilted/diagnostic_aggregator/4.3.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
-  version: 4.3.6
+  version: 4.3.7
 diagnostic_common_diagnostics:
-  tag: release/kilted/diagnostic_common_diagnostics/4.3.6-1
+  tag: release/kilted/diagnostic_common_diagnostics/4.3.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
-  version: 4.3.6
+  version: 4.3.7
 diagnostic_msgs:
   tag: release/kilted/diagnostic_msgs/5.5.2-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
   version: 5.5.2
 diagnostic_remote_logging:
-  tag: release/kilted/diagnostic_remote_logging/4.3.6-1
+  tag: release/kilted/diagnostic_remote_logging/4.3.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
-  version: 4.3.6
+  version: 4.3.7
 diagnostic_updater:
-  tag: release/kilted/diagnostic_updater/4.3.6-1
+  tag: release/kilted/diagnostic_updater/4.3.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
-  version: 4.3.6
+  version: 4.3.7
 diagnostics:
-  tag: release/kilted/diagnostics/4.3.6-1
+  tag: release/kilted/diagnostics/4.3.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
-  version: 4.3.6
+  version: 4.3.7
 diff_drive_controller:
   tag: release/kilted/diff_drive_controller/5.13.1-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
@@ -5532,9 +5532,9 @@ sdl2_vendor:
   url: https://github.com/ros2-gbp/joystick_drivers-release.git
   version: 3.3.0
 self_test:
-  tag: release/kilted/self_test/4.3.6-1
+  tag: release/kilted/self_test/4.3.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
-  version: 4.3.6
+  version: 4.3.7
 sensor_msgs:
   tag: release/kilted/sensor_msgs/5.5.2-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
diff --git a/vinca.yaml b/vinca.yaml
index 373a60b08..995d07400 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -5,20 +5,20 @@ conda_index:
   - robostack.yaml
   - packages-ignore.yaml
 
-# Reminder for next full rebuild, the next build number should be 20
-build_number: 19
+# Reminder for next full rebuild, the next build number should be 21
+build_number: 20
 
 mutex_package:
   name: "ros2-distro-mutex"
-  version: "0.15.0"
+  version: "0.16.0"
   upper_bound: "x.x"
   run_constraints:
-    - libboost 1.88.*
-    - libboost-devel 1.88.*
+    - libboost 1.90.*
+    - libboost-devel 1.90.*
     - pcl 1.15.1.*
     - gazebo 11.*
     - libprotobuf 6.33.5.*
-    - vtk 9.6.0.*
+    - vtk 9.6.2.*
 
 packages_skip_by_deps:
   - if: not linux