diff --git a/patch/ros-humble-yaml-cpp-vendor.patch b/patch/ros-humble-yaml-cpp-vendor.patch
new file mode 100644
index 00000000..c5266802
--- /dev/null
+++ b/patch/ros-humble-yaml-cpp-vendor.patch
@@ -0,0 +1,36 @@
+From 25757ddc5272ea80a099c4b8fb7c4c90708416e4 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Sat, 10 Feb 2024 16:14:21 +0100
+Subject: [PATCH] Support yaml-cpp >= 0.8.0
+
+Signed-off-by: Silvio Traversaro <silvio@traversaro.it>
+---
+ yaml_cpp_vendor-extras.cmake.in | 17 +++++++++++------
+ 1 file changed, 11 insertions(+), 6 deletions(-)
+
+diff --git a/yaml_cpp_vendor-extras.cmake.in b/yaml_cpp_vendor-extras.cmake.in
+index d0f9766..d3bf920 100644
+--- a/yaml_cpp_vendor-extras.cmake.in
++++ b/yaml_cpp_vendor-extras.cmake.in
+@@ -11,10 +11,15 @@ find_package(yaml-cpp REQUIRED)
+ set(yaml_cpp_vendor_LIBRARIES ${YAML_CPP_LIBRARIES})
+ set(yaml_cpp_vendor_INCLUDE_DIRS ${YAML_CPP_INCLUDE_DIR})
+ 
+-list(APPEND yaml_cpp_vendor_TARGETS yaml-cpp)
+-if(WIN32)
+-  # On Windows, yaml-cpp 0.7.0 requires that downstream consumers set YAML_CPP_DLL and
+-  # not yaml_cpp_EXPORT in order to set dllimport properly.
+-  # This behavior will likely change in future versions of yaml-cpp.
+-  set_target_properties(yaml-cpp PROPERTIES INTERFACE_COMPILE_DEFINITIONS YAML_CPP_DLL)
++# since yaml-cpp 0.8.0, yaml-cpp supports the yaml-cpp::yaml-cpp target
++if(TARGET yaml-cpp::yaml-cpp)
++  list(APPEND yaml_cpp_vendor_TARGETS yaml-cpp::yaml-cpp)
++else()
++  list(APPEND yaml_cpp_vendor_TARGETS yaml-cpp)
++  if(WIN32)
++    # On Windows, yaml-cpp 0.7.0 requires that downstream consumers set YAML_CPP_DLL and
++    # not yaml_cpp_EXPORT in order to set dllimport properly.
++    # This behavior will likely change in future versions of yaml-cpp.
++    set_target_properties(yaml-cpp PROPERTIES INTERFACE_COMPILE_DEFINITIONS YAML_CPP_DLL)
++  endif()
+ endif()