diff --git a/.github/workflows/osx_arm64.yml b/.github/workflows/osx_arm64.yml
new file mode 100644
index 00000000..984eb3d1
--- /dev/null
+++ b/.github/workflows/osx_arm64.yml
@@ -0,0 +1,24 @@
+jobs:
+  stage_0_job_0:
+    name: hardware-interface-testing ros-gz
+    runs-on: macos-14
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-hardware-interface-testing ros-humble-ros-gz
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-hardware-interface-testing ros-humble-ros-gz
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx_arm64.sh
+name: build_osx
+on:
+  push:
+    branches:
+    - buildbranch_osx_arm64
diff --git a/activate.bat b/activate.bat
new file mode 100644
index 00000000..48ff1d71
--- /dev/null
+++ b/activate.bat
@@ -0,0 +1,15 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+@if not defined CONDA_PREFIX goto:eof
+
+@REM Don't do anything when we are in conda build.
+@if defined SYS_PREFIX exit /b 0
+
+@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins"
+
+@call "%CONDA_PREFIX%\Library\local_setup.bat"
+@set PYTHONHOME=
+@set "ROS_OS_OVERRIDE=conda:win64"
+@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros"
+@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library"
+@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe"
diff --git a/activate.ps1 b/activate.ps1
new file mode 100644
index 00000000..137e67ae
--- /dev/null
+++ b/activate.ps1
@@ -0,0 +1,16 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if ($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/activate.sh b/activate.sh
new file mode 100644
index 00000000..aece9708
--- /dev/null
+++ b/activate.sh
@@ -0,0 +1,26 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+# if [ -z "${CONDA_PREFIX}" ]; then
+#     exit 0;
+# fi
+
+# Not sure if this is necessary on UNIX?
+# export QT_PLUGIN_PATH=$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"; export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp";;
+  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=
diff --git a/bld_ament_cmake.bat b/bld_ament_cmake.bat
new file mode 100644
index 00000000..1ebd33a5
--- /dev/null
+++ b/bld_ament_cmake.bat
@@ -0,0 +1,39 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal EnableDelayedExpansion
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+rd /s /q build
+mkdir build
+pushd build
+
+:: set "CMAKE_GENERATOR=Ninja"
+
+:: try to fix long paths issues by using default generator
+set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
+
+cmake ^
+    -G "%CMAKE_GENERATOR%" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DBUILD_TESTING=OFF ^
+    -DCMAKE_OBJECT_PATH_MAX=255 ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+    --compile-no-warning-as-error ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
diff --git a/bld_ament_python.bat b/bld_ament_python.bat
new file mode 100644
index 00000000..45dc369d
--- /dev/null
+++ b/bld_ament_python.bat
@@ -0,0 +1,25 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+pushd %SRC_DIR%\%PKG_NAME%\src\work
+set "PKG_NAME_SHORT=%PKG_NAME:*ros-humble-=%"
+set "PKG_NAME_SHORT=%PKG_NAME_SHORT:-=_%"
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+         --install-scripts=%LIBRARY_PREFIX%\lib\%PKG_NAME_SHORT%
+) else (
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        --install-scripts=%LIBRARY_PREFIX%\bin
+)
+
+if errorlevel 1 exit 1
diff --git a/bld_catkin.bat b/bld_catkin.bat
new file mode 100644
index 00000000..efd58be2
--- /dev/null
+++ b/bld_catkin.bat
@@ -0,0 +1,81 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin
+:: if ROS (1) is build as shared library . However, some packages are not
+:: passing compilation flags from CMake to other build systems (such as qmake),
+:: so we enable it explicitly via the CL environment variable, see
+:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170
+set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1
+
+set "CATKIN_BUILD_BINARY_PACKAGE_ARGS=-DCATKIN_BUILD_BINARY_PACKAGE=1"
+if "%PKG_NAME%" == "ros-humble-catkin" (
+    :: create catkin cookie to make it is a catkin workspace
+    type NUL > %LIBRARY_PREFIX%\.catkin
+    :: keep the workspace activation scripts (e.g., local_setup.bat)
+    set CATKIN_BUILD_BINARY_PACKAGE_ARGS=
+)
+
+rd /s /q build
+mkdir build
+pushd build
+
+set SKIP_TESTING=ON
+
+cmake ^
+    -G "Ninja" ^
+    --compile-no-warning-as-error ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=ON ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBoost_USE_STATIC_LIBS=OFF ^
+    %CATKIN_BUILD_BINARY_PACKAGE_ARGS% ^
+    -DCATKIN_SKIP_TESTING=%SKIP_TESTING% ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+if "%PKG_NAME%" == "ros-humble-eigenpy" (
+    cmake --build . --config Release --target all --parallel 1
+    if errorlevel 1 exit 1
+) else (
+    cmake --build . --config Release --target all
+    if errorlevel 1 exit 1
+)
+
+if "%SKIP_TESTING%" == "OFF" (
+    cmake --build . --config Release --target run_tests
+    if errorlevel 1 exit 1
+)
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
+
+if "%PKG_NAME%" == "ros-humble-catkin" (
+    :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+    :: This will allow them to be run on environment activation.
+    for %%F in (activate deactivate) DO (
+        if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+        copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+    )
+)
+
+if "%PKG_NAME%" == "ros-humble-ros-workspace" (
+    :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+    :: This will allow them to be run on environment activation.
+    for %%F in (activate deactivate) DO (
+        if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+        copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+        copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1
+    )
+)
diff --git a/bld_catkin_merge.bat b/bld_catkin_merge.bat
new file mode 100644
index 00000000..bdff573b
--- /dev/null
+++ b/bld_catkin_merge.bat
@@ -0,0 +1,34 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin
+:: if ROS (1) is build as shared library . However, some packages are not
+:: passing compilation flags from CMake to other build systems (such as qmake),
+:: so we enable it explicitly via the CL environment variable, see
+:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170
+set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1
+
+set CATKIN_MAKE_ISOLATED=src\ros-humble-catkin\bin\catkin_make_isolated
+set CMAKE_PREFIX_PATH=%CMAKE_PREFIX_PATH:\=/%
+
+%PYTHON% %CATKIN_MAKE_ISOLATED% ^
+    --install-space %LIBRARY_PREFIX% ^
+    --use-ninja ^
+    --install ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DCATKIN_SKIP_TESTING=ON
+if errorlevel 1 exit 1
+
+:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+:: This will allow them to be run on environment activation.
+for %%F in (activate deactivate) DO (
+    if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+    copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+)
diff --git a/bld_colcon_merge.bat b/bld_colcon_merge.bat
new file mode 100644
index 00000000..c5189ae1
--- /dev/null
+++ b/bld_colcon_merge.bat
@@ -0,0 +1,29 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
+
+colcon build ^
+    --event-handlers console_cohesion+ ^
+    --merge-install ^
+    --install-base %LIBRARY_PREFIX% ^
+    --cmake-args ^
+    --compile-no-warning-as-error ^
+     -G Ninja ^
+     -DCMAKE_BUILD_TYPE=Release ^
+     -DBUILD_TESTING=OFF ^
+     -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+     -DPYTHON_EXECUTABLE=%PYTHON%
+if errorlevel 1 exit 1
+
+:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+:: This will allow them to be run on environment activation.
+for %%F in (activate deactivate) DO (
+    if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+    copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+)
diff --git a/build_ament_cmake.sh b/build_ament_cmake.sh
new file mode 100644
index 00000000..52baa99c
--- /dev/null
+++ b/build_ament_cmake.sh
@@ -0,0 +1,71 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+rm -rf build
+mkdir build
+cd build
+
+# necessary for correctly linking SIP files (from python_qt_bindings)
+export LINK=$CXX
+
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
+  PYTHON_EXECUTABLE=$PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="10.15"
+else
+  PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="11.0"
+fi
+
+echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
+echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
+
+export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
+echo "Using Python ${ROS_PYTHON_VERSION}"
+# Fix up SP_DIR which for some reason might contain a path to a wrong Python version
+FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
+echo "Using site-package dir ${FIXED_SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
+fi
+
+if [[ $target_platform =~ linux.* ]]; then
+    export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1"
+    export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1"
+fi;
+
+# Needed for qt-gui-cpp ..
+if [[ $target_platform =~ linux.* ]]; then
+  ln -s $GCC ${BUILD_PREFIX}/bin/gcc
+  ln -s $GXX ${BUILD_PREFIX}/bin/g++
+fi;
+
+cmake \
+    -G "Ninja" \
+    -DCMAKE_INSTALL_PREFIX=$PREFIX \
+    -DCMAKE_PREFIX_PATH=$PREFIX \
+    -DAMENT_PREFIX_PATH=$PREFIX \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
+    -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    --compile-no-warning-as-error \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/build_ament_python.sh b/build_ament_python.sh
new file mode 100644
index 00000000..c5dfca24
--- /dev/null
+++ b/build_ament_python.sh
@@ -0,0 +1,17 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+pushd $SRC_DIR/$PKG_NAME/src/work
+
+# If there is a setup.cfg that contains install-scripts then we should not set it here
+if [ -f setup.cfg ] && grep -q "install[-_]scripts" setup.cfg; then
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${PKG_NAME#*ros-humble-}
+  # Substitute "-" with "_"
+  PKG_NAME_SHORT=${PKG_NAME_SHORT//-/_}
+  INSTALL_SCRIPTS_ARG="--install-scripts=$PREFIX/lib/$PKG_NAME_SHORT"
+  echo "WARNING: setup.cfg not set, will set INSTALL_SCRIPTS_ARG to: $INSTALL_SCRIPTS_ARG"
+  $PYTHON setup.py install --prefix="$PREFIX" --install-lib="$SP_DIR" $INSTALL_SCRIPTS_ARG --single-version-externally-managed --record=files.txt
+else
+  $PYTHON -m pip install . --no-deps -vvv
+fi
diff --git a/build_catkin.sh b/build_catkin.sh
new file mode 100644
index 00000000..036f3803
--- /dev/null
+++ b/build_catkin.sh
@@ -0,0 +1,123 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+CATKIN_BUILD_BINARY_PACKAGE="ON"
+
+if [ "${PKG_NAME}" == "ros-humble-catkin" ]; then
+    # create catkin cookie to make it is a catkin workspace
+    touch $PREFIX/.catkin
+    # keep the workspace activation scripts (e.g., local_setup.bat)
+    CATKIN_BUILD_BINARY_PACKAGE="OFF"
+fi
+
+rm -rf build
+mkdir build
+cd build
+
+# necessary for correctly linking SIP files (from python_qt_bindings)
+export LINK=$CXX
+
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
+  PYTHON_EXECUTABLE=$PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="10.15"
+else
+  PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="11.0"
+fi
+
+echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
+echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
+
+export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
+echo "Using Python $ROS_PYTHON_VERSION"
+# Fix up SP_DIR which for some reason might contain a path to a wrong Python version
+FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
+echo "Using site-package dir ${FIXED_SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
+  # way around bad CPU type issues
+  # rm $PREFIX/bin/doxygen || echo "doxygen not found"
+  # rm $PREFIX/bin/dia || echo "dia not found"
+  # rm $PREFIX/bin/dot || echo "dot not found"
+fi
+
+# NOTE: there might be undefined references occurring
+# in the Boost.system library, depending on the C++ versions
+# used to compile Boost. We can avoid them by forcing the use of
+# the header-only version of the library.
+export CXXFLAGS="$CXXFLAGS -DBOOST_ERROR_CODE_HEADER_ONLY"
+
+if [[ $target_platform =~ linux.* ]]; then
+    export CFLAGS="$CFLAGS -D__STDC_FORMAT_MACROS=1";
+    export CXXFLAGS="$CXXFLAGS -D__STDC_FORMAT_MACROS=1";
+    # I am too scared to turn this on for now ...
+    # export LDFLAGS="$LDFLAGS -lrt";
+    # Some qt stuff uses g++ directly - fix these use cases
+    ln -s $GXX $BUILD_PREFIX/bin/g++
+fi
+
+export SKIP_TESTING=ON
+
+cmake ${CMAKE_ARGS} --compile-no-warning-as-error \
+         -DCMAKE_INSTALL_PREFIX=$PREFIX \
+         -DCMAKE_PREFIX_PATH=$PREFIX \
+         -DCMAKE_BUILD_TYPE=Release \
+         -DCMAKE_INSTALL_LIBDIR=lib \
+         -DCMAKE_NO_SYSTEM_FROM_IMPORTED=ON \
+         -DCMAKE_FIND_FRAMEWORK=LAST \
+         -DBUILD_SHARED_LIBS=ON \
+         -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
+         -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
+         -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+         -DPython3_FIND_STRATEGY=LOCATION \
+         -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
+         -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
+         -DSETUPTOOLS_DEB_LAYOUT=OFF \
+         -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+         -DCATKIN_BUILD_BINARY_PACKAGE=$CATKIN_BUILD_BINARY_PACKAGE \
+         -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+         -G "Ninja" \
+         $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target all
+
+if [[ "$SKIP_TESTING" == "OFF" ]]; then
+    cmake --build . --config Release --target run_tests
+fi
+
+cmake --build . --config Release --target install
+
+if [ "${PKG_NAME}" == "ros-humble-catkin" ]; then
+    # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
+    # This will allow them to be run on environment activation.
+    for CHANGE in "activate" "deactivate"
+    do
+        mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+        cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+    done
+fi
+
+if [ "${PKG_NAME}" == "ros-humble-environment" ]; then
+   for SCRIPT in "1.ros_distro.sh" "1.ros_etc_dir.sh" "1.ros_package_path.sh" "1.ros_python_version.sh" "1.ros_version.sh"
+   do
+       mkdir -p "${PREFIX}/etc/conda/activate.d"
+       cp "${PREFIX}/etc/catkin/profile.d/${SCRIPT}" "${PREFIX}/etc/conda/activate.d/${SCRIPT}"
+   done
+fi
+
+if [ "${PKG_NAME}" == "ros-humble-ros-workspace" ]; then
+    # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
+    # This will allow them to be run on environment activation.
+    for CHANGE in "activate" "deactivate"
+    do
+        mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+        cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+    done
+fi
diff --git a/buildorder.txt b/buildorder.txt
new file mode 100644
index 00000000..7c0853cf
--- /dev/null
+++ b/buildorder.txt
@@ -0,0 +1,2 @@
+ros-humble-hardware-interface-testing
+ros-humble-ros-gz
\ No newline at end of file
diff --git a/deactivate.bat b/deactivate.bat
new file mode 100644
index 00000000..6de79cca
--- /dev/null
+++ b/deactivate.bat
@@ -0,0 +1,18 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+@if not defined CONDA_PREFIX goto:eof
+
+@set ROS_OS_OVERRIDE=
+@set ROS_DISTRO=
+@set ROS_ETC_DIR=
+@set ROS_PACKAGE_PATH=
+@set ROS_PYTHON_VERSION=
+@set ROS_VERSION=
+@set PYTHONHOME=
+@set PYTHONPATH=
+@set CMAKE_PREFIX_PATH=
+@set AMENT_PREFIX_PATH=
+@set COLCON_PREFIX_PATH=
+@set QT_PLUGIN_PATH=
+@set ROS_LOCALHOST_ONLY=
+@set ament_python_executable=
diff --git a/deactivate.ps1 b/deactivate.ps1
new file mode 100644
index 00000000..9db51e1c
--- /dev/null
+++ b/deactivate.ps1
@@ -0,0 +1,18 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if ($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=''
+$Env:ament_python_executable=''
diff --git a/deactivate.sh b/deactivate.sh
new file mode 100644
index 00000000..87d4d835
--- /dev/null
+++ b/deactivate.sh
@@ -0,0 +1,21 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if [ -z "${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
diff --git a/recipes/ros-humble-hardware-interface-testing/bld_ament_cmake.bat b/recipes/ros-humble-hardware-interface-testing/bld_ament_cmake.bat
new file mode 100644
index 00000000..1ebd33a5
--- /dev/null
+++ b/recipes/ros-humble-hardware-interface-testing/bld_ament_cmake.bat
@@ -0,0 +1,39 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal EnableDelayedExpansion
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+rd /s /q build
+mkdir build
+pushd build
+
+:: set "CMAKE_GENERATOR=Ninja"
+
+:: try to fix long paths issues by using default generator
+set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
+
+cmake ^
+    -G "%CMAKE_GENERATOR%" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DBUILD_TESTING=OFF ^
+    -DCMAKE_OBJECT_PATH_MAX=255 ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+    --compile-no-warning-as-error ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-hardware-interface-testing/build_ament_cmake.sh b/recipes/ros-humble-hardware-interface-testing/build_ament_cmake.sh
new file mode 100644
index 00000000..52baa99c
--- /dev/null
+++ b/recipes/ros-humble-hardware-interface-testing/build_ament_cmake.sh
@@ -0,0 +1,71 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+rm -rf build
+mkdir build
+cd build
+
+# necessary for correctly linking SIP files (from python_qt_bindings)
+export LINK=$CXX
+
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
+  PYTHON_EXECUTABLE=$PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="10.15"
+else
+  PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="11.0"
+fi
+
+echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
+echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
+
+export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
+echo "Using Python ${ROS_PYTHON_VERSION}"
+# Fix up SP_DIR which for some reason might contain a path to a wrong Python version
+FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
+echo "Using site-package dir ${FIXED_SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
+fi
+
+if [[ $target_platform =~ linux.* ]]; then
+    export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1"
+    export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1"
+fi;
+
+# Needed for qt-gui-cpp ..
+if [[ $target_platform =~ linux.* ]]; then
+  ln -s $GCC ${BUILD_PREFIX}/bin/gcc
+  ln -s $GXX ${BUILD_PREFIX}/bin/g++
+fi;
+
+cmake \
+    -G "Ninja" \
+    -DCMAKE_INSTALL_PREFIX=$PREFIX \
+    -DCMAKE_PREFIX_PATH=$PREFIX \
+    -DAMENT_PREFIX_PATH=$PREFIX \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
+    -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    --compile-no-warning-as-error \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-hardware-interface-testing/recipe.yaml b/recipes/ros-humble-hardware-interface-testing/recipe.yaml
new file mode 100644
index 00000000..77d32f85
--- /dev/null
+++ b/recipes/ros-humble-hardware-interface-testing/recipe.yaml
@@ -0,0 +1,66 @@
+package:
+  name: ros-humble-hardware-interface-testing
+  version: 2.39.1
+source:
+  git_url: https://github.com/ros2-gbp/ros2_control-release.git
+  git_rev: release/humble/hardware_interface_testing/2.39.1-1
+  folder: ros-humble-hardware-interface-testing/src/work
+
+build:
+  script:
+    sel(win): bld_ament_cmake.bat
+    sel(unix): build_ament_cmake.sh
+  number: 5
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - "{{ compiler('cxx') }}"
+    - "{{ compiler('c') }}"
+    - sel(linux64): sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - sel(unix): make
+    - sel(unix): coreutils
+    - sel(osx): tapi
+    - sel(build_platform != target_platform): pkg-config
+    - cmake
+    - cython
+    - sel(build_platform != target_platform): python
+    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
+    - sel(build_platform != target_platform): numpy
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-gmock
+    - ros-humble-control-msgs
+    - ros-humble-hardware-interface
+    - ros-humble-lifecycle-msgs
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-ros2-control-test-assets
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-control-msgs
+    - ros-humble-hardware-interface
+    - ros-humble-lifecycle-msgs
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-workspace
+    - ros-humble-ros2-control-test-assets
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-ros-gz/bld_ament_cmake.bat b/recipes/ros-humble-ros-gz/bld_ament_cmake.bat
new file mode 100644
index 00000000..1ebd33a5
--- /dev/null
+++ b/recipes/ros-humble-ros-gz/bld_ament_cmake.bat
@@ -0,0 +1,39 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal EnableDelayedExpansion
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+rd /s /q build
+mkdir build
+pushd build
+
+:: set "CMAKE_GENERATOR=Ninja"
+
+:: try to fix long paths issues by using default generator
+set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
+
+cmake ^
+    -G "%CMAKE_GENERATOR%" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DBUILD_TESTING=OFF ^
+    -DCMAKE_OBJECT_PATH_MAX=255 ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+    --compile-no-warning-as-error ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-ros-gz/build_ament_cmake.sh b/recipes/ros-humble-ros-gz/build_ament_cmake.sh
new file mode 100644
index 00000000..52baa99c
--- /dev/null
+++ b/recipes/ros-humble-ros-gz/build_ament_cmake.sh
@@ -0,0 +1,71 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+rm -rf build
+mkdir build
+cd build
+
+# necessary for correctly linking SIP files (from python_qt_bindings)
+export LINK=$CXX
+
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
+  PYTHON_EXECUTABLE=$PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="10.15"
+else
+  PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="11.0"
+fi
+
+echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
+echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
+
+export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
+echo "Using Python ${ROS_PYTHON_VERSION}"
+# Fix up SP_DIR which for some reason might contain a path to a wrong Python version
+FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
+echo "Using site-package dir ${FIXED_SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
+fi
+
+if [[ $target_platform =~ linux.* ]]; then
+    export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1"
+    export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1"
+fi;
+
+# Needed for qt-gui-cpp ..
+if [[ $target_platform =~ linux.* ]]; then
+  ln -s $GCC ${BUILD_PREFIX}/bin/gcc
+  ln -s $GXX ${BUILD_PREFIX}/bin/g++
+fi;
+
+cmake \
+    -G "Ninja" \
+    -DCMAKE_INSTALL_PREFIX=$PREFIX \
+    -DCMAKE_PREFIX_PATH=$PREFIX \
+    -DAMENT_PREFIX_PATH=$PREFIX \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
+    -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    --compile-no-warning-as-error \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ros-gz/recipe.yaml b/recipes/ros-humble-ros-gz/recipe.yaml
new file mode 100644
index 00000000..a5439c52
--- /dev/null
+++ b/recipes/ros-humble-ros-gz/recipe.yaml
@@ -0,0 +1,59 @@
+package:
+  name: ros-humble-ros-gz
+  version: 0.244.13
+source:
+  git_url: https://github.com/ros2-gbp/ros_ign-release.git
+  git_rev: release/humble/ros_gz/0.244.13-1
+  folder: ros-humble-ros-gz/src/work
+
+build:
+  script:
+    sel(win): bld_ament_cmake.bat
+    sel(unix): build_ament_cmake.sh
+  number: 5
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - "{{ compiler('cxx') }}"
+    - "{{ compiler('c') }}"
+    - sel(linux64): sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - sel(unix): make
+    - sel(unix): coreutils
+    - sel(osx): tapi
+    - sel(build_platform != target_platform): pkg-config
+    - cmake
+    - cython
+    - sel(build_platform != target_platform): python
+    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
+    - sel(build_platform != target_platform): numpy
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ros-gz-bridge
+    - ros-humble-ros-gz-image
+    - ros-humble-ros-gz-sim
+    - ros-humble-ros-gz-sim-demos
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/vinca.yaml b/vinca.yaml
new file mode 100644
index 00000000..7a146053
--- /dev/null
+++ b/vinca.yaml
@@ -0,0 +1,92 @@
+ros_distro: humble
+
+# mapping for package keys
+conda_index:
+  - robostack.yaml
+  - packages-ignore.yaml
+
+build_number: 5
+
+mutex_package: ros2-distro-mutex 0.5 humble
+
+skip_all_deps: false
+
+# If full rebuild, the build number of the existing package has
+# to match the selected build number for skipping
+full_rebuild: true
+
+# build_in_own_azure_stage:
+# - ros-galactic-rviz-rendering
+
+packages_skip_by_deps:
+  # - rttest
+  - cartographer
+  - octomap
+
+packages_remove_from_deps:
+  - cartographer
+  - octomap
+  - tlsf
+  - tlsf_cpp
+  - pendulum_control
+  - rttest
+  # Not available for macOS and Windows!
+  - gripper_controllers
+
+skip_existing:
+  - https://conda.anaconda.org/robostack-staging/
+  # - /Users/fischert/mambaforge/envs/devenv/conda-bld/
+
+packages_select_by_deps:
+  - ros_workspace
+  - ros_environment
+  - ros_base
+  - demo_nodes_py
+  - demo_nodes_cpp
+  - desktop
+  - graph_msgs
+  - desktop_full
+  - navigation2
+  - rosbridge_suite
+  - vision_msgs
+  - rosbag2_storage_mcap
+  - foxglove_bridge
+  - turtlebot3
+
+  - joint-state-broadcaster
+  - joint-state-publisher
+  - joint-state-publisher-gui
+  - joint-trajectory-controller
+  - xacro
+  - robot-localization
+  - vision-opencv
+
+  - gazebo_msgs
+  - gazebo_dev
+  - gazebo_ros
+  - gazebo_plugins
+  - gazebo_ros2_control
+  - gazebo_ros_pkgs
+  - turtlebot3_gazebo
+
+  - plotjuggler-ros
+  - plotjuggler
+
+  - ros2_control
+  - ros2_controllers
+  - ament_cmake_catch2
+
+  - apriltag
+  - apriltag_ros
+
+  - velodyne
+  - sbg_driver
+  - ackermann-msgs
+
+  # Modern gz-sim integration
+  - ros-gz
+
+  # - moveit
+
+
+patch_dir: patch
diff --git a/vinca_e69231e952.json b/vinca_e69231e952.json
new file mode 100644
index 00000000..79d7947c
--- /dev/null
+++ b/vinca_e69231e952.json
@@ -0,0 +1 @@
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