diff --git a/conda_build_config.yaml b/conda_build_config.yaml
index 02b94261..1127cf7a 100644
--- a/conda_build_config.yaml
+++ b/conda_build_config.yaml
@@ -41,3 +41,8 @@ cxx_compiler:
 cxx_compiler_version:          # [unix]
   - 13                         # [linux]
   - 18                         # [osx]
+
+libzenohc:
+  - 1.1.1
+libzenohcxx:
+  - 1.1.1
diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index ce507987..9b88f903 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -179,4 +179,8 @@ rosx_introspection:
 octomap_ros:
   add_host: ["octomap"]
 octomap_rviz_plugins:
-  add_host: ["octomap"]
\ No newline at end of file
+  add_host: ["octomap"]
+zenoh_cpp_vendor:
+  add_host: ["libzenohc", "libzenohcxx"]
+rmw_zenoh_cpp:
+  add_host: ["libzenohc", "libzenohcxx"]
diff --git a/patch/ros-humble-ffmpeg-encoder-decoder.patch b/patch/ros-humble-ffmpeg-encoder-decoder.patch
new file mode 100644
index 00000000..07fa9f5f
--- /dev/null
+++ b/patch/ros-humble-ffmpeg-encoder-decoder.patch
@@ -0,0 +1,54 @@
+diff --git a/src/decoder.cpp b/src/decoder.cpp
+index 0a12d25..10834e3 100644
+--- a/src/decoder.cpp
++++ b/src/decoder.cpp
+@@ -38,7 +38,11 @@ Decoder::~Decoder() { reset(); }
+ void Decoder::reset()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     av_free(codecContext_);
+     codecContext_ = NULL;
+   }
+diff --git a/src/encoder.cpp b/src/encoder.cpp
+index a4b6de6..2e1d4a2 100644
+--- a/src/encoder.cpp
++++ b/src/encoder.cpp
+@@ -54,7 +54,11 @@ static void free_frame(AVFrame ** frame)
+ void Encoder::closeCodec()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     codecContext_ = nullptr;
+   }
+   free_frame(&frame_);
+diff --git a/src/utils.cpp b/src/utils.cpp
+index da089e4..01e8eea 100644
+--- a/src/utils.cpp
++++ b/src/utils.cpp
+@@ -104,8 +104,15 @@ enum AVPixelFormat get_preferred_pixel_format(
+ std::vector<enum AVPixelFormat> get_encoder_formats(const AVCodec * c)
+ {
+   std::vector<enum AVPixelFormat> formats;
+-  if (c && c->pix_fmts) {
+-    for (const auto * p = c->pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
++#if LIBAVUTIL_VERSION_MAJOR > 59 || (LIBAVUTIL_VERSION_MAJOR == 59 && LIBAVUTIL_VERSION_MINOR >= 39)
++  const enum AVPixelFormat *pix_fmts = NULL;
++  avcodec_get_supported_config(NULL, c, AV_CODEC_CONFIG_PIX_FORMAT, 0, (const void **) &pix_fmts, NULL);
++  if (c && pix_fmts) {
++#else
++  const enum AVPixelFormat *pix_fmts = c->pix_fmts;
++  if (c && pix_fmts) {
++#endif
++    for (const auto * p = pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
+       formats.push_back(*p);
+     }
+   }
diff --git a/patch/ros-humble-ur-client-library.osx.patch b/patch/ros-humble-ur-client-library.osx.patch
new file mode 100644
index 00000000..1de256b4
--- /dev/null
+++ b/patch/ros-humble-ur-client-library.osx.patch
@@ -0,0 +1,226 @@
+diff --git a/include/ur_client_library/comm/bin_parser.h b/include/ur_client_library/comm/bin_parser.h
+index e13aba6..6931af3 100644
+--- a/include/ur_client_library/comm/bin_parser.h
++++ b/include/ur_client_library/comm/bin_parser.h
+@@ -21,7 +21,31 @@
+ #pragma once
+ 
+ #include <assert.h>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include <inttypes.h>
+ #include <array>
+ #include <bitset>
+diff --git a/include/ur_client_library/comm/package_serializer.h b/include/ur_client_library/comm/package_serializer.h
+index 7745da9..78859d9 100644
+--- a/include/ur_client_library/comm/package_serializer.h
++++ b/include/ur_client_library/comm/package_serializer.h
+@@ -29,7 +29,31 @@
+ #ifndef UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
+ #define UR_CLIENT_LIBRARY_PACKAGE_SERIALIZER_H_INCLUDED
+ 
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include <cstring>
+ 
+ namespace urcl
+diff --git a/include/ur_client_library/control/reverse_interface.h b/include/ur_client_library/control/reverse_interface.h
+index 9919dbd..077403e 100644
+--- a/include/ur_client_library/control/reverse_interface.h
++++ b/include/ur_client_library/control/reverse_interface.h
+@@ -35,7 +35,31 @@
+ #include "ur_client_library/log.h"
+ #include "ur_client_library/ur/robot_receive_timeout.h"
+ #include <cstring>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include <condition_variable>
+ 
+ namespace urcl
+diff --git a/include/ur_client_library/primary/package_header.h b/include/ur_client_library/primary/package_header.h
+index cd64bda..b4738dd 100644
+--- a/include/ur_client_library/primary/package_header.h
++++ b/include/ur_client_library/primary/package_header.h
+@@ -32,7 +32,31 @@
+ 
+ #include <inttypes.h>
+ #include <cstddef>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include "ur_client_library/types.h"
+ 
+ namespace urcl
+diff --git a/include/ur_client_library/rtde/package_header.h b/include/ur_client_library/rtde/package_header.h
+index f910a08..4013e26 100644
+--- a/include/ur_client_library/rtde/package_header.h
++++ b/include/ur_client_library/rtde/package_header.h
+@@ -31,7 +31,31 @@
+ #define UR_CLIENT_LIBRARY_RTDE__HEADER_H_INCLUDED
+ 
+ #include <cstddef>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include "ur_client_library/types.h"
+ #include "ur_client_library/comm/package_serializer.h"
+ 
+diff --git a/src/comm/tcp_socket.cpp b/src/comm/tcp_socket.cpp
+index 8803664..f75f381 100644
+--- a/src/comm/tcp_socket.cpp
++++ b/src/comm/tcp_socket.cpp
+@@ -21,7 +21,31 @@
+  */
+ 
+ #include <arpa/inet.h>
++#ifdef __APPLE__
++
++#include <machine/endian.h>
++#include <libkern/OSByteOrder.h>
++
++#define htobe16(x) OSSwapHostToBigInt16(x)
++#define htole16(x) OSSwapHostToLittleInt16(x)
++#define be16toh(x) OSSwapBigToHostInt16(x)
++#define le16toh(x) OSSwapLittleToHostInt16(x)
++
++#define htobe32(x) OSSwapHostToBigInt32(x)
++#define htole32(x) OSSwapHostToLittleInt32(x)
++#define be32toh(x) OSSwapBigToHostInt32(x)
++#define le32toh(x) OSSwapLittleToHostInt32(x)
++
++#define htobe64(x) OSSwapHostToBigInt64(x)
++#define htole64(x) OSSwapHostToLittleInt64(x)
++#define be64toh(x) OSSwapBigToHostInt64(x)
++#define le64toh(x) OSSwapLittleToHostInt64(x)
++
++#else
++
+ #include <endian.h>
++
++#endif /* __APPLE__ */
+ #include <netinet/tcp.h>
+ #include <unistd.h>
+ #include <chrono>
+@@ -48,7 +72,9 @@ void TCPSocket::setupOptions()
+ {
+   int flag = 1;
+   setsockopt(socket_fd_, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
++#ifndef __APPLE__
+   setsockopt(socket_fd_, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
++#endif
+ 
+   if (recv_timeout_ != nullptr)
+   {
diff --git a/patch/ros-humble-zenoh-cpp-vendor.patch b/patch/ros-humble-zenoh-cpp-vendor.patch
new file mode 100644
index 00000000..85d229c0
--- /dev/null
+++ b/patch/ros-humble-zenoh-cpp-vendor.patch
@@ -0,0 +1,42 @@
+diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
+index 2d3ae046..de971841 100644
+--- a/zenoh_cpp_vendor/CMakeLists.txt
++++ b/zenoh_cpp_vendor/CMakeLists.txt
+@@ -10,35 +10,10 @@ endif()
+ find_package(ament_cmake REQUIRED)
+ find_package(ament_cmake_vendor_package REQUIRED)
+ 
+-# Disable default features and enable only the most useful ones. This reduces build time and footprint.
+-# For a complete list of features see: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
+-# Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
+-# latter is a list separater in cmake and hence the string will be split into two
+-# when expanded.
+-set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
+-
+-ament_vendor(zenoh_c_vendor
+-  VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
+-  VCS_VERSION 57d5e4d31d9b38fef34d7bcad3d3e54869c4ce73
+-  CMAKE_ARGS
+-    "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
+-    "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
+-    "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}"
+-)
+-
++find_package(zenohc REQUIRED)
+ ament_export_dependencies(zenohc)
+ 
+-# Set VCS_VERSION to include latest changes from zenoh-c to benefit from :
+-# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/342 (Fix include what you use)
+-ament_vendor(zenoh_cpp_vendor
+-  VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
+-  VCS_VERSION 964b64dc8b935a43147287199e7bb12da7b141e6
+-  CMAKE_ARGS
+-    -DZENOHCXX_ZENOHC=OFF
+-)
+-
+-externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
+-
++find_package(zenohcxx REQUIRED)
+ ament_export_dependencies(zenohcxx)
+ 
+ ament_package()
diff --git a/pixi.lock b/pixi.lock
index b65644c9..fcc36d18 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -10,7 +10,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
       - conda: https://repo.prefix.dev/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
       - conda: https://repo.prefix.dev/conda-forge/noarch/anaconda-client-1.12.3-pyhd8ed1ab_1.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/attrs-24.3.0-pyh71513ae_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/attrs-25.1.0-pyh71513ae_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/brotli-python-1.1.0-py311hfdbb021_2.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/ca-certificates-2024.12.14-hbcca054_0.conda
@@ -22,8 +22,8 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/conda-package-streaming-0.11.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/defusedxml-0.7.1-pyhd8ed1ab_0.tar.bz2
       - conda: https://repo.prefix.dev/conda-forge/noarch/h2-4.1.0-pyhd8ed1ab_1.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/hpack-4.0.0-pyhd8ed1ab_1.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/hyperframe-6.0.1-pyhd8ed1ab_1.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/hpack-4.1.0-pyhd8ed1ab_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/hyperframe-6.1.0-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/idna-3.10-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/importlib_resources-6.5.2-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/jsonschema-4.23.0-pyhd8ed1ab_1.conda
@@ -37,7 +37,7 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libgomp-14.2.0-h77fa898_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/liblzma-5.6.3-hb9d3cd8_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
-      - conda: https://repo.prefix.dev/conda-forge/linux-64/libsqlite-3.48.0-hee588c1_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/libsqlite-3.48.0-hee588c1_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libstdcxx-14.2.0-hc0a3c3a_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libstdcxx-ng-14.2.0-h4852527_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/libuuid-2.38.1-h0b41bf4_0.conda
@@ -56,10 +56,10 @@ environments:
       - conda: https://repo.prefix.dev/conda-forge/noarch/python-fastjsonschema-2.21.1-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/python_abi-3.11-5_cp311.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/pytz-2024.2-pyhd8ed1ab_1.conda
-      - conda: https://repo.prefix.dev/conda-forge/linux-64/pyyaml-6.0.2-py311h9ecbd09_1.conda
-      - conda: https://repo.prefix.dev/conda-forge/linux-64/rattler-build-0.35.5-hff40e2b_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/pyyaml-6.0.2-py311h2dc5d0c_2.conda
+      - conda: https://repo.prefix.dev/conda-forge/linux-64/rattler-build-0.35.6-hff40e2b_0.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/readline-8.2-h8228510_1.conda
-      - conda: https://repo.prefix.dev/conda-forge/noarch/referencing-0.36.1-pyhd8ed1ab_0.conda
+      - conda: https://repo.prefix.dev/conda-forge/noarch/referencing-0.36.2-pyh29332c3_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/requests-toolbelt-1.0.0-pyhd8ed1ab_1.conda
       - conda: https://repo.prefix.dev/conda-forge/linux-64/rpds-py-0.22.3-py311h9e33e62_0.conda
@@ -86,14 +86,14 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/1c/a7/c8a2d361bf89c0d9577c934ebb7421b25dc84bf3a8e3ac0a40aed9acc547/pyparsing-3.2.1-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/19/71/39c7c0d87f8d4e6c020a393182060eaefeeae6c01dab6a84ec346f2567df/rich-13.9.4-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/22/32/d0fbc4383a6a213d315c39dda9107f81654d9941c43d6c687e61995ec388/rosdistro-1.0.1-py3-none-any.whl
-      - pypi: https://files.pythonhosted.org/packages/1c/e2/772f8cff8172a612823755035073b00753613c24af0ed6d3bae215021608/rospkg-1.5.1-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/fa/c1/b0616243c1f922252ceb4513c22abefc1773cf372bfc0b6f7e59c2829f96/rospkg-1.6.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/35/79/5e2cffa1c77432f11cd93a5351f30732c997a239d3a3090856a72d6d8ba7/ruamel.yaml-0.17.40-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/68/6e/264c50ce2a31473a9fdbf4fa66ca9b2b17c7455b31ef585462343818bd6c/ruamel.yaml.clib-0.2.12-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
-      - pypi: git+https://github.com/RoboStack/vinca.git@cbb8eba834ce3834df552977d6b08c325a30768e
+      - pypi: git+https://github.com/robostack/vinca?rev=cbb8eba834ce3834df552977d6b08c325a30768e#cbb8eba834ce3834df552977d6b08c325a30768e
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   license_family: MIT
   purls:
   - pkg:pypi/pyyaml?source=hash-mapping
-  size: 193941
-  timestamp: 1725456465818
-- conda: https://repo.prefix.dev/conda-forge/osx-arm64/pyyaml-6.0.2-py311h460d6c5_1.conda
-  sha256: 9ae182eef4e96a7c2f46cc9add19496276612663e17429500432631dce31a831
-  md5: d32590e7bd388f18b036c6fc402a0cb1
+  size: 197287
+  timestamp: 1737454852180
+- conda: https://repo.prefix.dev/conda-forge/osx-arm64/pyyaml-6.0.2-py311h4921393_2.conda
+  sha256: 2af6006c9f692742181f4aa2e0656eb112981ccb0b420b899d3dd42c881bd72f
+  md5: 250b2ee8777221153fd2de9c279a7efa
   depends:
   - __osx >=11.0
   - python >=3.11,<3.12.0a0
@@ -2353,11 +2363,11 @@ packages:
   license_family: MIT
   purls:
   - pkg:pypi/pyyaml?source=hash-mapping
-  size: 192321
-  timestamp: 1725456528007
-- conda: https://repo.prefix.dev/conda-forge/win-64/pyyaml-6.0.2-py311he736701_1.conda
-  sha256: 86608f1b4f6b1819a74b6b1344c34304745fd7e84bfc9900269f57cf28178d31
-  md5: d0c5f3c595039890be0c9af47d23b9ba
+  size: 196951
+  timestamp: 1737454935552
+- conda: https://repo.prefix.dev/conda-forge/win-64/pyyaml-6.0.2-py311h5082efb_2.conda
+  sha256: 6095e1d58c666f6a06c55338df09485eac34c76e43d92121d5786794e195aa4d
+  md5: e474ba674d780f0fa3b979ae9e81ba91
   depends:
   - python >=3.11,<3.12.0a0
   - python_abi 3.11.* *_cp311
@@ -2369,11 +2379,11 @@ packages:
   license_family: MIT
   purls:
   - pkg:pypi/pyyaml?source=hash-mapping
-  size: 187901
-  timestamp: 1725456808581
-- conda: https://repo.prefix.dev/conda-forge/linux-64/rattler-build-0.35.5-hff40e2b_0.conda
-  sha256: 1f27e637587899ef2e699acc29c51db5c193b70f00eadcc78e37418409aadae0
-  md5: 29f06ae1462d61c549fa9a6c95acb603
+  size: 187430
+  timestamp: 1737454904007
+- conda: https://repo.prefix.dev/conda-forge/linux-64/rattler-build-0.35.6-hff40e2b_0.conda
+  sha256: 0c8c82fd3cf13e69f5c600767b7ba60db38c4cdea0cbad66fdb624ada52a7f27
+  md5: c926bc2b91cdb32687e9a9f5909a4aa9
   depends:
   - patchelf
   - __glibc >=2.17,<3.0.a0
@@ -2383,11 +2393,11 @@ packages:
   license: BSD-3-Clause
   license_family: BSD
   purls: []
-  size: 10721101
-  timestamp: 1737207361315
-- conda: https://repo.prefix.dev/conda-forge/linux-aarch64/rattler-build-0.35.5-h33857bb_0.conda
-  sha256: 859a8b41a3583df817ddcac1d6cb454a751c70f32aecfeb44a5818e86f1d9801
-  md5: 6e90d60b47b7a88568db0f5bfb62a9ad
+  size: 10747673
+  timestamp: 1737419180461
+- conda: https://repo.prefix.dev/conda-forge/linux-aarch64/rattler-build-0.35.6-h33857bb_0.conda
+  sha256: 3ab4069c59ad3cd749258ab29e03072f8c1bc719428bc742046c5e2deaf41af5
+  md5: 58aacf133b01307e660f5521b9dd6e53
   depends:
   - patchelf
   - openssl >=3.4.0,<4.0a0
@@ -2396,11 +2406,11 @@ packages:
   license: BSD-3-Clause
   license_family: BSD
   purls: []
-  size: 10929284
-  timestamp: 1737207406996
-- conda: https://repo.prefix.dev/conda-forge/osx-64/rattler-build-0.35.5-h625f1b7_0.conda
-  sha256: 591cf4a44b8ade662312dc19735ea1c9801055aa06166ceb9541f1e51185279b
-  md5: f61154a7d5edc2bf509c0091038ed272
+  size: 11002462
+  timestamp: 1737419203421
+- conda: https://repo.prefix.dev/conda-forge/osx-64/rattler-build-0.35.6-h625f1b7_0.conda
+  sha256: 5bc1d0180f986da4cf0282b5848afc70c5587242571871a5f0f915b3c7377ecc
+  md5: 1ac44d901cbc43e92eb26a5ae66f98e3
   depends:
   - __osx >=10.13
   constrains:
@@ -2408,11 +2418,11 @@ packages:
   license: BSD-3-Clause
   license_family: BSD
   purls: []
-  size: 9180007
-  timestamp: 1737207415163
-- conda: https://repo.prefix.dev/conda-forge/osx-arm64/rattler-build-0.35.5-h3ab7716_0.conda
-  sha256: e63d2bffa5c5a9db64a56fe62d0088115504582b851c4ca59899742cb109ae51
-  md5: d40f914091c80f4951ecedd1948cd102
+  size: 9263112
+  timestamp: 1737419217243
+- conda: https://repo.prefix.dev/conda-forge/osx-arm64/rattler-build-0.35.6-h3ab7716_0.conda
+  sha256: 9247021b374a0744ec26fc5130e75def2ddbe88212a804df72c1b256cc9c9393
+  md5: 2c1ad2d4c0bfcc7e83c49e4aff1ecc14
   depends:
   - __osx >=11.0
   constrains:
@@ -2420,11 +2430,11 @@ packages:
   license: BSD-3-Clause
   license_family: BSD
   purls: []
-  size: 8611481
-  timestamp: 1737207403971
-- conda: https://repo.prefix.dev/conda-forge/win-64/rattler-build-0.35.5-ha8cf89e_0.conda
-  sha256: b2d1002605313d7ec3f8e10fb0af5d79b99b3066136871d5852b0e6fd1c329e7
-  md5: 51ec14cb1f09aa266d7220a0ed1ec68c
+  size: 8654822
+  timestamp: 1737419214645
+- conda: https://repo.prefix.dev/conda-forge/win-64/rattler-build-0.35.6-ha8cf89e_0.conda
+  sha256: aaa21fe06d851d9a2c9ecccba4b5790ae79c01c5be9378c9a81f162be69d1bad
+  md5: 3ae382d651e20263ae9dc1dd32f69841
   depends:
   - vc >=14.3,<15
   - vc14_runtime >=14.42.34433
@@ -2432,8 +2442,8 @@ packages:
   license: BSD-3-Clause
   license_family: BSD
   purls: []
-  size: 8537288
-  timestamp: 1737207410113
+  size: 8615244
+  timestamp: 1737419207280
 - conda: https://repo.prefix.dev/conda-forge/linux-64/readline-8.2-h8228510_1.conda
   sha256: 5435cf39d039387fbdc977b0a762357ea909a7694d9528ab40f005e9208744d7
   md5: 47d31b792659ce70f470b5c82fdfb7a4
@@ -2476,20 +2486,21 @@ packages:
   purls: []
   size: 250351
   timestamp: 1679532511311
-- conda: https://repo.prefix.dev/conda-forge/noarch/referencing-0.36.1-pyhd8ed1ab_0.conda
-  sha256: 55a8c68d75bc70624be9dbd5550d2de0fae295363fb836860a4a5d244a5b088a
-  md5: dbb48421efd666ea133c6d5e67291766
+- conda: https://repo.prefix.dev/conda-forge/noarch/referencing-0.36.2-pyh29332c3_0.conda
+  sha256: e20909f474a6cece176dfc0dc1addac265deb5fa92ea90e975fbca48085b20c3
+  md5: 9140f1c09dd5489549c6a33931b943c7
   depends:
   - attrs >=22.2.0
   - python >=3.9
   - rpds-py >=0.7.0
   - typing_extensions >=4.4.0
+  - python
   license: MIT
   license_family: MIT
   purls:
   - pkg:pypi/referencing?source=hash-mapping
-  size: 42296
-  timestamp: 1737120499679
+  size: 51668
+  timestamp: 1737836872415
 - conda: https://repo.prefix.dev/conda-forge/noarch/requests-2.32.3-pyhd8ed1ab_1.conda
   sha256: d701ca1136197aa121bbbe0e8c18db6b5c94acbd041c2b43c70e5ae104e1d8ad
   md5: a9b9368f3701a417eac9edbcae7cb737
@@ -2540,16 +2551,16 @@ packages:
   - rospkg
   - pytest ; extra == 'test'
   requires_python: '>=3.6'
-- pypi: https://files.pythonhosted.org/packages/1c/e2/772f8cff8172a612823755035073b00753613c24af0ed6d3bae215021608/rospkg-1.5.1-py3-none-any.whl
+- pypi: https://files.pythonhosted.org/packages/fa/c1/b0616243c1f922252ceb4513c22abefc1773cf372bfc0b6f7e59c2829f96/rospkg-1.6.0-py3-none-any.whl
   name: rospkg
-  version: 1.5.1
-  sha256: 1167a8f908d9c4379954732a605810e166ddcc18fcf47e6555395e1d6d972a7c
+  version: 1.6.0
+  sha256: 491d49a0d85969cd99df056122f95fc33ff277992a4e275c4448c2e02220a9cb
   requires_dist:
   - catkin-pkg
   - pyyaml
   - distro>=1.4.0 ; python_full_version >= '3.8'
   - pytest ; extra == 'test'
-  - mock ; python_full_version < '3.3' and extra == 'test'
+  requires_python: '>=3.6'
 - conda: https://repo.prefix.dev/conda-forge/linux-64/rpds-py-0.22.3-py311h9e33e62_0.conda
   sha256: 0908ac4acb1a10fe63046e947a96c77cea0d392619ef965944da86c3574b68ec
   md5: b1f5799ae0cc22198928f09879da01f5
@@ -2802,31 +2813,31 @@ packages:
   - pkg:pypi/urllib3?source=hash-mapping
   size: 100102
   timestamp: 1734859520452
-- conda: https://repo.prefix.dev/conda-forge/win-64/vc-14.3-ha32ba9b_23.conda
-  sha256: 986ddaf8feec2904eac9535a7ddb7acda1a1dfb9482088fdb8129f1595181663
-  md5: 7c10ec3158d1eb4ddff7007c9101adb0
+- conda: https://repo.prefix.dev/conda-forge/win-64/vc-14.3-h5fd82a7_24.conda
+  sha256: 7ce178cf139ccea5079f9c353b3d8415d1d49b0a2f774662c355d3f89163d7b4
+  md5: 00cf3a61562bd53bd5ea99e6888793d0
   depends:
-  - vc14_runtime >=14.38.33135
+  - vc14_runtime >=14.40.33810
   track_features:
   - vc14
   license: BSD-3-Clause
   license_family: BSD
   purls: []
-  size: 17479
-  timestamp: 1731710827215
-- conda: https://repo.prefix.dev/conda-forge/win-64/vc14_runtime-14.42.34433-he29a5d6_23.conda
-  sha256: c483b090c4251a260aba6ff3e83a307bcfb5fb24ad7ced872ab5d02971bd3a49
-  md5: 32b37d0cfa80da34548501cdc913a832
+  size: 17693
+  timestamp: 1737627189024
+- conda: https://repo.prefix.dev/conda-forge/win-64/vc14_runtime-14.42.34433-h6356254_24.conda
+  sha256: abda97b8728cf6e3c37df8f1178adde7219bed38b96e392cb3be66336386d32e
+  md5: 2441e010ee255e6a38bf16705a756e94
   depends:
   - ucrt >=10.0.20348.0
   constrains:
-  - vs2015_runtime 14.42.34433.* *_23
+  - vs2015_runtime 14.42.34433.* *_24
   license: LicenseRef-MicrosoftVisualCpp2015-2022Runtime
   license_family: Proprietary
   purls: []
-  size: 754247
-  timestamp: 1731710681163
-- pypi: git+https://github.com/RoboStack/vinca.git@cbb8eba834ce3834df552977d6b08c325a30768e
+  size: 753531
+  timestamp: 1737627061911
+- pypi: git+https://github.com/robostack/vinca?rev=cbb8eba834ce3834df552977d6b08c325a30768e#cbb8eba834ce3834df552977d6b08c325a30768e
   name: vinca
   version: 0.0.4
   requires_dist:
@@ -2838,16 +2849,16 @@ packages:
   - networkx>=2.5
   - rich>=10
   requires_python: '>=3.6'
-- conda: https://repo.prefix.dev/conda-forge/win-64/vs2015_runtime-14.42.34433-hdffcdeb_23.conda
-  sha256: 568ce8151eaae256f1cef752fc78651ad7a86ff05153cc7a4740b52ae6536118
-  md5: 5c176975ca2b8366abad3c97b3cd1e83
+- conda: https://repo.prefix.dev/conda-forge/win-64/vs2015_runtime-14.42.34433-hfef2bbc_24.conda
+  sha256: 09102e0bd283af65772c052d85028410b0c31989b3cd96c260485d28e270836e
+  md5: 117fcc5b86c48f3b322b0722258c7259
   depends:
   - vc14_runtime >=14.42.34433
   license: BSD-3-Clause
   license_family: BSD
   purls: []
-  size: 17572
-  timestamp: 1731710685291
+  size: 17669
+  timestamp: 1737627066773
 - conda: https://repo.prefix.dev/conda-forge/noarch/win_inet_pton-1.1.0-pyh7428d3b_8.conda
   sha256: 93807369ab91f230cf9e6e2a237eaa812492fe00face5b38068735858fba954f
   md5: 46e441ba871f524e2b067929da3051c2
diff --git a/robostack.yaml b/robostack.yaml
index 8181e72e..ed6d49ca 100644
--- a/robostack.yaml
+++ b/robostack.yaml
@@ -43,6 +43,8 @@ cartographer:
   robostack: [cartographer]
 ca-certificates:
   robostack: [ca-certificates]
+cargo:
+  robostack: [rust]
 clang-format:
   robostack: [clang-format]
 clang-tidy:
@@ -262,6 +264,8 @@ libcurl-dev:
   robostack: [libcurl]
 libdc1394-dev:
   robostack: [libdc1394]
+libdraco-dev:
+  robostack: [draco]
 libdw-dev:
   robostack:
     linux: [elfutils]
@@ -369,6 +373,8 @@ libomp-dev:
     linux: [libgomp]
     osx: [llvm-openmp]
     win64: []
+libopen3d-dev:
+  robostack: [open3d, REQUIRE_OPENGL]
 libopenblas-dev:
   robostack: [libblas]
 libopencv-dev:
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 47100842..c5a10479 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -196,6 +196,20 @@ packages_select_by_deps:
   - autoware_utils
   - autoware_lanelet2_extension
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
+  # requested in https://github.com/RoboStack/ros-humble/issues/256
+  - rqt_controller_manager
+
+  - open3d_conversions
+
+  - ffmpeg_image_transport
+
+  - foxglove_compressed_image_transport
+  
+  - point_cloud_transport_plugins
+
   # ----- end of package support -----
 
   # - rtabmap
@@ -565,4 +579,4 @@ packages_select_by_deps:
   # - osrf_testing_tools_cpp
 
 patch_dir: patch
-rosdistro_snapshot: rosdistro_snapshot.yaml
\ No newline at end of file
+rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 9d982e1f..bb2db911 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -110,6 +110,20 @@ packages_select_by_deps:
   # requested in https://github.com/RoboStack/ros-humble/issues/249
   - twist_mux
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
+  # requested in https://github.com/RoboStack/ros-humble/issues/256
+  - rqt_controller_manager
+
+  - open3d_conversions
+
+  - ffmpeg_image_transport
+
+  - foxglove_compressed_image_transport
+
+  - point_cloud_transport_plugins
+
   # autoware
   - autoware_common_msgs
   - autoware_control_msgs
@@ -123,7 +137,7 @@ packages_select_by_deps:
   - autoware_vehicle_msgs
 
   - autoware_utils
-  - autoware_lanelet2_extension
+  - autoware_lanelet_extensions
 
   # Used to work, now needs fixes
   # - rtabmap
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 9dcdba9c..e3f77d51 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -38,11 +38,6 @@ packages_remove_from_deps:
   - rttest
   # Not available for macOS and Windows!
   - gripper_controllers
-  # Some packages in ur stack do not support macOS
-  - ur_client_library
-  - ur_robot_driver
-  - ur_calibration
-  - ur
 
 skip_existing:
   # - https://conda.anaconda.org/robostack-humble/
@@ -132,6 +127,18 @@ packages_select_by_deps:
   # requested in https://github.com/RoboStack/ros-humble/issues/249
   - twist_mux
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
+  # requested in https://github.com/RoboStack/ros-humble/issues/256
+  - rqt_controller_manager
+
+  - open3d_conversions
+
+  - ffmpeg_image_transport
+
+  - foxglove_compressed_image_transport
+
   # autoware
   - autoware_common_msgs
   - autoware_control_msgs
@@ -148,4 +155,4 @@ packages_select_by_deps:
   - autoware_lanelet2_extension
 
 patch_dir: patch
-rosdistro_snapshot: rosdistro_snapshot.yaml
\ No newline at end of file
+rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index 7d8a3df3..c7113bc1 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -38,11 +38,6 @@ packages_remove_from_deps:
   - rttest
   # Not available for macOS and Windows!
   - gripper_controllers
-  # Some packages in ur stack do not support macOS
-  - ur_client_library
-  - ur_robot_driver
-  - ur_calibration
-  - ur
 
 skip_existing:
   - https://conda.anaconda.org/robostack-staging/
@@ -137,5 +132,17 @@ packages_select_by_deps:
   - autoware_utils
   - autoware_lanelet2_extension
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
+  # requested in https://github.com/RoboStack/ros-humble/issues/256
+  - rqt_controller_manager
+
+  - open3d_conversions
+
+  - ffmpeg_image_transport
+
+  - foxglove_compressed_image_transport
+
 patch_dir: patch
-rosdistro_snapshot: rosdistro_snapshot.yaml
\ No newline at end of file
+rosdistro_snapshot: rosdistro_snapshot.yaml
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 50df829f..f0edcdd6 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -119,7 +119,6 @@ packages_remove_from_deps:
 skip_existing:
   - https://conda.anaconda.org/robostack-staging/
 
-
 packages_select_by_deps:
   - ros_workspace
   - ros_core
@@ -246,6 +245,14 @@ packages_select_by_deps:
   # requested in https://github.com/RoboStack/ros-humble/issues/249
   - twist_mux
 
+  # requested in https://github.com/RoboStack/ros-humble/issues/252
+  - rmw_zenoh_cpp
+
+  # requested in https://github.com/RoboStack/ros-humble/issues/256
+  - rqt_controller_manager
+
+  - open3d_conversions
+
   # autoware
   - autoware_common_msgs
   - autoware_control_msgs
@@ -259,7 +266,6 @@ packages_select_by_deps:
   - autoware_vehicle_msgs
 
   - autoware_utils
-  - autoware_lanelet2_extension
 
 patch_dir: patch
-rosdistro_snapshot: rosdistro_snapshot.yaml
\ No newline at end of file
+rosdistro_snapshot: rosdistro_snapshot.yaml