diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
new file mode 100644
index 00000000..87772265
--- /dev/null
+++ b/.github/workflows/linux.yml
@@ -0,0 +1,381 @@
+jobs:
+  stage_0_job_0:
+    name: moveit-ros-planning dwb-core nav2-regulated-pure-pursuit-controller nav2-controller
+      nav2-waypoint-follower
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros-planning ros-humble-dwb-core ros-humble-nav2-regulated-pure-pursuit-controller
+        ros-humble-nav2-controller ros-humble-nav2-waypoint-follower
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros-planning ros-humble-dwb-core ros-humble-nav2-regulated-pure-pursuit-controller
+          ros-humble-nav2-controller ros-humble-nav2-waypoint-follower
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_0_job_1:
+    name: nav2-theta-star-planner nav2-smoother nav2-smac-planner nav2-rviz-plugins
+      nav2-planner
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-nav2-theta-star-planner ros-humble-nav2-smoother ros-humble-nav2-smac-planner
+        ros-humble-nav2-rviz-plugins ros-humble-nav2-planner
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-nav2-theta-star-planner ros-humble-nav2-smoother
+          ros-humble-nav2-smac-planner ros-humble-nav2-rviz-plugins ros-humble-nav2-planner
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_0_job_2:
+    name: nav2-navfn-planner nav2-mppi-controller nav2-constrained-smoother nav2-collision-monitor
+      nav2-bt-navigator
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-nav2-navfn-planner ros-humble-nav2-mppi-controller ros-humble-nav2-constrained-smoother
+        ros-humble-nav2-collision-monitor ros-humble-nav2-bt-navigator
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-nav2-navfn-planner ros-humble-nav2-mppi-controller
+          ros-humble-nav2-constrained-smoother ros-humble-nav2-collision-monitor ros-humble-nav2-bt-navigator
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_0_job_3:
+    name: nav2-behaviors rosbag2-py ackermann-steering-controller slam-toolbox sros2-cmake
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-nav2-behaviors ros-humble-rosbag2-py ros-humble-ackermann-steering-controller
+        ros-humble-slam-toolbox ros-humble-sros2-cmake
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-nav2-behaviors ros-humble-rosbag2-py ros-humble-ackermann-steering-controller
+          ros-humble-slam-toolbox ros-humble-sros2-cmake
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_0_job_4:
+    name: ros2cli-common-extensions webots-ros2-control gripper-controllers ur-description
+      ros-gz-sim-demos
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-ros2cli-common-extensions ros-humble-webots-ros2-control
+        ros-humble-gripper-controllers ros-humble-ur-description ros-humble-ros-gz-sim-demos
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-ros2cli-common-extensions ros-humble-webots-ros2-control
+          ros-humble-gripper-controllers ros-humble-ur-description ros-humble-ros-gz-sim-demos
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_0_job_5:
+    name: urdf-launch turtlebot3-gazebo turtlebot3-bringup
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-urdf-launch ros-humble-turtlebot3-gazebo ros-humble-turtlebot3-bringup
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-urdf-launch ros-humble-turtlebot3-gazebo ros-humble-turtlebot3-bringup
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_1_job_6:
+    name: moveit-kinematics moveit-ros-warehouse moveit-planners-ompl dwb-plugins
+      dwb-critics
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    - stage_0_job_1
+    - stage_0_job_2
+    - stage_0_job_3
+    - stage_0_job_4
+    - stage_0_job_5
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-kinematics ros-humble-moveit-ros-warehouse ros-humble-moveit-planners-ompl
+        ros-humble-dwb-plugins ros-humble-dwb-critics
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-kinematics ros-humble-moveit-ros-warehouse
+          ros-humble-moveit-planners-ompl ros-humble-dwb-plugins ros-humble-dwb-critics
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_1_job_7:
+    name: moveit-ros-robot-interaction nav2-rotation-shim-controller ros2bag ros2-controllers
+      rqt-bag
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    - stage_0_job_1
+    - stage_0_job_2
+    - stage_0_job_3
+    - stage_0_job_4
+    - stage_0_job_5
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros-robot-interaction ros-humble-nav2-rotation-shim-controller
+        ros-humble-ros2bag ros-humble-ros2-controllers ros-humble-rqt-bag
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros-robot-interaction ros-humble-nav2-rotation-shim-controller
+          ros-humble-ros2bag ros-humble-ros2-controllers ros-humble-rqt-bag
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_1_job_8:
+    name: ros-core webots-ros2-universal-robot webots-ros2-turtlebot webots-ros2-tiago
+      webots-ros2-epuck
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    - stage_0_job_1
+    - stage_0_job_2
+    - stage_0_job_3
+    - stage_0_job_4
+    - stage_0_job_5
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-ros-core ros-humble-webots-ros2-universal-robot ros-humble-webots-ros2-turtlebot
+        ros-humble-webots-ros2-tiago ros-humble-webots-ros2-epuck
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-ros-core ros-humble-webots-ros2-universal-robot
+          ros-humble-webots-ros2-turtlebot ros-humble-webots-ros2-tiago ros-humble-webots-ros2-epuck
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_1_job_9:
+    name: ur-robot-driver ros-gz urdf-tutorial ros-ign-gazebo-demos turtlebot3-simulations
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_0_job_0
+    - stage_0_job_1
+    - stage_0_job_2
+    - stage_0_job_3
+    - stage_0_job_4
+    - stage_0_job_5
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-ur-robot-driver ros-humble-ros-gz ros-humble-urdf-tutorial
+        ros-humble-ros-ign-gazebo-demos ros-humble-turtlebot3-simulations
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-ur-robot-driver ros-humble-ros-gz ros-humble-urdf-tutorial
+          ros-humble-ros-ign-gazebo-demos ros-humble-turtlebot3-simulations
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_2_job_10:
+    name: moveit-ros-move-group nav2-dwb-controller rosbag2-tests webots-ros2-tests
+      ur-calibration
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_1_job_6
+    - stage_1_job_7
+    - stage_1_job_8
+    - stage_1_job_9
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros-move-group ros-humble-nav2-dwb-controller
+        ros-humble-rosbag2-tests ros-humble-webots-ros2-tests ros-humble-ur-calibration
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros-move-group ros-humble-nav2-dwb-controller
+          ros-humble-rosbag2-tests ros-humble-webots-ros2-tests ros-humble-ur-calibration
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_2_job_11:
+    name: ros-ign
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_1_job_6
+    - stage_1_job_7
+    - stage_1_job_8
+    - stage_1_job_9
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-ros-ign
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-ros-ign
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_3_job_12:
+    name: moveit-ros-planning-interface navigation2 rosbag2 webots-ros2
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_2_job_10
+    - stage_2_job_11
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros-planning-interface ros-humble-navigation2
+        ros-humble-rosbag2 ros-humble-webots-ros2
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros-planning-interface ros-humble-navigation2
+          ros-humble-rosbag2 ros-humble-webots-ros2
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_4_job_13:
+    name: moveit-ros-visualization nav2-bringup rqt-bag-plugins moveit-servo ros-base
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_3_job_12
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-moveit-ros-visualization ros-humble-nav2-bringup ros-humble-rqt-bag-plugins
+        ros-humble-moveit-servo ros-humble-ros-base
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-moveit-ros-visualization ros-humble-nav2-bringup
+          ros-humble-rqt-bag-plugins ros-humble-moveit-servo ros-humble-ros-base
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_5_job_14:
+    name: rqt-common-plugins ur-moveit-config turtlebot3-navigation2 simulation perception
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_4_job_13
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-rqt-common-plugins ros-humble-ur-moveit-config ros-humble-turtlebot3-navigation2
+        ros-humble-simulation ros-humble-perception
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-rqt-common-plugins ros-humble-ur-moveit-config
+          ros-humble-turtlebot3-navigation2 ros-humble-simulation ros-humble-perception
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+  stage_6_job_15:
+    name: desktop ur turtlebot3 desktop-full
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    needs:
+    - stage_5_job_14
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-humble-desktop ros-humble-ur ros-humble-turtlebot3 ros-humble-desktop-full
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-humble-desktop ros-humble-ur ros-humble-turtlebot3 ros-humble-desktop-full
+        DOCKER_IMAGE: condaforge/linux-anvil-cos7-x86_64
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/run_docker_build.sh
+name: build_linux
+on:
+  push:
+    branches:
+    - buildbranch_linux
diff --git a/activate.bat b/activate.bat
new file mode 100644
index 00000000..48ff1d71
--- /dev/null
+++ b/activate.bat
@@ -0,0 +1,15 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+@if not defined CONDA_PREFIX goto:eof
+
+@REM Don't do anything when we are in conda build.
+@if defined SYS_PREFIX exit /b 0
+
+@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins"
+
+@call "%CONDA_PREFIX%\Library\local_setup.bat"
+@set PYTHONHOME=
+@set "ROS_OS_OVERRIDE=conda:win64"
+@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros"
+@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library"
+@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe"
diff --git a/activate.ps1 b/activate.ps1
new file mode 100644
index 00000000..137e67ae
--- /dev/null
+++ b/activate.ps1
@@ -0,0 +1,16 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if ($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..7aa6fc90
--- /dev/null
+++ b/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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..f4e97b21
--- /dev/null
+++ b/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/bld_catkin.bat b/bld_catkin.bat
new file mode 100644
index 00000000..d4d03771
--- /dev/null
+++ b/bld_catkin.bat
@@ -0,0 +1,80 @@
+:: 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" ^
+    -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..9d012eff
--- /dev/null
+++ b/bld_colcon_merge.bat
@@ -0,0 +1,28 @@
+:: 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 ^
+     -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..01c63b55
--- /dev/null
+++ b/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$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..8c1268be
--- /dev/null
+++ b/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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" $INSTALL_SCRIPTS_ARG
+fi
diff --git a/build_catkin.sh b/build_catkin.sh
new file mode 100644
index 00000000..f5baf356
--- /dev/null
+++ b/build_catkin.sh
@@ -0,0 +1,119 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+CATKIN_BUILD_BINARY_PACKAGE="ON"
+
+if [ "${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 $ROS_PYTHON_VERSION"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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 ${CMAKE_ARGS} -DCMAKE_INSTALL_PREFIX=$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=$SP_DIR \
+         -DPKG_CONFIG_EXECUTABLE=$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..f67b2236
--- /dev/null
+++ b/buildorder.txt
@@ -0,0 +1,72 @@
+ros-humble-moveit-ros-planning
+ros-humble-dwb-core
+ros-humble-nav2-regulated-pure-pursuit-controller
+ros-humble-nav2-controller
+ros-humble-nav2-waypoint-follower
+ros-humble-nav2-theta-star-planner
+ros-humble-nav2-smoother
+ros-humble-nav2-smac-planner
+ros-humble-nav2-rviz-plugins
+ros-humble-nav2-planner
+ros-humble-nav2-navfn-planner
+ros-humble-nav2-mppi-controller
+ros-humble-nav2-constrained-smoother
+ros-humble-nav2-collision-monitor
+ros-humble-nav2-bt-navigator
+ros-humble-nav2-behaviors
+ros-humble-rosbag2-py
+ros-humble-ackermann-steering-controller
+ros-humble-slam-toolbox
+ros-humble-sros2-cmake
+ros-humble-ros2cli-common-extensions
+ros-humble-webots-ros2-control
+ros-humble-gripper-controllers
+ros-humble-ur-description
+ros-humble-ros-gz-sim-demos
+ros-humble-urdf-launch
+ros-humble-turtlebot3-gazebo
+ros-humble-turtlebot3-bringup
+ros-humble-moveit-kinematics
+ros-humble-moveit-ros-warehouse
+ros-humble-moveit-planners-ompl
+ros-humble-dwb-plugins
+ros-humble-dwb-critics
+ros-humble-moveit-ros-robot-interaction
+ros-humble-nav2-rotation-shim-controller
+ros-humble-ros2bag
+ros-humble-ros2-controllers
+ros-humble-rqt-bag
+ros-humble-ros-core
+ros-humble-webots-ros2-universal-robot
+ros-humble-webots-ros2-turtlebot
+ros-humble-webots-ros2-tiago
+ros-humble-webots-ros2-epuck
+ros-humble-ur-robot-driver
+ros-humble-ros-gz
+ros-humble-urdf-tutorial
+ros-humble-ros-ign-gazebo-demos
+ros-humble-turtlebot3-simulations
+ros-humble-moveit-ros-move-group
+ros-humble-nav2-dwb-controller
+ros-humble-rosbag2-tests
+ros-humble-webots-ros2-tests
+ros-humble-ur-calibration
+ros-humble-ros-ign
+ros-humble-moveit-ros-planning-interface
+ros-humble-navigation2
+ros-humble-rosbag2
+ros-humble-webots-ros2
+ros-humble-moveit-ros-visualization
+ros-humble-nav2-bringup
+ros-humble-rqt-bag-plugins
+ros-humble-moveit-servo
+ros-humble-ros-base
+ros-humble-rqt-common-plugins
+ros-humble-ur-moveit-config
+ros-humble-turtlebot3-navigation2
+ros-humble-simulation
+ros-humble-perception
+ros-humble-desktop
+ros-humble-ur
+ros-humble-turtlebot3
+ros-humble-desktop-full
\ 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-ackermann-steering-controller/bld_ament_cmake.bat b/recipes/ros-humble-ackermann-steering-controller/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ackermann-steering-controller/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ackermann-steering-controller/build_ament_cmake.sh b/recipes/ros-humble-ackermann-steering-controller/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ackermann-steering-controller/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ackermann-steering-controller/recipe.yaml b/recipes/ros-humble-ackermann-steering-controller/recipe.yaml
new file mode 100644
index 00000000..cb00b6d6
--- /dev/null
+++ b/recipes/ros-humble-ackermann-steering-controller/recipe.yaml
@@ -0,0 +1,73 @@
+package:
+  name: ros-humble-ackermann-steering-controller
+  version: 2.32.0
+source:
+  git_url: https://github.com/ros2-gbp/ros2_controllers-release.git
+  git_rev: release/humble/ackermann_steering_controller/2.32.0-1
+  folder: ros-humble-ackermann-steering-controller/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-controller-interface
+    - ros-humble-controller-manager
+    - ros-humble-generate-parameter-library
+    - ros-humble-hardware-interface
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-ros2-control-test-assets
+    - ros-humble-std-srvs
+    - ros-humble-steering-controllers-library
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-control-msgs
+    - ros-humble-controller-interface
+    - ros-humble-hardware-interface
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-workspace
+    - ros-humble-std-srvs
+    - ros-humble-steering-controllers-library
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-desktop-full/bld_ament_cmake.bat b/recipes/ros-humble-desktop-full/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-desktop-full/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-desktop-full/build_ament_cmake.sh b/recipes/ros-humble-desktop-full/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-desktop-full/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-desktop-full/recipe.yaml b/recipes/ros-humble-desktop-full/recipe.yaml
new file mode 100644
index 00000000..bb4674d2
--- /dev/null
+++ b/recipes/ros-humble-desktop-full/recipe.yaml
@@ -0,0 +1,57 @@
+package:
+  name: ros-humble-desktop-full
+  version: 0.10.0
+source:
+  git_url: https://github.com/ros2-gbp/variants-release.git
+  git_rev: release/humble/desktop_full/0.10.0-1
+  folder: ros-humble-desktop-full/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-desktop
+    - ros-humble-perception
+    - ros-humble-ros-ign-gazebo-demos
+    - ros-humble-ros-workspace
+    - ros-humble-simulation
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-desktop/bld_ament_cmake.bat b/recipes/ros-humble-desktop/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-desktop/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-desktop/build_ament_cmake.sh b/recipes/ros-humble-desktop/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-desktop/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-desktop/recipe.yaml b/recipes/ros-humble-desktop/recipe.yaml
new file mode 100644
index 00000000..79a660de
--- /dev/null
+++ b/recipes/ros-humble-desktop/recipe.yaml
@@ -0,0 +1,101 @@
+package:
+  name: ros-humble-desktop
+  version: 0.10.0
+source:
+  git_url: https://github.com/ros2-gbp/variants-release.git
+  git_rev: release/humble/desktop/0.10.0-1
+  folder: ros-humble-desktop/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-action-tutorials-cpp
+    - ros-humble-action-tutorials-interfaces
+    - ros-humble-action-tutorials-py
+    - ros-humble-angles
+    - ros-humble-composition
+    - ros-humble-demo-nodes-cpp
+    - ros-humble-demo-nodes-cpp-native
+    - ros-humble-demo-nodes-py
+    - ros-humble-depthimage-to-laserscan
+    - ros-humble-dummy-map-server
+    - ros-humble-dummy-robot-bringup
+    - ros-humble-dummy-sensors
+    - ros-humble-examples-rclcpp-minimal-action-client
+    - ros-humble-examples-rclcpp-minimal-action-server
+    - ros-humble-examples-rclcpp-minimal-client
+    - ros-humble-examples-rclcpp-minimal-composition
+    - ros-humble-examples-rclcpp-minimal-publisher
+    - ros-humble-examples-rclcpp-minimal-service
+    - ros-humble-examples-rclcpp-minimal-subscriber
+    - ros-humble-examples-rclcpp-minimal-timer
+    - ros-humble-examples-rclcpp-multithreaded-executor
+    - ros-humble-examples-rclpy-executors
+    - ros-humble-examples-rclpy-minimal-action-client
+    - ros-humble-examples-rclpy-minimal-action-server
+    - ros-humble-examples-rclpy-minimal-client
+    - ros-humble-examples-rclpy-minimal-publisher
+    - ros-humble-examples-rclpy-minimal-service
+    - ros-humble-examples-rclpy-minimal-subscriber
+    - ros-humble-image-tools
+    - ros-humble-intra-process-demo
+    - ros-humble-joy
+    - ros-humble-lifecycle
+    - ros-humble-logging-demo
+    - ros-humble-pcl-conversions
+    - ros-humble-pendulum-control
+    - ros-humble-pendulum-msgs
+    - ros-humble-quality-of-service-demo-cpp
+    - ros-humble-quality-of-service-demo-py
+    - ros-humble-ros-base
+    - ros-humble-ros-workspace
+    - ros-humble-rqt-common-plugins
+    - ros-humble-rviz-default-plugins
+    - ros-humble-rviz2
+    - ros-humble-teleop-twist-joy
+    - ros-humble-teleop-twist-keyboard
+    - ros-humble-tlsf
+    - ros-humble-tlsf-cpp
+    - ros-humble-topic-monitor
+    - ros-humble-turtlesim
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-dwb-core/bld_ament_cmake.bat b/recipes/ros-humble-dwb-core/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-dwb-core/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-dwb-core/build_ament_cmake.sh b/recipes/ros-humble-dwb-core/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-dwb-core/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-dwb-core/recipe.yaml b/recipes/ros-humble-dwb-core/recipe.yaml
new file mode 100644
index 00000000..4df2249f
--- /dev/null
+++ b/recipes/ros-humble-dwb-core/recipe.yaml
@@ -0,0 +1,82 @@
+package:
+  name: ros-humble-dwb-core
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/dwb_core/1.1.13-1
+  folder: ros-humble-dwb-core/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-dwb-msgs
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-sensor-msgs
+    - ros-humble-std-msgs
+    - ros-humble-tf2-ros
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-dwb-msgs
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-dwb-critics/bld_ament_cmake.bat b/recipes/ros-humble-dwb-critics/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-dwb-critics/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-dwb-critics/build_ament_cmake.sh b/recipes/ros-humble-dwb-critics/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-dwb-critics/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-dwb-critics/recipe.yaml b/recipes/ros-humble-dwb-critics/recipe.yaml
new file mode 100644
index 00000000..723419e2
--- /dev/null
+++ b/recipes/ros-humble-dwb-critics/recipe.yaml
@@ -0,0 +1,79 @@
+package:
+  name: ros-humble-dwb-critics
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/dwb_critics/1.1.13-1
+  folder: ros-humble-dwb-critics/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-angles
+    - ros-humble-costmap-queue
+    - ros-humble-dwb-core
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav2-common
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-sensor-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-angles
+    - ros-humble-costmap-queue
+    - ros-humble-dwb-core
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-sensor-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-dwb-plugins/bld_ament_cmake.bat b/recipes/ros-humble-dwb-plugins/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-dwb-plugins/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-dwb-plugins/build_ament_cmake.sh b/recipes/ros-humble-dwb-plugins/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-dwb-plugins/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-dwb-plugins/recipe.yaml b/recipes/ros-humble-dwb-plugins/recipe.yaml
new file mode 100644
index 00000000..7202f3e7
--- /dev/null
+++ b/recipes/ros-humble-dwb-plugins/recipe.yaml
@@ -0,0 +1,71 @@
+package:
+  name: ros-humble-dwb-plugins
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/dwb_plugins/1.1.13-1
+  folder: ros-humble-dwb-plugins/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-angles
+    - ros-humble-dwb-core
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav2-common
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-angles
+    - ros-humble-dwb-core
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - 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/recipes/ros-humble-gripper-controllers/bld_ament_cmake.bat b/recipes/ros-humble-gripper-controllers/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-gripper-controllers/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-gripper-controllers/build_ament_cmake.sh b/recipes/ros-humble-gripper-controllers/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-gripper-controllers/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-gripper-controllers/recipe.yaml b/recipes/ros-humble-gripper-controllers/recipe.yaml
new file mode 100644
index 00000000..269d198a
--- /dev/null
+++ b/recipes/ros-humble-gripper-controllers/recipe.yaml
@@ -0,0 +1,76 @@
+package:
+  name: ros-humble-gripper-controllers
+  version: 2.32.0
+source:
+  git_url: https://github.com/ros2-gbp/ros2_controllers-release.git
+  git_rev: release/humble/gripper_controllers/2.32.0-1
+  folder: ros-humble-gripper-controllers/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-backward-ros
+    - ros-humble-control-msgs
+    - ros-humble-control-toolbox
+    - ros-humble-controller-interface
+    - ros-humble-controller-manager
+    - ros-humble-generate-parameter-library
+    - ros-humble-hardware-interface
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-realtime-tools
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-ros2-control-test-assets
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-backward-ros
+    - ros-humble-control-msgs
+    - ros-humble-control-toolbox
+    - ros-humble-controller-interface
+    - ros-humble-generate-parameter-library
+    - ros-humble-hardware-interface
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-realtime-tools
+    - 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/recipes/ros-humble-moveit-kinematics/bld_ament_cmake.bat b/recipes/ros-humble-moveit-kinematics/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-moveit-kinematics/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-moveit-kinematics/build_ament_cmake.sh b/recipes/ros-humble-moveit-kinematics/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-moveit-kinematics/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-moveit-kinematics/patch/ros-humble-moveit-kinematics.patch b/recipes/ros-humble-moveit-kinematics/patch/ros-humble-moveit-kinematics.patch
new file mode 100644
index 00000000..b155e5a4
--- /dev/null
+++ b/recipes/ros-humble-moveit-kinematics/patch/ros-humble-moveit-kinematics.patch
@@ -0,0 +1,53 @@
+diff --git a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
+index b1120c3864..a5a710e030 100644
+--- a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
++++ b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.h
+@@ -89,7 +89,7 @@ class GreedyKCenters
+     centers.clear();
+     centers.reserve(k);
+     if (((long unsigned int)dists.rows()) < data.size() || ((long unsigned int)dists.cols()) < k)
+-      dists.resize(std::max(2 * ((long unsigned int)dists.rows()) + 1, data.size()), k);
++      dists.resize(std::max(2 * ((long unsigned int)dists.rows()) + 1, (long unsigned int)data.size()), k);
+     // first center is picked randomly
+     centers.push_back(std::uniform_int_distribution<size_t>{ 0, data.size() - 1 }(generator_));
+     for (unsigned i = 1; i < k; ++i)
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 88472a2818..dcbb3ad9ea 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,6 +1,8 @@
+ cmake_minimum_required(VERSION 3.22)
+ project(moveit_kinematics)
+ 
++add_definitions(-DNOMINMAX)
++
+ # Common cmake code applied to all moveit packages
+ find_package(moveit_common REQUIRED)
+ moveit_package()
+diff --git a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
+index 49a02b9d6b..e8142e5711 100644
+--- a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
++++ b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/NearestNeighborsGNAT.h
+@@ -551,7 +551,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
+         std::vector<int> permutation(children_.size());
+         for (unsigned int i = 0; i < permutation.size(); ++i)
+           permutation[i] = i;
+-        std::random_shuffle(permutation.begin(), permutation.end());
++        std::random_device rng;
++        std::mt19937 urng(rng());
++        std::shuffle(permutation.begin(), permutation.end(), urng);
+ 
+         for (unsigned int i = 0; i < children_.size(); ++i)
+           if (permutation[i] >= 0)
+@@ -605,7 +607,9 @@ class NearestNeighborsGNAT : public NearestNeighbors<_T>
+         std::vector<int> permutation(children_.size());
+         for (unsigned int i = 0; i < permutation.size(); ++i)
+           permutation[i] = i;
+-        std::random_shuffle(permutation.begin(), permutation.end());
++        std::random_device rng;
++        std::mt19937 urng(rng());
++        std::shuffle(permutation.begin(), permutation.end(), urng);
+ 
+         for (unsigned int i = 0; i < children_.size(); ++i)
+           if (permutation[i] >= 0)
+
diff --git a/recipes/ros-humble-moveit-kinematics/recipe.yaml b/recipes/ros-humble-moveit-kinematics/recipe.yaml
new file mode 100644
index 00000000..1007f875
--- /dev/null
+++ b/recipes/ros-humble-moveit-kinematics/recipe.yaml
@@ -0,0 +1,86 @@
+package:
+  name: ros-humble-moveit-kinematics
+  version: 2.5.5
+source:
+  git_url: https://github.com/ros2-gbp/moveit2-release.git
+  git_rev: release/humble/moveit_kinematics/2.5.5-1
+  folder: ros-humble-moveit-kinematics/src/work
+  patches:
+    - patch/ros-humble-moveit-kinematics.patch
+
+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:
+    - eigen
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-class-loader
+    - ros-humble-launch-param-builder
+    - ros-humble-moveit-common
+    - ros-humble-moveit-configs-utils
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-moveit-resources-fanuc-description
+    - ros-humble-moveit-resources-fanuc-moveit-config
+    - ros-humble-moveit-resources-panda-description
+    - ros-humble-moveit-resources-panda-moveit-config
+    - ros-humble-moveit-ros-planning
+    - ros-humble-orocos-kdl-vendor
+    - ros-humble-pluginlib
+    - ros-humble-ros-environment
+    - ros-humble-ros-testing
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros-humble-tf2-kdl
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - eigen
+    - lxml
+    - python
+    - ros-humble-class-loader
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-orocos-kdl-vendor
+    - ros-humble-pluginlib
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros-humble-tf2-kdl
+    - ros-humble-urdfdom
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-moveit-planners-ompl/bld_ament_cmake.bat b/recipes/ros-humble-moveit-planners-ompl/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-moveit-planners-ompl/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-moveit-planners-ompl/build_ament_cmake.sh b/recipes/ros-humble-moveit-planners-ompl/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-moveit-planners-ompl/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-moveit-planners-ompl/patch/ros-humble-moveit-planners-ompl.patch b/recipes/ros-humble-moveit-planners-ompl/patch/ros-humble-moveit-planners-ompl.patch
new file mode 100644
index 00000000..bd45f39f
--- /dev/null
+++ b/recipes/ros-humble-moveit-planners-ompl/patch/ros-humble-moveit-planners-ompl.patch
@@ -0,0 +1,18 @@
+diff --git a/ompl_interface/CMakeLists.txt b/ompl_interface/CMakeLists.txt
+index ff71c07c..0d0aef71 100644
+--- a/ompl_interface/CMakeLists.txt
++++ b/ompl_interface/CMakeLists.txt
+@@ -24,7 +24,12 @@ add_library(${MOVEIT_LIB_NAME} SHARED
+ )
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ 
+-find_package(OpenMP REQUIRED)
++if(APPLE)
++  find_package(OpenMP)
++  set(OpenMP_CXX_FLAGS "-fopenmp")
++else()
++  find_package(OpenMP REQUIRED)
++endif()
+ 
+ # Used to link in ODE, an OMPL dependency, on macOS
+ if(APPLE)
diff --git a/recipes/ros-humble-moveit-planners-ompl/recipe.yaml b/recipes/ros-humble-moveit-planners-ompl/recipe.yaml
new file mode 100644
index 00000000..3258e4a7
--- /dev/null
+++ b/recipes/ros-humble-moveit-planners-ompl/recipe.yaml
@@ -0,0 +1,83 @@
+package:
+  name: ros-humble-moveit-planners-ompl
+  version: 2.5.5
+source:
+  git_url: https://github.com/ros2-gbp/moveit2-release.git
+  git_rev: release/humble/moveit_planners_ompl/2.5.5-1
+  folder: ros-humble-moveit-planners-ompl/src/work
+  patches:
+    - patch/ros-humble-moveit-planners-ompl.patch
+
+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:
+    - eigen
+    - libgomp
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-eigen3-cmake-module
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-moveit-resources-fanuc-moveit-config
+    - ros-humble-moveit-resources-panda-moveit-config
+    - ros-humble-moveit-resources-pr2-description
+    - ros-humble-moveit-ros-planning
+    - ros-humble-ompl
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - libgomp
+    - python
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-moveit-ros-planning
+    - ros-humble-ompl
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-moveit-ros-move-group/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-move-group/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-move-group/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-moveit-ros-move-group/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-move-group/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-move-group/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-moveit-ros-move-group/recipe.yaml b/recipes/ros-humble-moveit-ros-move-group/recipe.yaml
new file mode 100644
index 00000000..c7ab7fd0
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-move-group/recipe.yaml
@@ -0,0 +1,79 @@
+package:
+  name: ros-humble-moveit-ros-move-group
+  version: 2.5.5
+source:
+  git_url: https://github.com/ros2-gbp/moveit2-release.git
+  git_rev: release/humble/moveit_ros_move_group/2.5.5-1
+  folder: ros-humble-moveit-ros-move-group/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-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-resources-fanuc-moveit-config
+    - ros-humble-moveit-ros-occupancy-map-monitor
+    - ros-humble-moveit-ros-planning
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-std-srvs
+    - ros-humble-tf2
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-kinematics
+    - ros-humble-moveit-ros-occupancy-map-monitor
+    - ros-humble-moveit-ros-planning
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-ros-workspace
+    - ros-humble-std-srvs
+    - ros-humble-tf2
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-moveit-ros-planning-interface/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-planning-interface/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-planning-interface/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-moveit-ros-planning-interface/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-planning-interface/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-planning-interface/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-moveit-ros-planning-interface/recipe.yaml b/recipes/ros-humble-moveit-ros-planning-interface/recipe.yaml
new file mode 100644
index 00000000..e1f895b5
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-planning-interface/recipe.yaml
@@ -0,0 +1,92 @@
+package:
+  name: ros-humble-moveit-ros-planning-interface
+  version: 2.5.5
+source:
+  git_url: https://github.com/ros2-gbp/moveit2-release.git
+  git_rev: release/humble/moveit_ros_planning_interface/2.5.5-1
+  folder: ros-humble-moveit-ros-planning-interface/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:
+    - eigen
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-eigen3-cmake-module
+    - ros-humble-geometry-msgs
+    - ros-humble-moveit-common
+    - ros-humble-moveit-configs-utils
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-moveit-planners-ompl
+    - ros-humble-moveit-resources-fanuc-moveit-config
+    - ros-humble-moveit-resources-panda-moveit-config
+    - ros-humble-moveit-ros-move-group
+    - ros-humble-moveit-ros-planning
+    - ros-humble-moveit-ros-warehouse
+    - ros-humble-moveit-simple-controller-manager
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclpy
+    - ros-humble-ros-environment
+    - ros-humble-ros-testing
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-tf2
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-geometry-msgs
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-moveit-ros-move-group
+    - ros-humble-moveit-ros-planning
+    - ros-humble-moveit-ros-warehouse
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclpy
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-moveit-ros-planning/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-planning/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-planning/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-moveit-ros-planning/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-planning/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-planning/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-moveit-ros-planning/recipe.yaml b/recipes/ros-humble-moveit-ros-planning/recipe.yaml
new file mode 100644
index 00000000..5f21934d
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-planning/recipe.yaml
@@ -0,0 +1,95 @@
+package:
+  name: ros-humble-moveit-ros-planning
+  version: 2.5.5
+source:
+  git_url: https://github.com/ros2-gbp/moveit2-release.git
+  git_rev: release/humble/moveit_ros_planning/2.5.5-1
+  folder: ros-humble-moveit-ros-planning/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:
+    - eigen
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-gmock
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-index-cpp
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-eigen3-cmake-module
+    - ros-humble-message-filters
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-moveit-resources-panda-moveit-config
+    - ros-humble-moveit-ros-occupancy-map-monitor
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-ros-environment
+    - ros-humble-ros-testing
+    - ros-humble-ros-workspace
+    - ros-humble-srdfdom
+    - ros-humble-tf2
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-msgs
+    - ros-humble-tf2-ros
+    - ros-humble-urdf
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - eigen
+    - python
+    - ros-humble-ament-index-cpp
+    - ros-humble-eigen3-cmake-module
+    - ros-humble-message-filters
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-moveit-ros-occupancy-map-monitor
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-ros-workspace
+    - ros-humble-srdfdom
+    - ros-humble-tf2
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-msgs
+    - ros-humble-tf2-ros
+    - ros-humble-urdf
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-moveit-ros-robot-interaction/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-robot-interaction/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-robot-interaction/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-moveit-ros-robot-interaction/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-robot-interaction/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-robot-interaction/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-moveit-ros-robot-interaction/recipe.yaml b/recipes/ros-humble-moveit-ros-robot-interaction/recipe.yaml
new file mode 100644
index 00000000..42a85cd1
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-robot-interaction/recipe.yaml
@@ -0,0 +1,74 @@
+package:
+  name: ros-humble-moveit-ros-robot-interaction
+  version: 2.5.5
+source:
+  git_url: https://github.com/ros2-gbp/moveit2-release.git
+  git_rev: release/humble/moveit_ros_robot_interaction/2.5.5-1
+  folder: ros-humble-moveit-ros-robot-interaction/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-interactive-markers
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-ros-planning
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-interactive-markers
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-ros-planning
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-moveit-ros-visualization/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-visualization/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-visualization/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-moveit-ros-visualization/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-visualization/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-visualization/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-moveit-ros-visualization/recipe.yaml b/recipes/ros-humble-moveit-ros-visualization/recipe.yaml
new file mode 100644
index 00000000..27b2e6d4
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-visualization/recipe.yaml
@@ -0,0 +1,96 @@
+package:
+  name: ros-humble-moveit-ros-visualization
+  version: 2.5.5
+source:
+  git_url: https://github.com/ros2-gbp/moveit2-release.git
+  git_rev: release/humble/moveit_ros_visualization/2.5.5-1
+  folder: ros-humble-moveit-ros-visualization/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
+    - sel(linux): "{{ cdt('mesa-libgl-devel') }}"
+    - sel(linux): "{{ cdt('mesa-dri-drivers') }}"
+    - sel(linux): "{{ cdt('libselinux') }}"
+    - sel(linux): "{{ cdt('libxdamage') }}"
+    - sel(linux): "{{ cdt('libxxf86vm') }}"
+    - sel(linux): "{{ cdt('libxfixes') }}"
+    - sel(linux): "{{ cdt('libxext') }}"
+    - sel(linux): "{{ cdt('libxau') }}"
+    - sel(linux): "{{ cdt('libxcb') }}"
+  host:
+    - eigen
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - pkg-config
+    - python
+    - qt-main
+    - ros-humble-ament-cmake
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-class-loader
+    - ros-humble-geometric-shapes
+    - ros-humble-interactive-markers
+    - ros-humble-moveit-common
+    - ros-humble-moveit-ros-planning-interface
+    - ros-humble-moveit-ros-robot-interaction
+    - ros-humble-moveit-ros-warehouse
+    - ros-humble-object-recognition-msgs
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclpy
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-tf2-eigen
+    - ros2-distro-mutex 0.5 humble
+    - sel(unix): xorg-libx11
+    - sel(unix): xorg-libxext
+  run:
+    - python
+    - ros-humble-geometric-shapes
+    - ros-humble-interactive-markers
+    - ros-humble-moveit-common
+    - ros-humble-moveit-ros-planning-interface
+    - ros-humble-moveit-ros-robot-interaction
+    - ros-humble-moveit-ros-warehouse
+    - ros-humble-object-recognition-msgs
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclpy
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-tf2-eigen
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
+    - sel(unix): xorg-libx11
+    - sel(unix): xorg-libxext
diff --git a/recipes/ros-humble-moveit-ros-warehouse/bld_ament_cmake.bat b/recipes/ros-humble-moveit-ros-warehouse/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-warehouse/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-moveit-ros-warehouse/build_ament_cmake.sh b/recipes/ros-humble-moveit-ros-warehouse/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-warehouse/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-moveit-ros-warehouse/recipe.yaml b/recipes/ros-humble-moveit-ros-warehouse/recipe.yaml
new file mode 100644
index 00000000..560aeced
--- /dev/null
+++ b/recipes/ros-humble-moveit-ros-warehouse/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: ros-humble-moveit-ros-warehouse
+  version: 2.5.5
+source:
+  git_url: https://github.com/ros2-gbp/moveit2-release.git
+  git_rev: release/humble/moveit_ros_warehouse/2.5.5-1
+  folder: ros-humble-moveit-ros-warehouse/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-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-ros-planning
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-ros
+    - ros-humble-warehouse-ros
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-ros-planning
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-ros
+    - ros-humble-warehouse-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-moveit-servo/bld_ament_cmake.bat b/recipes/ros-humble-moveit-servo/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-moveit-servo/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-moveit-servo/build_ament_cmake.sh b/recipes/ros-humble-moveit-servo/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-moveit-servo/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-moveit-servo/recipe.yaml b/recipes/ros-humble-moveit-servo/recipe.yaml
new file mode 100644
index 00000000..04aaebe4
--- /dev/null
+++ b/recipes/ros-humble-moveit-servo/recipe.yaml
@@ -0,0 +1,93 @@
+package:
+  name: ros-humble-moveit-servo
+  version: 2.5.5
+source:
+  git_url: https://github.com/ros2-gbp/moveit2-release.git
+  git_rev: release/humble/moveit_servo/2.5.5-1
+  folder: ros-humble-moveit-servo/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-control-msgs
+    - ros-humble-control-toolbox
+    - ros-humble-controller-manager
+    - ros-humble-geometry-msgs
+    - ros-humble-moveit-common
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-moveit-resources-panda-moveit-config
+    - ros-humble-moveit-ros-planning-interface
+    - ros-humble-pluginlib
+    - ros-humble-ros-environment
+    - ros-humble-ros-testing
+    - ros-humble-ros-workspace
+    - ros-humble-sensor-msgs
+    - ros-humble-std-msgs
+    - ros-humble-std-srvs
+    - ros-humble-tf2-eigen
+    - ros-humble-trajectory-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-control-msgs
+    - ros-humble-control-toolbox
+    - ros-humble-geometry-msgs
+    - ros-humble-gripper-controllers
+    - ros-humble-joint-state-broadcaster
+    - ros-humble-joint-trajectory-controller
+    - ros-humble-joy
+    - ros-humble-launch-param-builder
+    - ros-humble-moveit-common
+    - ros-humble-moveit-configs-utils
+    - ros-humble-moveit-core
+    - ros-humble-moveit-msgs
+    - ros-humble-moveit-ros-planning-interface
+    - ros-humble-pluginlib
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-workspace
+    - ros-humble-sensor-msgs
+    - ros-humble-std-msgs
+    - ros-humble-std-srvs
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-ros
+    - ros-humble-trajectory-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-behaviors/bld_ament_cmake.bat b/recipes/ros-humble-nav2-behaviors/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-behaviors/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-behaviors/build_ament_cmake.sh b/recipes/ros-humble-nav2-behaviors/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-behaviors/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-behaviors/recipe.yaml b/recipes/ros-humble-nav2-behaviors/recipe.yaml
new file mode 100644
index 00000000..167c0b94
--- /dev/null
+++ b/recipes/ros-humble-nav2-behaviors/recipe.yaml
@@ -0,0 +1,81 @@
+package:
+  name: ros-humble-nav2-behaviors
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_behaviors/1.1.13-1
+  folder: ros-humble-nav2-behaviors/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-behavior-tree
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros-humble-tf2-geometry-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-behavior-tree
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - 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/recipes/ros-humble-nav2-bringup/bld_ament_cmake.bat b/recipes/ros-humble-nav2-bringup/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-bringup/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-bringup/build_ament_cmake.sh b/recipes/ros-humble-nav2-bringup/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-bringup/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-bringup/recipe.yaml b/recipes/ros-humble-nav2-bringup/recipe.yaml
new file mode 100644
index 00000000..d06433d7
--- /dev/null
+++ b/recipes/ros-humble-nav2-bringup/recipe.yaml
@@ -0,0 +1,66 @@
+package:
+  name: ros-humble-nav2-bringup
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_bringup/1.1.13-1
+  folder: ros-humble-nav2-bringup/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-gtest
+    - ros-humble-ament-cmake-pytest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-launch
+    - ros-humble-launch-ros
+    - ros-humble-launch-testing
+    - ros-humble-nav2-common
+    - ros-humble-navigation2
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-launch-ros
+    - ros-humble-nav2-common
+    - ros-humble-navigation2
+    - ros-humble-ros-workspace
+    - ros-humble-slam-toolbox
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-bt-navigator/bld_ament_cmake.bat b/recipes/ros-humble-nav2-bt-navigator/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-bt-navigator/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-bt-navigator/build_ament_cmake.sh b/recipes/ros-humble-nav2-bt-navigator/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-bt-navigator/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-bt-navigator/recipe.yaml b/recipes/ros-humble-nav2-bt-navigator/recipe.yaml
new file mode 100644
index 00000000..fd8d9dc8
--- /dev/null
+++ b/recipes/ros-humble-nav2-bt-navigator/recipe.yaml
@@ -0,0 +1,81 @@
+package:
+  name: ros-humble-nav2-bt-navigator
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_bt_navigator/1.1.13-1
+  folder: ros-humble-nav2-bt-navigator/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-behaviortree-cpp-v3
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-behavior-tree
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros-humble-std-srvs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-behaviortree-cpp-v3
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-behavior-tree
+    - ros-humble-nav2-core
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-collision-monitor/bld_ament_cmake.bat b/recipes/ros-humble-nav2-collision-monitor/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-collision-monitor/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-collision-monitor/build_ament_cmake.sh b/recipes/ros-humble-nav2-collision-monitor/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-collision-monitor/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-collision-monitor/recipe.yaml b/recipes/ros-humble-nav2-collision-monitor/recipe.yaml
new file mode 100644
index 00000000..854beb53
--- /dev/null
+++ b/recipes/ros-humble-nav2-collision-monitor/recipe.yaml
@@ -0,0 +1,76 @@
+package:
+  name: ros-humble-nav2-collision-monitor
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_collision_monitor/1.1.13-1
+  folder: ros-humble-nav2-collision-monitor/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-geometry-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-util
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-components
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-sensor-msgs
+    - ros-humble-tf2
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-geometry-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-util
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-components
+    - ros-humble-ros-workspace
+    - ros-humble-sensor-msgs
+    - ros-humble-tf2
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-constrained-smoother/bld_ament_cmake.bat b/recipes/ros-humble-nav2-constrained-smoother/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-constrained-smoother/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-constrained-smoother/build_ament_cmake.sh b/recipes/ros-humble-nav2-constrained-smoother/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-constrained-smoother/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-constrained-smoother/recipe.yaml b/recipes/ros-humble-nav2-constrained-smoother/recipe.yaml
new file mode 100644
index 00000000..c532237e
--- /dev/null
+++ b/recipes/ros-humble-nav2-constrained-smoother/recipe.yaml
@@ -0,0 +1,76 @@
+package:
+  name: ros-humble-nav2-constrained-smoother
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_constrained_smoother/1.1.13-1
+  folder: ros-humble-nav2-constrained-smoother/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:
+    - ceres-solver
+    - numpy
+    - sel(win): openblas
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-cmake-pytest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-angles
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - ceres-solver
+    - python
+    - ros-humble-angles
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - 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/recipes/ros-humble-nav2-controller/bld_ament_cmake.bat b/recipes/ros-humble-nav2-controller/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-controller/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-controller/build_ament_cmake.sh b/recipes/ros-humble-nav2-controller/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-controller/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-controller/patch/ros-humble-nav2-controller.patch b/recipes/ros-humble-nav2-controller/patch/ros-humble-nav2-controller.patch
new file mode 100644
index 00000000..cfe7ad10
--- /dev/null
+++ b/recipes/ros-humble-nav2-controller/patch/ros-humble-nav2-controller.patch
@@ -0,0 +1,13 @@
+diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
+index f8e7bd91a..f794a0b16 100644
+--- a/nav2_controller/CMakeLists.txt
++++ b/nav2_controller/CMakeLists.txt
+@@ -1,6 +1,8 @@
+ cmake_minimum_required(VERSION 3.5)
+ project(nav2_controller)
+ 
++add_definitions(-DNOMINMAX)
++
+ find_package(ament_cmake REQUIRED)
+ find_package(nav2_core REQUIRED)
+ find_package(nav2_common REQUIRED)
diff --git a/recipes/ros-humble-nav2-controller/recipe.yaml b/recipes/ros-humble-nav2-controller/recipe.yaml
new file mode 100644
index 00000000..1ae5db4d
--- /dev/null
+++ b/recipes/ros-humble-nav2-controller/recipe.yaml
@@ -0,0 +1,80 @@
+package:
+  name: ros-humble-nav2-controller
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_controller/1.1.13-1
+  folder: ros-humble-nav2-controller/src/work
+  patches:
+    - patch/ros-humble-nav2-controller.patch
+
+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-gtest
+    - ros-humble-ament-cmake-pytest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-angles
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-angles
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav2-core
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-dwb-controller/bld_ament_cmake.bat b/recipes/ros-humble-nav2-dwb-controller/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-dwb-controller/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-dwb-controller/build_ament_cmake.sh b/recipes/ros-humble-nav2-dwb-controller/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-dwb-controller/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-dwb-controller/recipe.yaml b/recipes/ros-humble-nav2-dwb-controller/recipe.yaml
new file mode 100644
index 00000000..c077ed44
--- /dev/null
+++ b/recipes/ros-humble-nav2-dwb-controller/recipe.yaml
@@ -0,0 +1,67 @@
+package:
+  name: ros-humble-nav2-dwb-controller
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_dwb_controller/1.1.13-1
+  folder: ros-humble-nav2-dwb-controller/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-costmap-queue
+    - ros-humble-dwb-core
+    - ros-humble-dwb-critics
+    - ros-humble-dwb-msgs
+    - ros-humble-dwb-plugins
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-costmap-queue
+    - ros-humble-dwb-core
+    - ros-humble-dwb-critics
+    - ros-humble-dwb-msgs
+    - ros-humble-dwb-plugins
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - 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/recipes/ros-humble-nav2-mppi-controller/bld_ament_cmake.bat b/recipes/ros-humble-nav2-mppi-controller/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-mppi-controller/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-mppi-controller/build_ament_cmake.sh b/recipes/ros-humble-nav2-mppi-controller/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-mppi-controller/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-mppi-controller/patch/ros-humble-nav2-mppi-controller.linux.patch b/recipes/ros-humble-nav2-mppi-controller/patch/ros-humble-nav2-mppi-controller.linux.patch
new file mode 100644
index 00000000..8dc8eef3
--- /dev/null
+++ b/recipes/ros-humble-nav2-mppi-controller/patch/ros-humble-nav2-mppi-controller.linux.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5f0c5359d..ea9ae4374 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -87,7 +87,7 @@ set(libraries mppi_controller mppi_critics)
+ foreach(lib IN LISTS libraries)
+   target_compile_options(${lib} PUBLIC -fconcepts)
+   target_include_directories(${lib} PUBLIC include ${xsimd_INCLUDE_DIRS} ${OpenMP_INCLUDE_DIRS})
+-  target_link_libraries(${lib} xtensor xtensor::optimize xtensor::use_xsimd)
++  target_link_libraries(${lib} xtensor xtensor::use_xsimd)
+   ament_target_dependencies(${lib} ${dependencies_pkgs})
+ endforeach()
+ 
diff --git a/recipes/ros-humble-nav2-mppi-controller/recipe.yaml b/recipes/ros-humble-nav2-mppi-controller/recipe.yaml
new file mode 100644
index 00000000..b977b5e2
--- /dev/null
+++ b/recipes/ros-humble-nav2-mppi-controller/recipe.yaml
@@ -0,0 +1,95 @@
+package:
+  name: ros-humble-nav2-mppi-controller
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_mppi_controller/1.1.13-1
+  folder: ros-humble-nav2-mppi-controller/src/work
+  patches:
+    - patch/ros-humble-nav2-mppi-controller.linux.patch
+
+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:
+    - benchmark
+    - libgomp
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-cmake-ros
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-geometry-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros-humble-tf2
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+    - xsimd
+    - xtensor 0.24
+  run:
+    - benchmark
+    - libgomp
+    - python
+    - ros-humble-geometry-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros-humble-tf2
+    - ros-humble-tf2-eigen
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+    - xsimd
+    - xtensor
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-navfn-planner/bld_ament_cmake.bat b/recipes/ros-humble-nav2-navfn-planner/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-navfn-planner/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-navfn-planner/build_ament_cmake.sh b/recipes/ros-humble-nav2-navfn-planner/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-navfn-planner/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-navfn-planner/recipe.yaml b/recipes/ros-humble-nav2-navfn-planner/recipe.yaml
new file mode 100644
index 00000000..ed96bf9a
--- /dev/null
+++ b/recipes/ros-humble-nav2-navfn-planner/recipe.yaml
@@ -0,0 +1,84 @@
+package:
+  name: ros-humble-nav2-navfn-planner
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_navfn_planner/1.1.13-1
+  folder: ros-humble-nav2-navfn-planner/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-builtin-interfaces
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-builtin-interfaces
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-planner/bld_ament_cmake.bat b/recipes/ros-humble-nav2-planner/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-planner/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-planner/build_ament_cmake.sh b/recipes/ros-humble-nav2-planner/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-planner/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-planner/recipe.yaml b/recipes/ros-humble-nav2-planner/recipe.yaml
new file mode 100644
index 00000000..83819d35
--- /dev/null
+++ b/recipes/ros-humble-nav2-planner/recipe.yaml
@@ -0,0 +1,83 @@
+package:
+  name: ros-humble-nav2-planner
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_planner/1.1.13-1
+  folder: ros-humble-nav2-planner/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-builtin-interfaces
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-builtin-interfaces
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/bld_ament_cmake.bat b/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-regulated-pure-pursuit-controller/build_ament_cmake.sh b/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/patch/ros-humble-nav2-regulated-pure-pursuit-controller.patch b/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/patch/ros-humble-nav2-regulated-pure-pursuit-controller.patch
new file mode 100644
index 00000000..3f00b630
--- /dev/null
+++ b/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/patch/ros-humble-nav2-regulated-pure-pursuit-controller.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9c87714f..7076cb84 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -15,6 +15,8 @@ find_package(tf2 REQUIRED)
+ nav2_package()
+ set(CMAKE_CXX_STANDARD 17)
+ 
++add_definitions(-DNOMINMAX)
++
+ include_directories(
+   include
+ )
diff --git a/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/recipe.yaml b/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/recipe.yaml
new file mode 100644
index 00000000..33ac48a6
--- /dev/null
+++ b/recipes/ros-humble-nav2-regulated-pure-pursuit-controller/recipe.yaml
@@ -0,0 +1,78 @@
+package:
+  name: ros-humble-nav2-regulated-pure-pursuit-controller
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_regulated_pure_pursuit_controller/1.1.13-1
+  folder: ros-humble-nav2-regulated-pure-pursuit-controller/src/work
+  patches:
+    - patch/ros-humble-nav2-regulated-pure-pursuit-controller.patch
+
+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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-geometry-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros-humble-tf2-geometry-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-geometry-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros-humble-tf2-geometry-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-rotation-shim-controller/bld_ament_cmake.bat b/recipes/ros-humble-nav2-rotation-shim-controller/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-rotation-shim-controller/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-rotation-shim-controller/build_ament_cmake.sh b/recipes/ros-humble-nav2-rotation-shim-controller/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-rotation-shim-controller/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-rotation-shim-controller/recipe.yaml b/recipes/ros-humble-nav2-rotation-shim-controller/recipe.yaml
new file mode 100644
index 00000000..947eaa80
--- /dev/null
+++ b/recipes/ros-humble-nav2-rotation-shim-controller/recipe.yaml
@@ -0,0 +1,78 @@
+package:
+  name: ros-humble-nav2-rotation-shim-controller
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_rotation_shim_controller/1.1.13-1
+  folder: ros-humble-nav2-rotation-shim-controller/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-angles
+    - ros-humble-geometry-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-controller
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-regulated-pure-pursuit-controller
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-angles
+    - ros-humble-geometry-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-tf2
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-rviz-plugins/bld_ament_cmake.bat b/recipes/ros-humble-nav2-rviz-plugins/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-rviz-plugins/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-rviz-plugins/build_ament_cmake.sh b/recipes/ros-humble-nav2-rviz-plugins/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-rviz-plugins/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-rviz-plugins/recipe.yaml b/recipes/ros-humble-nav2-rviz-plugins/recipe.yaml
new file mode 100644
index 00000000..bf28827b
--- /dev/null
+++ b/recipes/ros-humble-nav2-rviz-plugins/recipe.yaml
@@ -0,0 +1,102 @@
+package:
+  name: ros-humble-nav2-rviz-plugins
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_rviz_plugins/1.1.13-1
+  folder: ros-humble-nav2-rviz-plugins/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
+    - sel(linux): "{{ cdt('mesa-libgl-devel') }}"
+    - sel(linux): "{{ cdt('mesa-dri-drivers') }}"
+    - sel(linux): "{{ cdt('libselinux') }}"
+    - sel(linux): "{{ cdt('libxdamage') }}"
+    - sel(linux): "{{ cdt('libxxf86vm') }}"
+    - sel(linux): "{{ cdt('libxfixes') }}"
+    - sel(linux): "{{ cdt('libxext') }}"
+    - sel(linux): "{{ cdt('libxau') }}"
+    - sel(linux): "{{ cdt('libxcb') }}"
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - qt-main
+    - ros-humble-ament-cmake
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-lifecycle-manager
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-resource-retriever
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-rviz-common
+    - ros-humble-rviz-default-plugins
+    - ros-humble-rviz-ogre-vendor
+    - ros-humble-rviz-rendering
+    - ros-humble-std-msgs
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(unix): xorg-libx11
+    - sel(unix): xorg-libxext
+  run:
+    - python
+    - qt-main
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-lifecycle-manager
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-resource-retriever
+    - ros-humble-ros-workspace
+    - ros-humble-rviz-common
+    - ros-humble-rviz-default-plugins
+    - ros-humble-rviz-ogre-vendor
+    - ros-humble-rviz-rendering
+    - ros-humble-std-msgs
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
+    - sel(unix): xorg-libx11
+    - sel(unix): xorg-libxext
diff --git a/recipes/ros-humble-nav2-smac-planner/bld_ament_cmake.bat b/recipes/ros-humble-nav2-smac-planner/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-smac-planner/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-smac-planner/build_ament_cmake.sh b/recipes/ros-humble-nav2-smac-planner/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-smac-planner/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-smac-planner/recipe.yaml b/recipes/ros-humble-nav2-smac-planner/recipe.yaml
new file mode 100644
index 00000000..c51180e7
--- /dev/null
+++ b/recipes/ros-humble-nav2-smac-planner/recipe.yaml
@@ -0,0 +1,99 @@
+package:
+  name: ros-humble-nav2-smac-planner
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_smac_planner/1.1.13-1
+  folder: ros-humble-nav2-smac-planner/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
+    - sel(osx): llvm-openmp
+  host:
+    - eigen
+    - libode
+    - sel(osx): llvm-openmp
+    - nlohmann_json
+    - numpy
+    - ompl
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-cmake-pytest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-angles
+    - ros-humble-builtin-interfaces
+    - ros-humble-eigen3-cmake-module
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-ompl
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - eigen
+    - nlohmann_json
+    - python
+    - ros-humble-angles
+    - ros-humble-builtin-interfaces
+    - ros-humble-eigen3-cmake-module
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-ompl
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-smoother/bld_ament_cmake.bat b/recipes/ros-humble-nav2-smoother/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-smoother/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-smoother/build_ament_cmake.sh b/recipes/ros-humble-nav2-smoother/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-smoother/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-smoother/recipe.yaml b/recipes/ros-humble-nav2-smoother/recipe.yaml
new file mode 100644
index 00000000..2a4ac3ed
--- /dev/null
+++ b/recipes/ros-humble-nav2-smoother/recipe.yaml
@@ -0,0 +1,80 @@
+package:
+  name: ros-humble-nav2-smoother
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_smoother/1.1.13-1
+  folder: ros-humble-nav2-smoother/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-gtest
+    - ros-humble-ament-cmake-pytest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-angles
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-components
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-angles
+    - ros-humble-nav-2d-msgs
+    - ros-humble-nav-2d-utils
+    - ros-humble-nav2-core
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-components
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-theta-star-planner/bld_ament_cmake.bat b/recipes/ros-humble-nav2-theta-star-planner/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-theta-star-planner/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-theta-star-planner/build_ament_cmake.sh b/recipes/ros-humble-nav2-theta-star-planner/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-theta-star-planner/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-theta-star-planner/recipe.yaml b/recipes/ros-humble-nav2-theta-star-planner/recipe.yaml
new file mode 100644
index 00000000..1b8efe09
--- /dev/null
+++ b/recipes/ros-humble-nav2-theta-star-planner/recipe.yaml
@@ -0,0 +1,78 @@
+package:
+  name: ros-humble-nav2-theta-star-planner
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_theta_star_planner/1.1.13-1
+  folder: ros-humble-nav2-theta-star-planner/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-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-builtin-interfaces
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-builtin-interfaces
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-nav2-waypoint-follower/bld_ament_cmake.bat b/recipes/ros-humble-nav2-waypoint-follower/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-nav2-waypoint-follower/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-nav2-waypoint-follower/build_ament_cmake.sh b/recipes/ros-humble-nav2-waypoint-follower/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-nav2-waypoint-follower/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-nav2-waypoint-follower/patch/ros-humble-nav2-waypoint-follower.patch b/recipes/ros-humble-nav2-waypoint-follower/patch/ros-humble-nav2-waypoint-follower.patch
new file mode 100644
index 00000000..b01e8d3d
--- /dev/null
+++ b/recipes/ros-humble-nav2-waypoint-follower/patch/ros-humble-nav2-waypoint-follower.patch
@@ -0,0 +1,106 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a3b46942b..e228086fa 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,6 +1,8 @@
+ cmake_minimum_required(VERSION 3.5)
+ project(nav2_waypoint_follower)
+ 
++add_definitions(-DNOMINMAX)
++
+ # Try for OpenCV 4.X, but settle for whatever is installed
+ find_package(OpenCV 4 QUIET)
+ if(NOT OpenCV_FOUND)
+@@ -25,7 +27,11 @@ find_package(pluginlib REQUIRED)
+ 
+ nav2_package()
+ 
+-link_libraries(stdc++fs)
++if(UNIX AND NOT APPLE)
++  link_libraries(stdc++fs)
++else()
++
++endif()
+ 
+ include_directories(
+   include
+diff --git a/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp b/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
+index fc4aee5c5..a4fc67b82 100644
+--- a/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
++++ b/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
+@@ -20,20 +20,22 @@
+  * to ignore deprecated declarations
+  */
+ #define _LIBCPP_NO_EXPERIMENTAL_DEPRECATION_WARNING_FILESYSTEM
++#define _SILENCE_EXPERIMENTAL_FILESYSTEM_DEPRECATION_WARNING
+ 
+ 
+-#include <experimental/filesystem>
++#include <filesystem>
+ #include <mutex>
+ #include <string>
+ #include <exception>
+ 
++#include <opencv2/core.hpp>
++#include <opencv2/opencv.hpp>
++
+ #include "rclcpp/rclcpp.hpp"
+ #include "rclcpp_components/register_node_macro.hpp"
+ 
+ #include "sensor_msgs/msg/image.hpp"
+ #include "nav2_core/waypoint_task_executor.hpp"
+-#include "opencv4/opencv2/core.hpp"
+-#include "opencv4/opencv2/opencv.hpp"
+ #include "cv_bridge/cv_bridge.h"
+ #include "image_transport/image_transport.hpp"
+ 
+@@ -97,7 +99,7 @@ protected:
+   // to ensure safety when accessing global var curr_frame_
+   std::mutex global_mutex_;
+   // the taken photos will be saved under this directory
+-  std::experimental::filesystem::path save_dir_;
++  std::filesystem::path save_dir_;
+   // .png ? .jpg ? or some other well known format
+   std::string image_format_;
+   // the topic to subscribe in order capture a frame
+diff --git a/plugins/photo_at_waypoint.cpp b/plugins/photo_at_waypoint.cpp
+index 8a6cb74b9..4e2858f65 100644
+--- a/plugins/photo_at_waypoint.cpp
++++ b/plugins/photo_at_waypoint.cpp
+@@ -61,14 +61,14 @@ void PhotoAtWaypoint::initialize(
+   // get inputted save directory and make sure it exists, if not log and create  it
+   save_dir_ = save_dir_as_string;
+   try {
+-    if (!std::experimental::filesystem::exists(save_dir_)) {
++    if (!std::filesystem::exists(save_dir_)) {
+       RCLCPP_WARN(
+         logger_,
+         "Provided save directory for photo at waypoint plugin does not exist,"
+         "provided directory is: %s, the directory will be created automatically.",
+         save_dir_.c_str()
+       );
+-      if (!std::experimental::filesystem::create_directory(save_dir_)) {
++      if (!std::filesystem::create_directory(save_dir_)) {
+         RCLCPP_ERROR(
+           logger_,
+           "Failed to create directory!: %s required by photo at waypoint plugin, "
+@@ -110,16 +110,16 @@ bool PhotoAtWaypoint::processAtWaypoint(
+   }
+   try {
+     // construct the full path to image filename
+-    std::experimental::filesystem::path file_name = std::to_string(
++    std::filesystem::path file_name = std::to_string(
+       curr_waypoint_index) + "_" +
+       std::to_string(curr_pose.header.stamp.sec) + "." + image_format_;
+-    std::experimental::filesystem::path full_path_image_path = save_dir_ / file_name;
++    std::filesystem::path full_path_image_path = save_dir_ / file_name;
+ 
+     // save the taken photo at this waypoint to given directory
+     std::lock_guard<std::mutex> guard(global_mutex_);
+     cv::Mat curr_frame_mat;
+     deepCopyMsg2Mat(curr_frame_msg_, curr_frame_mat);
+-    cv::imwrite(full_path_image_path.c_str(), curr_frame_mat);
++    cv::imwrite(full_path_image_path.string().c_str(), curr_frame_mat);
+     RCLCPP_INFO(
+       logger_,
+       "Photo has been taken sucessfully at waypoint %i", curr_waypoint_index);
diff --git a/recipes/ros-humble-nav2-waypoint-follower/recipe.yaml b/recipes/ros-humble-nav2-waypoint-follower/recipe.yaml
new file mode 100644
index 00000000..598c3623
--- /dev/null
+++ b/recipes/ros-humble-nav2-waypoint-follower/recipe.yaml
@@ -0,0 +1,83 @@
+package:
+  name: ros-humble-nav2-waypoint-follower
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/nav2_waypoint_follower/1.1.13-1
+  folder: ros-humble-nav2-waypoint-follower/src/work
+  patches:
+    - patch/ros-humble-nav2-waypoint-follower.patch
+
+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-gtest
+    - ros-humble-ament-cmake-pytest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-cv-bridge
+    - ros-humble-image-transport
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-cv-bridge
+    - ros-humble-image-transport
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-common
+    - ros-humble-nav2-core
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-util
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-workspace
+    - ros-humble-tf2-ros
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-navigation2/bld_ament_cmake.bat b/recipes/ros-humble-navigation2/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-navigation2/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-navigation2/build_ament_cmake.sh b/recipes/ros-humble-navigation2/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-navigation2/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-navigation2/recipe.yaml b/recipes/ros-humble-navigation2/recipe.yaml
new file mode 100644
index 00000000..e2b6f275
--- /dev/null
+++ b/recipes/ros-humble-navigation2/recipe.yaml
@@ -0,0 +1,80 @@
+package:
+  name: ros-humble-navigation2
+  version: 1.1.13
+source:
+  git_url: https://github.com/SteveMacenski/navigation2-release.git
+  git_rev: release/humble/navigation2/1.1.13-1
+  folder: ros-humble-navigation2/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-nav2-amcl
+    - ros-humble-nav2-behavior-tree
+    - ros-humble-nav2-behaviors
+    - ros-humble-nav2-bt-navigator
+    - ros-humble-nav2-collision-monitor
+    - ros-humble-nav2-constrained-smoother
+    - ros-humble-nav2-controller
+    - ros-humble-nav2-core
+    - ros-humble-nav2-costmap-2d
+    - ros-humble-nav2-dwb-controller
+    - ros-humble-nav2-lifecycle-manager
+    - ros-humble-nav2-map-server
+    - ros-humble-nav2-mppi-controller
+    - ros-humble-nav2-msgs
+    - ros-humble-nav2-navfn-planner
+    - ros-humble-nav2-planner
+    - ros-humble-nav2-regulated-pure-pursuit-controller
+    - ros-humble-nav2-rotation-shim-controller
+    - ros-humble-nav2-rviz-plugins
+    - ros-humble-nav2-simple-commander
+    - ros-humble-nav2-smac-planner
+    - ros-humble-nav2-smoother
+    - ros-humble-nav2-theta-star-planner
+    - ros-humble-nav2-util
+    - ros-humble-nav2-velocity-smoother
+    - ros-humble-nav2-voxel-grid
+    - ros-humble-nav2-waypoint-follower
+    - 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/recipes/ros-humble-perception/bld_ament_cmake.bat b/recipes/ros-humble-perception/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-perception/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-perception/build_ament_cmake.sh b/recipes/ros-humble-perception/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-perception/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-perception/recipe.yaml b/recipes/ros-humble-perception/recipe.yaml
new file mode 100644
index 00000000..9fa349a4
--- /dev/null
+++ b/recipes/ros-humble-perception/recipe.yaml
@@ -0,0 +1,61 @@
+package:
+  name: ros-humble-perception
+  version: 0.10.0
+source:
+  git_url: https://github.com/ros2-gbp/variants-release.git
+  git_rev: release/humble/perception/0.10.0-1
+  folder: ros-humble-perception/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-image-common
+    - ros-humble-image-pipeline
+    - ros-humble-image-transport-plugins
+    - ros-humble-laser-filters
+    - ros-humble-laser-geometry
+    - ros-humble-perception-pcl
+    - ros-humble-ros-base
+    - ros-humble-ros-workspace
+    - ros-humble-vision-opencv
+    - 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-base/bld_ament_cmake.bat b/recipes/ros-humble-ros-base/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ros-base/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-base/build_ament_cmake.sh b/recipes/ros-humble-ros-base/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ros-base/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ros-base/recipe.yaml b/recipes/ros-humble-ros-base/recipe.yaml
new file mode 100644
index 00000000..26b7c4f7
--- /dev/null
+++ b/recipes/ros-humble-ros-base/recipe.yaml
@@ -0,0 +1,59 @@
+package:
+  name: ros-humble-ros-base
+  version: 0.10.0
+source:
+  git_url: https://github.com/ros2-gbp/variants-release.git
+  git_rev: release/humble/ros_base/0.10.0-1
+  folder: ros-humble-ros-base/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-geometry2
+    - ros-humble-kdl-parser
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-core
+    - ros-humble-ros-workspace
+    - ros-humble-rosbag2
+    - ros-humble-urdf
+    - 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-core/bld_ament_cmake.bat b/recipes/ros-humble-ros-core/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ros-core/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-core/build_ament_cmake.sh b/recipes/ros-humble-ros-core/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ros-core/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ros-core/recipe.yaml b/recipes/ros-humble-ros-core/recipe.yaml
new file mode 100644
index 00000000..dec63fe3
--- /dev/null
+++ b/recipes/ros-humble-ros-core/recipe.yaml
@@ -0,0 +1,85 @@
+package:
+  name: ros-humble-ros-core
+  version: 0.10.0
+source:
+  git_url: https://github.com/ros2-gbp/variants-release.git
+  git_rev: release/humble/ros_core/0.10.0-1
+  folder: ros-humble-ros-core/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-auto
+    - ros-humble-ament-cmake-gmock
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-cmake-pytest
+    - ros-humble-ament-cmake-ros
+    - ros-humble-ament-index-cpp
+    - ros-humble-ament-index-python
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-class-loader
+    - ros-humble-common-interfaces
+    - ros-humble-launch
+    - ros-humble-launch-ros
+    - ros-humble-launch-testing
+    - ros-humble-launch-testing-ament-cmake
+    - ros-humble-launch-testing-ros
+    - ros-humble-launch-xml
+    - ros-humble-launch-yaml
+    - ros-humble-pluginlib
+    - ros-humble-rcl-lifecycle
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-action
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-rclpy
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-ros2cli-common-extensions
+    - ros-humble-ros2launch
+    - ros-humble-rosidl-default-generators
+    - ros-humble-rosidl-default-runtime
+    - ros-humble-sros2
+    - ros-humble-sros2-cmake
+    - 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-sim-demos/bld_ament_cmake.bat b/recipes/ros-humble-ros-gz-sim-demos/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ros-gz-sim-demos/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-sim-demos/build_ament_cmake.sh b/recipes/ros-humble-ros-gz-sim-demos/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ros-gz-sim-demos/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ros-gz-sim-demos/recipe.yaml b/recipes/ros-humble-ros-gz-sim-demos/recipe.yaml
new file mode 100644
index 00000000..c6702408
--- /dev/null
+++ b/recipes/ros-humble-ros-gz-sim-demos/recipe.yaml
@@ -0,0 +1,67 @@
+package:
+  name: ros-humble-ros-gz-sim-demos
+  version: 0.244.13
+source:
+  git_url: https://github.com/ros2-gbp/ros_ign-release.git
+  git_rev: release/humble/ros_gz_sim_demos/0.244.13-1
+  folder: ros-humble-ros-gz-sim-demos/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:
+    - libignition-gazebo6
+    - python
+    - ros-humble-image-transport-plugins
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-gz-bridge
+    - ros-humble-ros-gz-image
+    - ros-humble-ros-gz-sim
+    - ros-humble-ros-workspace
+    - ros-humble-rqt-image-view
+    - ros-humble-rqt-plot
+    - ros-humble-rqt-topic
+    - ros-humble-rviz2
+    - ros-humble-sdformat-urdf
+    - ros-humble-xacro
+    - 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..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ros-gz/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ros-gz/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$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/recipes/ros-humble-ros-ign-gazebo-demos/bld_ament_cmake.bat b/recipes/ros-humble-ros-ign-gazebo-demos/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ros-ign-gazebo-demos/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ign-gazebo-demos/build_ament_cmake.sh b/recipes/ros-humble-ros-ign-gazebo-demos/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ros-ign-gazebo-demos/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ros-ign-gazebo-demos/recipe.yaml b/recipes/ros-humble-ros-ign-gazebo-demos/recipe.yaml
new file mode 100644
index 00000000..5b18c1a2
--- /dev/null
+++ b/recipes/ros-humble-ros-ign-gazebo-demos/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: ros-humble-ros-ign-gazebo-demos
+  version: 0.244.13
+source:
+  git_url: https://github.com/ros2-gbp/ros_ign-release.git
+  git_rev: release/humble/ros_ign_gazebo_demos/0.244.13-1
+  folder: ros-humble-ros-ign-gazebo-demos/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
+    - sel(linux): "{{ cdt('mesa-libgl-devel') }}"
+    - sel(linux): "{{ cdt('mesa-dri-drivers') }}"
+    - sel(linux): "{{ cdt('libselinux') }}"
+    - sel(linux): "{{ cdt('libxdamage') }}"
+    - sel(linux): "{{ cdt('libxxf86vm') }}"
+    - sel(linux): "{{ cdt('libxfixes') }}"
+    - sel(linux): "{{ cdt('libxext') }}"
+    - sel(linux): "{{ cdt('libxau') }}"
+    - sel(linux): "{{ cdt('libxcb') }}"
+  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
+    - sel(unix): xorg-libx11
+    - sel(unix): xorg-libxext
+  run:
+    - python
+    - 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') }}
+    - sel(unix): xorg-libx11
+    - sel(unix): xorg-libxext
diff --git a/recipes/ros-humble-ros-ign/bld_ament_cmake.bat b/recipes/ros-humble-ros-ign/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ros-ign/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ign/build_ament_cmake.sh b/recipes/ros-humble-ros-ign/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ros-ign/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ros-ign/recipe.yaml b/recipes/ros-humble-ros-ign/recipe.yaml
new file mode 100644
index 00000000..319391d6
--- /dev/null
+++ b/recipes/ros-humble-ros-ign/recipe.yaml
@@ -0,0 +1,60 @@
+package:
+  name: ros-humble-ros-ign
+  version: 0.244.13
+source:
+  git_url: https://github.com/ros2-gbp/ros_ign-release.git
+  git_rev: release/humble/ros_ign/0.244.13-1
+  folder: ros-humble-ros-ign/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
+    - ros-humble-ros-ign-bridge
+    - ros-humble-ros-ign-gazebo
+    - ros-humble-ros-ign-gazebo-demos
+    - ros-humble-ros-ign-image
+    - 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/recipes/ros-humble-ros2-controllers/bld_ament_cmake.bat b/recipes/ros-humble-ros2-controllers/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ros2-controllers/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ros2-controllers/build_ament_cmake.sh b/recipes/ros-humble-ros2-controllers/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ros2-controllers/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ros2-controllers/recipe.yaml b/recipes/ros-humble-ros2-controllers/recipe.yaml
new file mode 100644
index 00000000..6fa05ae6
--- /dev/null
+++ b/recipes/ros-humble-ros2-controllers/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: ros-humble-ros2-controllers
+  version: 2.32.0
+source:
+  git_url: https://github.com/ros2-gbp/ros2_controllers-release.git
+  git_rev: release/humble/ros2_controllers/2.32.0-1
+  folder: ros-humble-ros2-controllers/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ackermann-steering-controller
+    - ros-humble-admittance-controller
+    - ros-humble-bicycle-steering-controller
+    - ros-humble-diff-drive-controller
+    - ros-humble-effort-controllers
+    - ros-humble-force-torque-sensor-broadcaster
+    - ros-humble-forward-command-controller
+    - ros-humble-imu-sensor-broadcaster
+    - ros-humble-joint-state-broadcaster
+    - ros-humble-joint-trajectory-controller
+    - ros-humble-position-controllers
+    - ros-humble-range-sensor-broadcaster
+    - ros-humble-ros-workspace
+    - ros-humble-steering-controllers-library
+    - ros-humble-tricycle-controller
+    - ros-humble-tricycle-steering-controller
+    - ros-humble-velocity-controllers
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-ros2bag/bld_ament_python.bat b/recipes/ros-humble-ros2bag/bld_ament_python.bat
new file mode 100644
index 00000000..f4e97b21
--- /dev/null
+++ b/recipes/ros-humble-ros2bag/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-ros2bag/build_ament_python.sh b/recipes/ros-humble-ros2bag/build_ament_python.sh
new file mode 100644
index 00000000..8c1268be
--- /dev/null
+++ b/recipes/ros-humble-ros2bag/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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
+fi
diff --git a/recipes/ros-humble-ros2bag/recipe.yaml b/recipes/ros-humble-ros2bag/recipe.yaml
new file mode 100644
index 00000000..87861160
--- /dev/null
+++ b/recipes/ros-humble-ros2bag/recipe.yaml
@@ -0,0 +1,63 @@
+package:
+  name: ros-humble-ros2bag
+  version: 0.15.9
+source:
+  git_url: https://github.com/ros2-gbp/rosbag2-release.git
+  git_rev: release/humble/ros2bag/0.15.9-1
+  folder: ros-humble-ros2bag/src/work
+
+build:
+  script:
+    sel(win): bld_ament_python.bat
+    sel(unix): build_ament_python.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
+    - pytest
+    - python
+    - ros-humble-ament-copyright
+    - ros-humble-ament-flake8
+    - ros-humble-ament-pep257
+    - ros-humble-launch-testing
+    - ros-humble-launch-testing-ros
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+    - setuptools
+  run:
+    - python
+    - ros-humble-ament-index-python
+    - ros-humble-rclpy
+    - ros-humble-ros-workspace
+    - ros-humble-ros2cli
+    - ros-humble-rosbag2-py
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-ros2cli-common-extensions/bld_ament_cmake.bat b/recipes/ros-humble-ros2cli-common-extensions/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ros2cli-common-extensions/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ros2cli-common-extensions/build_ament_cmake.sh b/recipes/ros-humble-ros2cli-common-extensions/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ros2cli-common-extensions/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ros2cli-common-extensions/recipe.yaml b/recipes/ros-humble-ros2cli-common-extensions/recipe.yaml
new file mode 100644
index 00000000..278c06e5
--- /dev/null
+++ b/recipes/ros-humble-ros2cli-common-extensions/recipe.yaml
@@ -0,0 +1,72 @@
+package:
+  name: ros-humble-ros2cli-common-extensions
+  version: 0.1.1
+source:
+  git_url: https://github.com/ros2-gbp/ros2cli_common_extensions-release.git
+  git_rev: release/humble/ros2cli_common_extensions/0.1.1-4
+  folder: ros-humble-ros2cli-common-extensions/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-launch-xml
+    - ros-humble-launch-yaml
+    - ros-humble-ros-workspace
+    - ros-humble-ros2action
+    - ros-humble-ros2cli
+    - ros-humble-ros2component
+    - ros-humble-ros2doctor
+    - ros-humble-ros2interface
+    - ros-humble-ros2launch
+    - ros-humble-ros2lifecycle
+    - ros-humble-ros2multicast
+    - ros-humble-ros2node
+    - ros-humble-ros2param
+    - ros-humble-ros2pkg
+    - ros-humble-ros2run
+    - ros-humble-ros2service
+    - ros-humble-ros2topic
+    - ros-humble-sros2
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-rosbag2-py/bld_ament_cmake.bat b/recipes/ros-humble-rosbag2-py/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-rosbag2-py/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-rosbag2-py/build_ament_cmake.sh b/recipes/ros-humble-rosbag2-py/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-rosbag2-py/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-rosbag2-py/recipe.yaml b/recipes/ros-humble-rosbag2-py/recipe.yaml
new file mode 100644
index 00000000..b23fbcfc
--- /dev/null
+++ b/recipes/ros-humble-rosbag2-py/recipe.yaml
@@ -0,0 +1,76 @@
+package:
+  name: ros-humble-rosbag2-py
+  version: 0.15.9
+source:
+  git_url: https://github.com/ros2-gbp/rosbag2-release.git
+  git_rev: release/humble/rosbag2_py/0.15.9-1
+  folder: ros-humble-rosbag2-py/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
+    - sel(build_platform != target_platform): pybind11
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - pytest
+    - python
+    - ros-humble-ament-cmake-python
+    - ros-humble-ament-cmake-ros
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-pybind11-vendor
+    - ros-humble-python-cmake-module
+    - ros-humble-rcl-interfaces
+    - ros-humble-rclpy
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-rosbag2-compression
+    - ros-humble-rosbag2-cpp
+    - ros-humble-rosbag2-storage
+    - ros-humble-rosbag2-storage-default-plugins
+    - ros-humble-rosbag2-transport
+    - ros-humble-rosidl-runtime-py
+    - ros-humble-std-msgs
+    - ros2-distro-mutex 0.5 humble
+    - pybind11
+  run:
+    - python
+    - ros-humble-pybind11-vendor
+    - ros-humble-ros-workspace
+    - ros-humble-rosbag2-compression
+    - ros-humble-rosbag2-cpp
+    - ros-humble-rosbag2-storage
+    - ros-humble-rosbag2-transport
+    - ros-humble-rpyutils
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-rosbag2-tests/bld_ament_cmake.bat b/recipes/ros-humble-rosbag2-tests/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-rosbag2-tests/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-rosbag2-tests/build_ament_cmake.sh b/recipes/ros-humble-rosbag2-tests/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-rosbag2-tests/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-rosbag2-tests/recipe.yaml b/recipes/ros-humble-rosbag2-tests/recipe.yaml
new file mode 100644
index 00000000..f43c0e6d
--- /dev/null
+++ b/recipes/ros-humble-rosbag2-tests/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: ros-humble-rosbag2-tests
+  version: 0.15.9
+source:
+  git_url: https://github.com/ros2-gbp/rosbag2-release.git
+  git_rev: release/humble/rosbag2_tests/0.15.9-1
+  folder: ros-humble-rosbag2-tests/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-ament-index-cpp
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-rclcpp
+    - ros-humble-rcpputils
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-ros2bag
+    - ros-humble-rosbag2-compression
+    - ros-humble-rosbag2-compression-zstd
+    - ros-humble-rosbag2-cpp
+    - ros-humble-rosbag2-storage
+    - ros-humble-rosbag2-storage-default-plugins
+    - ros-humble-rosbag2-test-common
+    - ros-humble-std-msgs
+    - ros-humble-test-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ament-index-cpp
+    - 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/recipes/ros-humble-rosbag2/bld_ament_cmake.bat b/recipes/ros-humble-rosbag2/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-rosbag2/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-rosbag2/build_ament_cmake.sh b/recipes/ros-humble-rosbag2/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-rosbag2/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-rosbag2/recipe.yaml b/recipes/ros-humble-rosbag2/recipe.yaml
new file mode 100644
index 00000000..bf6b7efd
--- /dev/null
+++ b/recipes/ros-humble-rosbag2/recipe.yaml
@@ -0,0 +1,65 @@
+package:
+  name: ros-humble-rosbag2
+  version: 0.15.9
+source:
+  git_url: https://github.com/ros2-gbp/rosbag2-release.git
+  git_rev: release/humble/rosbag2/0.15.9-1
+  folder: ros-humble-rosbag2/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-rosbag2-test-common
+    - ros-humble-rosbag2-tests
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ros-workspace
+    - ros-humble-ros2bag
+    - ros-humble-rosbag2-compression
+    - ros-humble-rosbag2-compression-zstd
+    - ros-humble-rosbag2-cpp
+    - ros-humble-rosbag2-py
+    - ros-humble-rosbag2-storage
+    - ros-humble-rosbag2-storage-default-plugins
+    - ros-humble-rosbag2-transport
+    - ros-humble-shared-queues-vendor
+    - ros-humble-sqlite3-vendor
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-rqt-bag-plugins/bld_ament_python.bat b/recipes/ros-humble-rqt-bag-plugins/bld_ament_python.bat
new file mode 100644
index 00000000..f4e97b21
--- /dev/null
+++ b/recipes/ros-humble-rqt-bag-plugins/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-rqt-bag-plugins/build_ament_python.sh b/recipes/ros-humble-rqt-bag-plugins/build_ament_python.sh
new file mode 100644
index 00000000..8c1268be
--- /dev/null
+++ b/recipes/ros-humble-rqt-bag-plugins/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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
+fi
diff --git a/recipes/ros-humble-rqt-bag-plugins/recipe.yaml b/recipes/ros-humble-rqt-bag-plugins/recipe.yaml
new file mode 100644
index 00000000..f209d761
--- /dev/null
+++ b/recipes/ros-humble-rqt-bag-plugins/recipe.yaml
@@ -0,0 +1,64 @@
+package:
+  name: ros-humble-rqt-bag-plugins
+  version: 1.1.4
+source:
+  git_url: https://github.com/ros2-gbp/rqt_bag-release.git
+  git_rev: release/humble/rqt_bag_plugins/1.1.4-1
+  folder: ros-humble-rqt-bag-plugins/src/work
+
+build:
+  script:
+    sel(win): bld_ament_python.bat
+    sel(unix): build_ament_python.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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+    - setuptools
+  run:
+    - pillow
+    - pycairo
+    - python
+    - ros-humble-geometry-msgs
+    - ros-humble-rclpy
+    - ros-humble-ros-workspace
+    - ros-humble-rosbag2
+    - ros-humble-rqt-bag
+    - ros-humble-rqt-gui
+    - ros-humble-rqt-gui-py
+    - ros-humble-rqt-plot
+    - ros-humble-sensor-msgs
+    - ros-humble-std-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-rqt-bag/bld_ament_python.bat b/recipes/ros-humble-rqt-bag/bld_ament_python.bat
new file mode 100644
index 00000000..f4e97b21
--- /dev/null
+++ b/recipes/ros-humble-rqt-bag/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-rqt-bag/build_ament_python.sh b/recipes/ros-humble-rqt-bag/build_ament_python.sh
new file mode 100644
index 00000000..8c1268be
--- /dev/null
+++ b/recipes/ros-humble-rqt-bag/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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
+fi
diff --git a/recipes/ros-humble-rqt-bag/recipe.yaml b/recipes/ros-humble-rqt-bag/recipe.yaml
new file mode 100644
index 00000000..8ef19a0b
--- /dev/null
+++ b/recipes/ros-humble-rqt-bag/recipe.yaml
@@ -0,0 +1,58 @@
+package:
+  name: ros-humble-rqt-bag
+  version: 1.1.4
+source:
+  git_url: https://github.com/ros2-gbp/rqt_bag-release.git
+  git_rev: release/humble/rqt_bag/1.1.4-1
+  folder: ros-humble-rqt-bag/src/work
+
+build:
+  script:
+    sel(win): bld_ament_python.bat
+    sel(unix): build_ament_python.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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+    - setuptools
+  run:
+    - python
+    - ros-humble-python-qt-binding
+    - ros-humble-rclpy
+    - ros-humble-ros-workspace
+    - ros-humble-rosbag2-py
+    - ros-humble-rqt-gui
+    - ros-humble-rqt-gui-py
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-rqt-common-plugins/bld_ament_cmake.bat b/recipes/ros-humble-rqt-common-plugins/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-rqt-common-plugins/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-rqt-common-plugins/build_ament_cmake.sh b/recipes/ros-humble-rqt-common-plugins/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-rqt-common-plugins/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-rqt-common-plugins/recipe.yaml b/recipes/ros-humble-rqt-common-plugins/recipe.yaml
new file mode 100644
index 00000000..b9882e84
--- /dev/null
+++ b/recipes/ros-humble-rqt-common-plugins/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: ros-humble-rqt-common-plugins
+  version: 1.2.0
+source:
+  git_url: https://github.com/ros2-gbp/rqt_common_plugins-release.git
+  git_rev: release/humble/rqt_common_plugins/1.2.0-1
+  folder: ros-humble-rqt-common-plugins/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ros-workspace
+    - ros-humble-rqt-action
+    - ros-humble-rqt-bag
+    - ros-humble-rqt-bag-plugins
+    - ros-humble-rqt-console
+    - ros-humble-rqt-graph
+    - ros-humble-rqt-image-view
+    - ros-humble-rqt-msg
+    - ros-humble-rqt-plot
+    - ros-humble-rqt-publisher
+    - ros-humble-rqt-py-common
+    - ros-humble-rqt-py-console
+    - ros-humble-rqt-reconfigure
+    - ros-humble-rqt-service-caller
+    - ros-humble-rqt-shell
+    - ros-humble-rqt-srv
+    - ros-humble-rqt-topic
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-simulation/bld_ament_cmake.bat b/recipes/ros-humble-simulation/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-simulation/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-simulation/build_ament_cmake.sh b/recipes/ros-humble-simulation/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-simulation/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-simulation/recipe.yaml b/recipes/ros-humble-simulation/recipe.yaml
new file mode 100644
index 00000000..f08fd4f5
--- /dev/null
+++ b/recipes/ros-humble-simulation/recipe.yaml
@@ -0,0 +1,58 @@
+package:
+  name: ros-humble-simulation
+  version: 0.10.0
+source:
+  git_url: https://github.com/ros2-gbp/variants-release.git
+  git_rev: release/humble/simulation/0.10.0-1
+  folder: ros-humble-simulation/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ros-base
+    - ros-humble-ros-ign-bridge
+    - ros-humble-ros-ign-gazebo
+    - ros-humble-ros-ign-image
+    - ros-humble-ros-ign-interfaces
+    - 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/recipes/ros-humble-slam-toolbox/bld_ament_cmake.bat b/recipes/ros-humble-slam-toolbox/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-slam-toolbox/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-slam-toolbox/build_ament_cmake.sh b/recipes/ros-humble-slam-toolbox/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-slam-toolbox/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-slam-toolbox/patch/ros-humble-slam-toolbox.patch b/recipes/ros-humble-slam-toolbox/patch/ros-humble-slam-toolbox.patch
new file mode 100644
index 00000000..5c916f91
--- /dev/null
+++ b/recipes/ros-humble-slam-toolbox/patch/ros-humble-slam-toolbox.patch
@@ -0,0 +1,88 @@
+diff --git a/solvers/ceres_solver.cpp b/solvers/ceres_solver.cpp
+index 43e7d98..cd0e706 100644
+--- a/solvers/ceres_solver.cpp
++++ b/solvers/ceres_solver.cpp
+@@ -338,9 +338,9 @@ void CeresSolver::AddConstraint(karto::Edge<karto::LocalizedRangeScan> * pEdge)
+     cost_function, loss_function_,
+     &node1it->second(0), &node1it->second(1), &node1it->second(2),
+     &node2it->second(0), &node2it->second(1), &node2it->second(2));
+-  problem_->SetParameterization(&node1it->second(2),
++  problem_->SetManifold(&node1it->second(2),
+     angle_local_parameterization_);
+-  problem_->SetParameterization(&node2it->second(2),
++  problem_->SetManifold(&node2it->second(2),
+     angle_local_parameterization_);
+ 
+   blocks_->insert(std::pair<std::size_t, ceres::ResidualBlockId>(
+diff --git a/solvers/ceres_solver.hpp b/solvers/ceres_solver.hpp
+index 162b559..023b7c9 100644
+--- a/solvers/ceres_solver.hpp
++++ b/solvers/ceres_solver.hpp
+@@ -7,7 +7,7 @@
+ #define SOLVERS__CERES_SOLVER_HPP_
+ 
+ #include <math.h>
+-#include <ceres/local_parameterization.h>
++#include <ceres/manifold.h>
+ #include <ceres/ceres.h>
+ #include <vector>
+ #include <unordered_map>
+@@ -65,7 +65,7 @@ private:
+   ceres::Problem::Options options_problem_;
+   ceres::LossFunction * loss_function_;
+   ceres::Problem * problem_;
+-  ceres::LocalParameterization * angle_local_parameterization_;
++  ceres::Manifold * angle_local_parameterization_;
+   bool was_constant_set_, debug_logging_;
+ 
+   // graph
+diff --git a/solvers/ceres_utils.h b/solvers/ceres_utils.h
+index 42c2fad..e414c73 100644
+--- a/solvers/ceres_utils.h
++++ b/solvers/ceres_utils.h
+@@ -7,7 +7,7 @@
+ #define SOLVERS__CERES_UTILS_H_
+ 
+ #include <ceres/ceres.h>
+-#include <ceres/local_parameterization.h>
++#include <ceres/manifold.h>
+ #include <cmath>
+ #include <utility>
+ 
+@@ -38,6 +38,24 @@ inline T NormalizeAngle(const T & angle_radians)
+ class AngleLocalParameterization
+ {
+ public:
++  template <typename T>
++  bool Plus(const T* x_radians,
++            const T* delta_radians,
++            T* x_plus_delta_radians) const {
++    *x_plus_delta_radians = NormalizeAngle(*x_radians + *delta_radians);
++    return true;
++  }
++
++  template <typename T>
++  bool Minus(const T* y_radians,
++             const T* x_radians,
++             T* y_minus_x_radians) const {
++    *y_minus_x_radians =
++        NormalizeAngle(*y_radians) - NormalizeAngle(*x_radians);
++
++    return true;
++  }
++
+   template<typename T>
+   bool operator()(
+     const T * theta_radians, const T * delta_theta_radians,
+@@ -47,9 +65,9 @@ public:
+     return true;
+   }
+ 
+-  static ceres::LocalParameterization * Create()
++  static ceres::Manifold * Create()
+   {
+-    return new ceres::AutoDiffLocalParameterization<AngleLocalParameterization, 1, 1>;
++    return new ceres::AutoDiffManifold<AngleLocalParameterization, 1, 1>;
+   }
+ };
+ 
diff --git a/recipes/ros-humble-slam-toolbox/recipe.yaml b/recipes/ros-humble-slam-toolbox/recipe.yaml
new file mode 100644
index 00000000..ae8d6f35
--- /dev/null
+++ b/recipes/ros-humble-slam-toolbox/recipe.yaml
@@ -0,0 +1,131 @@
+package:
+  name: ros-humble-slam-toolbox
+  version: 2.6.8
+source:
+  git_url: https://github.com/SteveMacenski/slam_toolbox-release.git
+  git_rev: release/humble/slam_toolbox/2.6.8-1
+  folder: ros-humble-slam-toolbox/src/work
+  patches:
+    - patch/ros-humble-slam-toolbox.patch
+
+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
+    - sel(build_platform != target_platform): qt-main
+    - sel(linux): "{{ cdt('mesa-libgl-devel') }}"
+    - sel(linux): "{{ cdt('mesa-dri-drivers') }}"
+    - sel(linux): "{{ cdt('libselinux') }}"
+    - sel(linux): "{{ cdt('libxdamage') }}"
+    - sel(linux): "{{ cdt('libxxf86vm') }}"
+    - sel(linux): "{{ cdt('libxfixes') }}"
+    - sel(linux): "{{ cdt('libxext') }}"
+    - sel(linux): "{{ cdt('libxau') }}"
+    - sel(linux): "{{ cdt('libxcb') }}"
+  host:
+    - boost
+    - ceres-solver
+    - eigen
+    - liblapack
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - qt-main
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-cpplint
+    - ros-humble-ament-cmake-flake8
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-cmake-uncrustify
+    - ros-humble-ament-lint-auto
+    - ros-humble-builtin-interfaces
+    - ros-humble-interactive-markers
+    - ros-humble-launch
+    - ros-humble-launch-testing
+    - ros-humble-message-filters
+    - ros-humble-nav-msgs
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-rosidl-default-generators
+    - ros-humble-rviz-common
+    - ros-humble-rviz-default-plugins
+    - ros-humble-rviz-ogre-vendor
+    - ros-humble-rviz-rendering
+    - ros-humble-sensor-msgs
+    - ros-humble-std-msgs
+    - ros-humble-std-srvs
+    - ros-humble-tf2
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros-humble-tf2-sensor-msgs
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+    - suitesparse
+    - tbb
+    - tbb-devel
+    - sel(unix): xorg-libx11
+    - sel(unix): xorg-libxext
+  run:
+    - boost
+    - ceres-solver
+    - eigen
+    - liblapack
+    - python
+    - qt-main
+    - ros-humble-builtin-interfaces
+    - ros-humble-interactive-markers
+    - ros-humble-message-filters
+    - ros-humble-nav-msgs
+    - ros-humble-nav2-map-server
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-rosidl-default-generators
+    - ros-humble-rviz-common
+    - ros-humble-rviz-default-plugins
+    - ros-humble-rviz-ogre-vendor
+    - ros-humble-rviz-rendering
+    - ros-humble-sensor-msgs
+    - ros-humble-std-msgs
+    - ros-humble-std-srvs
+    - ros-humble-tf2
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-tf2-ros
+    - ros-humble-tf2-sensor-msgs
+    - ros-humble-visualization-msgs
+    - ros2-distro-mutex 0.5 humble
+    - suitesparse
+    - tbb
+    - tbb-devel
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
+    - sel(unix): xorg-libx11
+    - sel(unix): xorg-libxext
diff --git a/recipes/ros-humble-sros2-cmake/bld_ament_cmake.bat b/recipes/ros-humble-sros2-cmake/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-sros2-cmake/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-sros2-cmake/build_ament_cmake.sh b/recipes/ros-humble-sros2-cmake/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-sros2-cmake/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-sros2-cmake/recipe.yaml b/recipes/ros-humble-sros2-cmake/recipe.yaml
new file mode 100644
index 00000000..c684ad06
--- /dev/null
+++ b/recipes/ros-humble-sros2-cmake/recipe.yaml
@@ -0,0 +1,60 @@
+package:
+  name: ros-humble-sros2-cmake
+  version: 0.10.4
+source:
+  git_url: https://github.com/ros2-gbp/sros2-release.git
+  git_rev: release/humble/sros2_cmake/0.10.4-2
+  folder: ros-humble-sros2-cmake/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-test
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-ros2cli
+    - ros-humble-sros2
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ros-workspace
+    - ros-humble-ros2cli
+    - ros-humble-sros2
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-turtlebot3-bringup/bld_ament_cmake.bat b/recipes/ros-humble-turtlebot3-bringup/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-bringup/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-turtlebot3-bringup/build_ament_cmake.sh b/recipes/ros-humble-turtlebot3-bringup/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-bringup/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-turtlebot3-bringup/recipe.yaml b/recipes/ros-humble-turtlebot3-bringup/recipe.yaml
new file mode 100644
index 00000000..fc65111a
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-bringup/recipe.yaml
@@ -0,0 +1,58 @@
+package:
+  name: ros-humble-turtlebot3-bringup
+  version: 2.1.5
+source:
+  git_url: https://github.com/robotis-ros2-release/turtlebot3-release.git
+  git_rev: release/humble/turtlebot3_bringup/2.1.5-1
+  folder: ros-humble-turtlebot3-bringup/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-hls-lfcd-lds-driver
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-turtlebot3-description
+    - ros-humble-turtlebot3-node
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-turtlebot3-gazebo/bld_ament_cmake.bat b/recipes/ros-humble-turtlebot3-gazebo/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-gazebo/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-turtlebot3-gazebo/build_ament_cmake.sh b/recipes/ros-humble-turtlebot3-gazebo/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-gazebo/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-turtlebot3-gazebo/recipe.yaml b/recipes/ros-humble-turtlebot3-gazebo/recipe.yaml
new file mode 100644
index 00000000..a6ca7550
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-gazebo/recipe.yaml
@@ -0,0 +1,65 @@
+package:
+  name: ros-humble-turtlebot3-gazebo
+  version: 2.2.5
+source:
+  git_url: https://github.com/ros2-gbp/turtlebot3_simulations-release.git
+  git_rev: release/humble/turtlebot3_gazebo/2.2.5-3
+  folder: ros-humble-turtlebot3-gazebo/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-gazebo-ros-pkgs
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-sensor-msgs
+    - ros-humble-tf2
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-gazebo-ros-pkgs
+    - ros-humble-geometry-msgs
+    - ros-humble-nav-msgs
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-sensor-msgs
+    - ros-humble-tf2
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-turtlebot3-navigation2/bld_ament_cmake.bat b/recipes/ros-humble-turtlebot3-navigation2/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-navigation2/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-turtlebot3-navigation2/build_ament_cmake.sh b/recipes/ros-humble-turtlebot3-navigation2/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-navigation2/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-turtlebot3-navigation2/recipe.yaml b/recipes/ros-humble-turtlebot3-navigation2/recipe.yaml
new file mode 100644
index 00000000..678e9173
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-navigation2/recipe.yaml
@@ -0,0 +1,54 @@
+package:
+  name: ros-humble-turtlebot3-navigation2
+  version: 2.1.5
+source:
+  git_url: https://github.com/robotis-ros2-release/turtlebot3-release.git
+  git_rev: release/humble/turtlebot3_navigation2/2.1.5-1
+  folder: ros-humble-turtlebot3-navigation2/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-nav2-bringup
+    - 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/recipes/ros-humble-turtlebot3-simulations/bld_ament_cmake.bat b/recipes/ros-humble-turtlebot3-simulations/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-simulations/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-turtlebot3-simulations/build_ament_cmake.sh b/recipes/ros-humble-turtlebot3-simulations/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-simulations/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-turtlebot3-simulations/recipe.yaml b/recipes/ros-humble-turtlebot3-simulations/recipe.yaml
new file mode 100644
index 00000000..100896d0
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3-simulations/recipe.yaml
@@ -0,0 +1,55 @@
+package:
+  name: ros-humble-turtlebot3-simulations
+  version: 2.2.5
+source:
+  git_url: https://github.com/ros2-gbp/turtlebot3_simulations-release.git
+  git_rev: release/humble/turtlebot3_simulations/2.2.5-3
+  folder: ros-humble-turtlebot3-simulations/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ros-workspace
+    - ros-humble-turtlebot3-fake-node
+    - ros-humble-turtlebot3-gazebo
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-turtlebot3/bld_ament_cmake.bat b/recipes/ros-humble-turtlebot3/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-turtlebot3/build_ament_cmake.sh b/recipes/ros-humble-turtlebot3/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-turtlebot3/recipe.yaml b/recipes/ros-humble-turtlebot3/recipe.yaml
new file mode 100644
index 00000000..597d7371
--- /dev/null
+++ b/recipes/ros-humble-turtlebot3/recipe.yaml
@@ -0,0 +1,60 @@
+package:
+  name: ros-humble-turtlebot3
+  version: 2.1.5
+source:
+  git_url: https://github.com/robotis-ros2-release/turtlebot3-release.git
+  git_rev: release/humble/turtlebot3/2.1.5-1
+  folder: ros-humble-turtlebot3/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ros-workspace
+    - ros-humble-turtlebot3-bringup
+    - ros-humble-turtlebot3-cartographer
+    - ros-humble-turtlebot3-description
+    - ros-humble-turtlebot3-example
+    - ros-humble-turtlebot3-navigation2
+    - ros-humble-turtlebot3-node
+    - ros-humble-turtlebot3-teleop
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-ur-calibration/bld_ament_cmake.bat b/recipes/ros-humble-ur-calibration/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ur-calibration/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ur-calibration/build_ament_cmake.sh b/recipes/ros-humble-ur-calibration/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ur-calibration/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ur-calibration/patch/ros-humble-ur-calibration.patch b/recipes/ros-humble-ur-calibration/patch/ros-humble-ur-calibration.patch
new file mode 100644
index 00000000..308b7501
--- /dev/null
+++ b/recipes/ros-humble-ur-calibration/patch/ros-humble-ur-calibration.patch
@@ -0,0 +1,16 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0b17e4d..5ab58e1 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -34,10 +34,9 @@ target_include_directories(calibration
+   PUBLIC
+     include
+     ${EIGEN3_INCLUDE_DIRS}
+-    ${YAML_CPP_INCLUDE_DIRS}
+ )
+ target_link_libraries(calibration
+-  ${YAML_CPP_LIBRARIES}
++  yaml-cpp
+ )
+ ament_target_dependencies(calibration
+   rclcpp
diff --git a/recipes/ros-humble-ur-calibration/recipe.yaml b/recipes/ros-humble-ur-calibration/recipe.yaml
new file mode 100644
index 00000000..4b63e044
--- /dev/null
+++ b/recipes/ros-humble-ur-calibration/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: ros-humble-ur-calibration
+  version: 2.2.10
+source:
+  git_url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
+  git_rev: release/humble/ur_calibration/2.2.10-1
+  folder: ros-humble-ur-calibration/src/work
+  patches:
+    - patch/ros-humble-ur-calibration.patch
+
+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:
+    - eigen
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-humble-ament-cmake
+    - ros-humble-ament-cmake-gmock
+    - ros-humble-ament-cmake-gtest
+    - ros-humble-ament-lint-auto
+    - ros-humble-ament-lint-common
+    - ros-humble-rclcpp
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-ur-client-library
+    - ros-humble-ur-robot-driver
+    - ros2-distro-mutex 0.5 humble
+    - yaml-cpp
+  run:
+    - eigen
+    - python
+    - ros-humble-rclcpp
+    - ros-humble-ros-workspace
+    - ros-humble-ur-client-library
+    - ros-humble-ur-robot-driver
+    - ros2-distro-mutex 0.5 humble
+    - yaml-cpp
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-ur-description/bld_ament_cmake.bat b/recipes/ros-humble-ur-description/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ur-description/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ur-description/build_ament_cmake.sh b/recipes/ros-humble-ur-description/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ur-description/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ur-description/recipe.yaml b/recipes/ros-humble-ur-description/recipe.yaml
new file mode 100644
index 00000000..a23e5405
--- /dev/null
+++ b/recipes/ros-humble-ur-description/recipe.yaml
@@ -0,0 +1,65 @@
+package:
+  name: ros-humble-ur-description
+  version: 2.1.3
+source:
+  git_url: https://github.com/ros2-gbp/ur_description-release.git
+  git_rev: release/humble/ur_description/2.1.3-1
+  folder: ros-humble-ur-description/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-pytest
+    - ros-humble-launch-testing-ament-cmake
+    - ros-humble-launch-testing-ros
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-xacro
+    - ros2-distro-mutex 0.5 humble
+    - urdfdom
+  run:
+    - python
+    - ros-humble-joint-state-publisher-gui
+    - ros-humble-launch
+    - ros-humble-launch-ros
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-urdf
+    - ros-humble-xacro
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-ur-moveit-config/bld_ament_cmake.bat b/recipes/ros-humble-ur-moveit-config/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ur-moveit-config/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ur-moveit-config/build_ament_cmake.sh b/recipes/ros-humble-ur-moveit-config/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ur-moveit-config/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ur-moveit-config/recipe.yaml b/recipes/ros-humble-ur-moveit-config/recipe.yaml
new file mode 100644
index 00000000..cf247c11
--- /dev/null
+++ b/recipes/ros-humble-ur-moveit-config/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: ros-humble-ur-moveit-config
+  version: 2.2.10
+source:
+  git_url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
+  git_rev: release/humble/ur_moveit_config/2.2.10-1
+  folder: ros-humble-ur-moveit-config/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-python
+    - ros-humble-rclpy
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-launch
+    - ros-humble-launch-ros
+    - ros-humble-moveit-kinematics
+    - ros-humble-moveit-planners-ompl
+    - ros-humble-moveit-ros-move-group
+    - ros-humble-moveit-ros-visualization
+    - ros-humble-moveit-servo
+    - ros-humble-moveit-simple-controller-manager
+    - ros-humble-rclpy
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-ur-description
+    - ros-humble-urdf
+    - ros-humble-warehouse-ros-sqlite
+    - ros-humble-xacro
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-ur-robot-driver/bld_ament_cmake.bat b/recipes/ros-humble-ur-robot-driver/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ur-robot-driver/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ur-robot-driver/build_ament_cmake.sh b/recipes/ros-humble-ur-robot-driver/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ur-robot-driver/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ur-robot-driver/recipe.yaml b/recipes/ros-humble-ur-robot-driver/recipe.yaml
new file mode 100644
index 00000000..01a223eb
--- /dev/null
+++ b/recipes/ros-humble-ur-robot-driver/recipe.yaml
@@ -0,0 +1,103 @@
+package:
+  name: ros-humble-ur-robot-driver
+  version: 2.2.10
+source:
+  git_url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
+  git_rev: release/humble/ur_robot_driver/2.2.10-1
+  folder: ros-humble-ur-robot-driver/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-python
+    - ros-humble-backward-ros
+    - ros-humble-controller-manager
+    - ros-humble-controller-manager-msgs
+    - ros-humble-geometry-msgs
+    - ros-humble-hardware-interface
+    - ros-humble-launch-testing-ament-cmake
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-rclpy
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros-humble-std-srvs
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-ur-client-library
+    - ros-humble-ur-controllers
+    - ros-humble-ur-dashboard-msgs
+    - ros-humble-ur-description
+    - ros-humble-ur-msgs
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-backward-ros
+    - ros-humble-controller-manager
+    - ros-humble-controller-manager-msgs
+    - ros-humble-force-torque-sensor-broadcaster
+    - ros-humble-geometry-msgs
+    - ros-humble-hardware-interface
+    - ros-humble-joint-state-broadcaster
+    - ros-humble-joint-state-publisher
+    - ros-humble-joint-trajectory-controller
+    - ros-humble-launch
+    - ros-humble-launch-ros
+    - ros-humble-pluginlib
+    - ros-humble-position-controllers
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-rclpy
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-workspace
+    - ros-humble-ros2-controllers-test-nodes
+    - ros-humble-rviz2
+    - ros-humble-std-msgs
+    - ros-humble-std-srvs
+    - ros-humble-tf2-geometry-msgs
+    - ros-humble-ur-client-library
+    - ros-humble-ur-controllers
+    - ros-humble-ur-dashboard-msgs
+    - ros-humble-ur-description
+    - ros-humble-ur-msgs
+    - ros-humble-urdf
+    - ros-humble-velocity-controllers
+    - ros-humble-xacro
+    - ros2-distro-mutex 0.5 humble
+    - socat
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-ur/bld_ament_cmake.bat b/recipes/ros-humble-ur/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-ur/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-ur/build_ament_cmake.sh b/recipes/ros-humble-ur/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-ur/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-ur/recipe.yaml b/recipes/ros-humble-ur/recipe.yaml
new file mode 100644
index 00000000..077d13ec
--- /dev/null
+++ b/recipes/ros-humble-ur/recipe.yaml
@@ -0,0 +1,60 @@
+package:
+  name: ros-humble-ur
+  version: 2.2.10
+source:
+  git_url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
+  git_rev: release/humble/ur/2.2.10-1
+  folder: ros-humble-ur/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-workspace
+    - ros-humble-ur-calibration
+    - ros-humble-ur-controllers
+    - ros-humble-ur-dashboard-msgs
+    - ros-humble-ur-moveit-config
+    - ros-humble-ur-robot-driver
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-urdf-launch/bld_ament_cmake.bat b/recipes/ros-humble-urdf-launch/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-urdf-launch/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-urdf-launch/build_ament_cmake.sh b/recipes/ros-humble-urdf-launch/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-urdf-launch/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-urdf-launch/recipe.yaml b/recipes/ros-humble-urdf-launch/recipe.yaml
new file mode 100644
index 00000000..81cfdde3
--- /dev/null
+++ b/recipes/ros-humble-urdf-launch/recipe.yaml
@@ -0,0 +1,63 @@
+package:
+  name: ros-humble-urdf-launch
+  version: 0.1.1
+source:
+  git_url: https://github.com/ros2-gbp/urdf_launch-release.git
+  git_rev: release/humble/urdf_launch/0.1.1-1
+  folder: ros-humble-urdf-launch/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-rviz-common
+    - ros-humble-rviz-default-plugins
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-joint-state-publisher
+    - ros-humble-joint-state-publisher-gui
+    - ros-humble-launch-ros
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-workspace
+    - ros-humble-rviz-common
+    - ros-humble-rviz-default-plugins
+    - ros-humble-rviz2
+    - ros-humble-xacro
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-urdf-tutorial/bld_ament_cmake.bat b/recipes/ros-humble-urdf-tutorial/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-urdf-tutorial/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-urdf-tutorial/build_ament_cmake.sh b/recipes/ros-humble-urdf-tutorial/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-urdf-tutorial/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-urdf-tutorial/recipe.yaml b/recipes/ros-humble-urdf-tutorial/recipe.yaml
new file mode 100644
index 00000000..ccdca939
--- /dev/null
+++ b/recipes/ros-humble-urdf-tutorial/recipe.yaml
@@ -0,0 +1,55 @@
+package:
+  name: ros-humble-urdf-tutorial
+  version: 1.1.0
+source:
+  git_url: https://github.com/ros2-gbp/urdf_tutorial-release.git
+  git_rev: release/humble/urdf_tutorial/1.1.0-1
+  folder: ros-humble-urdf-tutorial/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-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-ros-workspace
+    - ros-humble-urdf-launch
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-webots-ros2-control/bld_ament_cmake.bat b/recipes/ros-humble-webots-ros2-control/bld_ament_cmake.bat
new file mode 100644
index 00000000..7aa6fc90
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-control/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: 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% ^
+    %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-webots-ros2-control/build_ament_cmake.sh b/recipes/ros-humble-webots-ros2-control/build_ament_cmake.sh
new file mode 100644
index 00000000..01c63b55
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-control/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# 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}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$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=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/recipes/ros-humble-webots-ros2-control/patch/ros-humble-webots-ros2-control.patch b/recipes/ros-humble-webots-ros2-control/patch/ros-humble-webots-ros2-control.patch
new file mode 100644
index 00000000..c974a1db
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-control/patch/ros-humble-webots-ros2-control.patch
@@ -0,0 +1,22 @@
+diff --git a/webots_ros2_control/src/Ros2Control.cpp b/webots_ros2_control/src/Ros2Control.cpp
+index fca501e86..fa414b150 100644
+--- a/webots_ros2_control/src/Ros2Control.cpp
++++ b/webots_ros2_control/src/Ros2Control.cpp
+@@ -78,7 +78,7 @@ namespace webots_ros2_control {
+     }
+     for (unsigned int i = 0; i < controlHardware.size(); i++) {
+ // Necessary hotfix for renamed variables present in "hardware_interface" package for versions above 3.5 (#590)
+-#if HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 5
++#if TRUE
+       const std::string pluginName = controlHardware[i].hardware_plugin_name;
+       auto webotsSystem =
+         std::unique_ptr<webots_ros2_control::Ros2ControlSystemInterface>(mHardwareLoader->createUnmanagedInstance(pluginName));
+@@ -93,7 +93,7 @@ namespace webots_ros2_control {
+ // Configure and activate all components
+ // Necessary hotfix for deprecation of component activation present in "hardware_interface" package for versions above 3.15
+ // (#793)
+-#if HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 15
++#if TRUE
+       using lifecycle_msgs::msg::State;
+       rclcpp_lifecycle::State active_state(State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
+       resourceManager->set_component_state(controlHardware[i].name, active_state);
diff --git a/recipes/ros-humble-webots-ros2-control/recipe.yaml b/recipes/ros-humble-webots-ros2-control/recipe.yaml
new file mode 100644
index 00000000..b8bb0f47
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-control/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: ros-humble-webots-ros2-control
+  version: 2023.1.1
+source:
+  git_url: https://github.com/ros2-gbp/webots_ros2-release.git
+  git_rev: release/humble/webots_ros2_control/2023.1.1-2
+  folder: ros-humble-webots-ros2-control/src/work
+  patches:
+    - patch/ros-humble-webots-ros2-control.patch
+
+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-controller-manager
+    - ros-humble-hardware-interface
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-webots-ros2-driver
+    - ros2-distro-mutex 0.5 humble
+  run:
+    - python
+    - ros-humble-controller-manager
+    - ros-humble-hardware-interface
+    - ros-humble-pluginlib
+    - ros-humble-rclcpp
+    - ros-humble-rclcpp-lifecycle
+    - ros-humble-ros-workspace
+    - ros-humble-webots-ros2-driver
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-webots-ros2-epuck/bld_ament_python.bat b/recipes/ros-humble-webots-ros2-epuck/bld_ament_python.bat
new file mode 100644
index 00000000..f4e97b21
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-epuck/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-webots-ros2-epuck/build_ament_python.sh b/recipes/ros-humble-webots-ros2-epuck/build_ament_python.sh
new file mode 100644
index 00000000..8c1268be
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-epuck/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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
+fi
diff --git a/recipes/ros-humble-webots-ros2-epuck/recipe.yaml b/recipes/ros-humble-webots-ros2-epuck/recipe.yaml
new file mode 100644
index 00000000..574ed4b0
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-epuck/recipe.yaml
@@ -0,0 +1,70 @@
+package:
+  name: ros-humble-webots-ros2-epuck
+  version: 2023.1.1
+source:
+  git_url: https://github.com/ros2-gbp/webots_ros2-release.git
+  git_rev: release/humble/webots_ros2_epuck/2023.1.1-2
+  folder: ros-humble-webots-ros2-epuck/src/work
+
+build:
+  script:
+    sel(win): bld_ament_python.bat
+    sel(unix): build_ament_python.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
+    - pytest
+    - python
+    - ros-humble-ament-copyright
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+    - setuptools
+  run:
+    - python
+    - ros-humble-builtin-interfaces
+    - ros-humble-controller-manager
+    - ros-humble-diff-drive-controller
+    - ros-humble-geometry-msgs
+    - ros-humble-joint-state-broadcaster
+    - ros-humble-nav-msgs
+    - ros-humble-rclpy
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-sensor-msgs
+    - ros-humble-std-msgs
+    - ros-humble-tf2-ros
+    - ros-humble-webots-ros2-control
+    - ros-humble-webots-ros2-driver
+    - ros-humble-webots-ros2-msgs
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-webots-ros2-tests/bld_ament_python.bat b/recipes/ros-humble-webots-ros2-tests/bld_ament_python.bat
new file mode 100644
index 00000000..f4e97b21
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-tests/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-webots-ros2-tests/build_ament_python.sh b/recipes/ros-humble-webots-ros2-tests/build_ament_python.sh
new file mode 100644
index 00000000..8c1268be
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-tests/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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
+fi
diff --git a/recipes/ros-humble-webots-ros2-tests/recipe.yaml b/recipes/ros-humble-webots-ros2-tests/recipe.yaml
new file mode 100644
index 00000000..3a1ccd9c
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-tests/recipe.yaml
@@ -0,0 +1,74 @@
+package:
+  name: ros-humble-webots-ros2-tests
+  version: 2023.1.1
+source:
+  git_url: https://github.com/ros2-gbp/webots_ros2-release.git
+  git_rev: release/humble/webots_ros2_tests/2023.1.1-2
+  folder: ros-humble-webots-ros2-tests/src/work
+
+build:
+  script:
+    sel(win): bld_ament_python.bat
+    sel(unix): build_ament_python.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
+    - pytest
+    - python
+    - ros-humble-ament-copyright
+    - ros-humble-geometry-msgs
+    - ros-humble-launch
+    - ros-humble-launch-testing
+    - ros-humble-launch-testing-ament-cmake
+    - ros-humble-launch-testing-ros
+    - ros-humble-rclpy
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-ros2bag
+    - ros-humble-rosbag2-storage-default-plugins
+    - ros-humble-sensor-msgs
+    - ros-humble-std-msgs
+    - ros-humble-std-srvs
+    - ros-humble-tf2-ros
+    - ros-humble-webots-ros2-driver
+    - ros-humble-webots-ros2-epuck
+    - ros-humble-webots-ros2-mavic
+    - ros-humble-webots-ros2-tesla
+    - ros-humble-webots-ros2-tiago
+    - ros-humble-webots-ros2-turtlebot
+    - ros-humble-webots-ros2-universal-robot
+    - ros2-distro-mutex 0.5 humble
+    - setuptools
+  run:
+    - python
+    - 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/recipes/ros-humble-webots-ros2-tiago/bld_ament_python.bat b/recipes/ros-humble-webots-ros2-tiago/bld_ament_python.bat
new file mode 100644
index 00000000..f4e97b21
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-tiago/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-webots-ros2-tiago/build_ament_python.sh b/recipes/ros-humble-webots-ros2-tiago/build_ament_python.sh
new file mode 100644
index 00000000..8c1268be
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-tiago/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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
+fi
diff --git a/recipes/ros-humble-webots-ros2-tiago/recipe.yaml b/recipes/ros-humble-webots-ros2-tiago/recipe.yaml
new file mode 100644
index 00000000..dd2b8daa
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-tiago/recipe.yaml
@@ -0,0 +1,66 @@
+package:
+  name: ros-humble-webots-ros2-tiago
+  version: 2023.1.1
+source:
+  git_url: https://github.com/ros2-gbp/webots_ros2-release.git
+  git_rev: release/humble/webots_ros2_tiago/2023.1.1-2
+  folder: ros-humble-webots-ros2-tiago/src/work
+
+build:
+  script:
+    sel(win): bld_ament_python.bat
+    sel(unix): build_ament_python.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
+    - pytest
+    - python
+    - ros-humble-ament-copyright
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+    - setuptools
+  run:
+    - python
+    - ros-humble-builtin-interfaces
+    - ros-humble-controller-manager
+    - ros-humble-diff-drive-controller
+    - ros-humble-geometry-msgs
+    - ros-humble-joint-state-broadcaster
+    - ros-humble-rclpy
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-tf2-ros
+    - ros-humble-webots-ros2-control
+    - ros-humble-webots-ros2-driver
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-webots-ros2-turtlebot/bld_ament_python.bat b/recipes/ros-humble-webots-ros2-turtlebot/bld_ament_python.bat
new file mode 100644
index 00000000..f4e97b21
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-turtlebot/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-webots-ros2-turtlebot/build_ament_python.sh b/recipes/ros-humble-webots-ros2-turtlebot/build_ament_python.sh
new file mode 100644
index 00000000..8c1268be
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-turtlebot/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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
+fi
diff --git a/recipes/ros-humble-webots-ros2-turtlebot/recipe.yaml b/recipes/ros-humble-webots-ros2-turtlebot/recipe.yaml
new file mode 100644
index 00000000..7947a7b2
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-turtlebot/recipe.yaml
@@ -0,0 +1,65 @@
+package:
+  name: ros-humble-webots-ros2-turtlebot
+  version: 2023.1.1
+source:
+  git_url: https://github.com/ros2-gbp/webots_ros2-release.git
+  git_rev: release/humble/webots_ros2_turtlebot/2023.1.1-2
+  folder: ros-humble-webots-ros2-turtlebot/src/work
+
+build:
+  script:
+    sel(win): bld_ament_python.bat
+    sel(unix): build_ament_python.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
+    - pytest
+    - python
+    - ros-humble-ament-copyright
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+    - setuptools
+  run:
+    - python
+    - ros-humble-builtin-interfaces
+    - ros-humble-controller-manager
+    - ros-humble-diff-drive-controller
+    - ros-humble-joint-state-broadcaster
+    - ros-humble-rclpy
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-tf2-ros
+    - ros-humble-webots-ros2-control
+    - ros-humble-webots-ros2-driver
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-webots-ros2-universal-robot/bld_ament_python.bat b/recipes/ros-humble-webots-ros2-universal-robot/bld_ament_python.bat
new file mode 100644
index 00000000..f4e97b21
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-universal-robot/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-webots-ros2-universal-robot/build_ament_python.sh b/recipes/ros-humble-webots-ros2-universal-robot/build_ament_python.sh
new file mode 100644
index 00000000..8c1268be
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-universal-robot/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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
+fi
diff --git a/recipes/ros-humble-webots-ros2-universal-robot/recipe.yaml b/recipes/ros-humble-webots-ros2-universal-robot/recipe.yaml
new file mode 100644
index 00000000..ad2546d8
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2-universal-robot/recipe.yaml
@@ -0,0 +1,67 @@
+package:
+  name: ros-humble-webots-ros2-universal-robot
+  version: 2023.1.1
+source:
+  git_url: https://github.com/ros2-gbp/webots_ros2-release.git
+  git_rev: release/humble/webots_ros2_universal_robot/2023.1.1-2
+  folder: ros-humble-webots-ros2-universal-robot/src/work
+
+build:
+  script:
+    sel(win): bld_ament_python.bat
+    sel(unix): build_ament_python.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
+    - pytest
+    - python
+    - ros-humble-ament-copyright
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros2-distro-mutex 0.5 humble
+    - setuptools
+  run:
+    - python
+    - ros-humble-builtin-interfaces
+    - ros-humble-control-msgs
+    - ros-humble-controller-manager
+    - ros-humble-joint-state-broadcaster
+    - ros-humble-joint-trajectory-controller
+    - ros-humble-rclpy
+    - ros-humble-robot-state-publisher
+    - ros-humble-ros-workspace
+    - ros-humble-rviz2
+    - ros-humble-trajectory-msgs
+    - ros-humble-webots-ros2-control
+    - ros-humble-webots-ros2-driver
+    - ros-humble-xacro
+    - ros2-distro-mutex 0.5 humble
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/recipes/ros-humble-webots-ros2/bld_ament_python.bat b/recipes/ros-humble-webots-ros2/bld_ament_python.bat
new file mode 100644
index 00000000..f4e97b21
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2/bld_ament_python.bat
@@ -0,0 +1,21 @@
+:: 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
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% -m pip install . --no-deps -vvv
+) else (
+    set "INSTALL_SCRIPTS_ARG=--install-scripts=%LIBRARY_PREFIX%\bin"
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        %INSTALL_SCRIPTS_ARG%
+)
+
+if errorlevel 1 exit 1
diff --git a/recipes/ros-humble-webots-ros2/build_ament_python.sh b/recipes/ros-humble-webots-ros2/build_ament_python.sh
new file mode 100644
index 00000000..8c1268be
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2/build_ament_python.sh
@@ -0,0 +1,19 @@
+# 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
+result=$?
+grep -q "install[-_]scripts" setup.cfg || true
+if [ $result -eq 0 ]; then
+  $PYTHON -m pip install . --no-deps -vvv
+else
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${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
+fi
diff --git a/recipes/ros-humble-webots-ros2/recipe.yaml b/recipes/ros-humble-webots-ros2/recipe.yaml
new file mode 100644
index 00000000..1764368f
--- /dev/null
+++ b/recipes/ros-humble-webots-ros2/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: ros-humble-webots-ros2
+  version: 2023.1.1
+source:
+  git_url: https://github.com/ros2-gbp/webots_ros2-release.git
+  git_rev: release/humble/webots_ros2/2023.1.1-2
+  folder: ros-humble-webots-ros2/src/work
+
+build:
+  script:
+    sel(win): bld_ament_python.bat
+    sel(unix): build_ament_python.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
+    - pytest
+    - python
+    - ros-humble-ament-copyright
+    - ros-humble-ros-environment
+    - ros-humble-ros-workspace
+    - ros-humble-webots-ros2-tests
+    - ros2-distro-mutex 0.5 humble
+    - setuptools
+  run:
+    - python
+    - ros-humble-builtin-interfaces
+    - ros-humble-rclpy
+    - ros-humble-ros-workspace
+    - ros-humble-std-msgs
+    - ros-humble-webots-ros2-control
+    - ros-humble-webots-ros2-driver
+    - ros-humble-webots-ros2-epuck
+    - ros-humble-webots-ros2-importer
+    - ros-humble-webots-ros2-mavic
+    - ros-humble-webots-ros2-msgs
+    - ros-humble-webots-ros2-tesla
+    - ros-humble-webots-ros2-tiago
+    - ros-humble-webots-ros2-turtlebot
+    - ros-humble-webots-ros2-universal-robot
+    - 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..976e120b
--- /dev/null
+++ b/vinca.yaml
@@ -0,0 +1,517 @@
+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
+
+packages_skip_by_deps:
+  # - nav2-rotation-shim-controller
+  # - rviz
+  # - diagnostic_updater
+  - cartographer
+  - octomap
+
+packages_remove_from_deps:
+  - cartographer
+  - octomap
+  - warehouse_ros_mongo
+  # - stage-ros
+  # - python_qt_binding
+  # - joint_state_publisher_gui
+  # - stage
+
+skip_existing:
+  - https://conda.anaconda.org/robostack-staging/
+
+packages_select_by_deps:
+  # only subset of packages to reduce maintainer load
+
+  - qt-qui-cpp # needs to be compiled locally
+
+  - ros_workspace
+  - ros_environment
+  - ament_cmake
+  - ros_base
+  - desktop
+  - navigation2
+  - graph_msgs
+  - nav2_bringup
+  - webots_ros2
+  - turtlebot3
+  - desktop_full
+  - apriltag
+
+  - turtlebot3_fake_node
+  - ur
+  - ublox
+  - robot_localization
+  - topic_tools
+  - stubborn_buddies
+  - teleop_tools
+  - udp_driver
+  - urdf_tutorial
+
+  - test_bond
+  - apex_test_tools
+  - ublox_dgnss
+  - velodyne_description
+  - velodyne
+  - visp
+
+  - apex_containers
+  - apex_test_tools
+  - bno055
+  - aws_robomaker_small_warehouse_world
+  - avt_vimba_camera
+
+  - ros_ign
+  - spacenav
+  - system_modes
+  - tf_transformations
+  - turtle_tf2_cpp
+  - turtle_tf2_py
+  - ros2controlcli
+  - robot_controllers
+
+  - ros2_control
+  - ros2_controllers
+  - control-toolbox
+  - joint-trajectory-controller
+
+  - gazebo-dev
+  - gazebo-plugins
+  - gazebo-ros
+  - gazebo-ros-pkgs
+
+  - turtlebot3_gazebo
+  - turtlebot3_simulations
+
+  - rqt
+  - rqt_image_overlay
+  - rqt-robot-dashboard
+  - rqt-robot-monitor
+  - rqt-robot-steering
+
+  - joint-state-broadcaster
+  - joint-state-publisher
+  - xacro
+
+  - image-pipeline
+  - image-view
+
+  - bond-core
+  - camera-calibration
+  - camera-calibration-parsers
+  - camera-info-manager
+  - slam-toolbox
+
+  - foxglove_bridge
+  - ament-cmake-nose
+  - geographic_info
+  - geodesy
+
+  - rosbridge_suite
+  - ament_cmake_catch2
+
+  - apriltag
+  - apriltag_ros
+
+  # - moveit
+  # - moveit-resources
+  # - moveit-ros-perception
+  # - moveit-runtime
+  # - moveit-servo
+  # - moveit_visual_tools
+  # - moveit_servo
+  # - rqt-moveit
+
+
+
+  # ----- end of package support -----
+
+  # - rtabmap
+  # - control-box-rst
+
+  # - plotjuggler
+  # - plotjuggler_ros
+
+  # - zmqpp_vendor
+
+  # - fogros2
+  # - foxglove_msgs
+  # - four_wheel_steering_msgs
+  # - geometry_tutorials
+  # - gps_tools
+  # - gps_umd
+  # - gpsd_client
+
+  # - gscam
+
+  # - v4l2_camera
+  # - usb_cam
+
+  # - zbar_ros
+  # - vitis_common
+  # - urg_node
+  # - ur_bringup
+  # - ublox_dgnss_node
+  # - ublox_ubx_interfaces
+  # - twist_mux
+
+  # - ros2acceleration
+  # - ros2launch_security
+  # - ros2launch_security_examples
+  # - ros2nodl
+  # - ros2trace
+
+  # - rosapi
+  # - rosbag2_storage_mcap
+  # - rosbag2_performance_benchmarking
+
+  # - rosbridge_suite
+
+  # - can_msgs
+  # - cartographer_rviz
+  # - cascade_lifecycle_msgs
+  # - chomp_motion_planner
+  # - color_names
+  # - cudnn_cmake_module
+
+  # - rmf_demos
+  # - rmf_traffic_msgs
+  # - rmf_demos_maps
+  # - rmf_demos_tasks
+
+  # - adaptive_component
+  # - async_web_server_cpp
+  # - boost_geometry_util
+
+  # - ros2_ouster
+  # - ros2_socketcan
+  # - ros2trace_analysis
+  # - rplidar_ros
+  # - rot_conv
+  # - rt_manipulators
+  # - rt_manipulators_examples
+
+  # - acado_vendor
+  # - automotive_autonomy_msgs
+  # - automotive_navigation_msgs
+  # - automotive_platform_msgs
+  # - autoware_auto_msgs
+
+  # - dolly
+
+  # - rviz_imu_plugin
+  # - sdformat_test_files
+  # - sdformat_urdf
+  # - self_test
+  # - serial_driver
+  # - simple_launch
+  # - slider_publisher
+  # - soccer_interfaces
+  # - topic_statistics_demo
+
+  # needs babeltools and lttng-python on conda-forge
+  # - smacc2
+
+  # Not yet working
+  # - tvm_vendor
+  # - zenoh_bridge_dds
+  # - velodyne_simulator
+  # - wiimote
+  # - depthai
+  # - turtlebot3
+
+  # - behaviortree_cpp_v3
+  # - ros_workspace
+  # - ros1_bridge
+
+  # Used to work, now needs fixes
+  # - webots-ros2
+  # - webots-ros2-abb
+  # - webots-ros2-core
+  # - webots-ros2-demos
+  # - webots-ros2-epuck
+  # - webots-ros2-examples
+  # - webots-ros2-importer
+  # - webots-ros2-msgs
+  # - webots-ros2-tesla
+  # - webots-ros2-tiago
+  # - webots-ros2-turtlebot
+  # - webots-ros2-tutorials
+  # - webots-ros2-universal-robot
+  # - webots-ros2-ur-e-description
+  # - webots_ros2
+
+  # needs a rebuild of ros-noetic first
+  # - ros1-rosbag-storage-vendor
+
+  # build locally but not on CI; for now uploaded from local
+  # - popf
+  # - ros-ign-bridge
+  # - ros-ign-image
+
+  # working
+  # - sbg_driver
+  # - ruckig
+  # - rosbridge-msgs
+  # - rosbridge-library
+  # - ros2launch-security
+  # - picknik-ament-copyright
+  # - nodl-to-policy
+  # - geometry-tutorials
+  # - sdformat-urdf
+  # - cartographer-ros
+  # - plansys2-bt-actions
+  # - plansys2-terminal
+  # - nav2-system-tests
+  # - lanelet2
+  # - plansys2-bringup
+  # - octovis
+  # - gps-umd
+  # - usb-cam
+  # - tvm-vendor
+  # - ros2-socketcan
+  # - mrpt2
+  # - ublox-dgnss
+  # - fmi-adapter-examples
+  # - spacenav
+  # - ros-ign
+  # - menge-vendor
+  # - openvslam
+  # - ackermann-msgs
+  # - four-wheel-steering-msgs
+  # - ign-rviz
+  # - ign-rviz-common
+  # - ign-rviz-plugins
+  # - libphidget22
+  # - nao-lola
+  # - phidgets-accelerometer
+  # - phidgets-analog-inputs
+  # - phidgets-api
+  # - phidgets-digital-inputs
+  # - phidgets-digital-outputs
+  # - phidgets-drivers
+  # - phidgets-gyroscope
+  # - phidgets-high-speed-encoder
+  # - phidgets-ik
+  # - phidgets-magnetometer
+  # - phidgets-motors
+  # - phidgets-spatial
+  # - phidgets-temperature
+  # - ros-ign-bridge
+  # - ros-ign-gazebo
+  # - ros-ign-image
+  # - ros-ign-interfaces
+  # - soccer-marker-generation
+  # - vision-msgs
+  # - acado-vendor
+  # - ament-clang-format
+  # - ament_clang_tidy
+  # - ament-cmake-catch2
+  # - ament_cmake_clang_tidy
+  # - ament-cmake-clang-format
+  # - ament_cmake_mypy
+  # - ament_cmake_nose
+  # - ament_cmake_pclint
+  # - ament_cmake_pycodestyle
+  # - ament_cmake_pyflakes
+  # - ament_download
+  # - ament_pclint
+  # - ament_pyflakes
+  # - ament-nodl
+  # - ament-pclint
+  # - ament-pycodestyle
+  # - ament-pyflakes
+  # - apex-containers
+  # - apex-test-tools
+  # - apriltag
+  # - async-web-server-cpp
+  # - autoware-auto-msgs
+  # - backward-ros
+  # - bno055
+  # - can-msgs
+  # - cartographer-ros-msgs
+  # - cascade-lifecycle-msgs
+  # - color-names
+  # - compressed-depth-image-transport
+  # - compressed-image-transport
+  # - depth-image-proc
+  # - diagnostic-aggregator
+  # - diagnostic-updater
+  # - domain-bridge
+  # - dynamic-edt-3d
+  # - dynamixel-sdk
+  # - dynamixel-sdk-custom-interfaces
+  # - dynamixel-sdk-examples
+  # - examples-rclcpp-cbg-executor
+  # - examples-rclpy-guard-conditions
+  # - examples-rclpy-pointcloud-publisher
+  # - examples-tf2-py
+  # - filters
+  # - geographic-info
+  # - geographic-msgs
+  # - gps-msgs
+  # - gps-tools
+  # - grbl-msgs
+  # - grbl-ros
+  # - gurumdds-cmake-module
+  # - hls-lfcd-lds-driver
+  # - ifm3d-core
+  # - image-common
+  # - image-proc
+  # - image-publisher
+  # - image-rotate
+  # - joy-linux
+  # - joy-teleop
+  # - key-teleop
+  # - laser-proc
+  # - launch-system-modes
+  # - lgsvl-msgs
+  # - libmavconn
+  - librealsense2
+  # - marti-can-msgs
+  # - marti-common-msgs
+  # - marti-dbw-msgs
+  # - marti-nav-msgs
+  # - marti-perception-msgs
+  # - marti-sensor-msgs
+  # - marti-status-msgs
+  # - marti-visualization-msgs
+  # - mavlink
+  # - mavros
+  # - mavros-msgs
+  # - mouse-teleop
+  # - nao-button-sim
+  # - nao-command-msgs
+  # - nao-sensor-msgs
+  # - nav2-bringup
+  # - nav2-gazebo-spawner
+  # - nmea-msgs
+  # - nodl-python
+  # - ntpd-driver
+  # - osqp-vendor
+  # - ouster-msgs
+  # - pcl-ros
+  # - perception-pcl
+  # - phidgets-msgs
+  # - plansys2-core
+  # - plansys2-lifecycle-manager
+  # - plansys2-msgs
+  # - plansys2-pddl-parser
+  # - plotjuggler-msgs
+  # - point-cloud-msg-wrapper
+  # - qpoases-vendor
+  # - qt-gui-app
+  # - qt-gui-core
+  # - quaternion-operation
+  # - radar-msgs
+  # - rc-common-msgs
+  # - rcdiscover
+  # - rc-genicam-api
+  # - rclc
+  # - rclc-examples
+  # - rclc-lifecycle
+  # - rclc-parameter
+  # - rclcpp-cascade-lifecycle
+  # - rcl-logging-log4cxx
+  # - rcl-logging-noop
+  # - rc-reason-clients
+  # - rc-reason-msgs
+  # - rcss3d-agent
+  - realsense2-camera
+  - realsense2-camera-msgs
+  - realsense2-description
+  # - realtime-tools
+  # - rmf-battery
+  # - rmf-building-map-msgs
+  # - rmf-building-map-tools
+  # - rmf-charger-msgs
+  # - rmf-cmake-uncrustify
+  # - rmf-dispenser-msgs
+  # - rmf-door-msgs
+  # - rmf-fleet-msgs
+  # - rmf-ingestor-msgs
+  # - rmf-lift-msgs
+  # - rmf-task-msgs
+  # - rmf-traffic
+  # - rmf-traffic-editor
+  # - rmf-traffic-editor-assets
+  # - rmf-traffic-editor-test-maps
+  # - rmf-traffic-msgs
+  # - rmf-utils
+  # - rmf-visualization-msgs
+  # - rmf-workcell-msgs
+  # - rmw-gurumdds-cpp
+  # - rmw-gurumdds-shared-cpp
+  # - ros2nodl
+  # - ros2-ouster
+  # - ros2trace
+  # - ros2trace-analysis
+  # - rosbag2-performance-benchmarking
+  # - rosidl-generator-dds-idl
+  # - rplidar-ros
+  # - run-move-group
+  # # - run-moveit-cpp
+  # - sdformat-test-files
+  # - self-test
+  # - sensor-msgs-py
+  # - serial-driver
+  # - soccer-vision-msgs
+  # - stereo-image-proc
+  # - stubborn-buddies
+  # - stubborn-buddies-msgs
+  # - system-modes
+  # - system-modes-examples
+  # - system-modes-msgs
+  # - teleop-tools
+  # - teleop-tools-msgs
+  # - test-apex-test-tools
+  # - test-bond
+  # - test-launch-system-modes
+  # - tf-transformations
+  # - topic-statistics-demo
+  # - tracetools-analysis
+  # - tracetools-launch
+  # - tracetools-read
+  # - tracetools-test
+  # - tracetools-trace
+  # - ublox
+  # - ublox-gps
+  # - ublox-msgs
+  # - ublox-serialization
+  # - ublox-ubx-interfaces
+  # - ublox-ubx-msgs
+  # - udp-driver
+  # - udp-msgs
+  # - urg-c
+  # - urg-node
+  # - urg-node-msgs
+  # - v4l2-camera
+  # - vision-opencv
+  # - wiimote-msgs
+
+  # Don't work yet
+  # - run_moveit_cpp
+  # - wiimote
+  # - rc-dynamics-api
+  # - rosbag2-bag-v2-plugins
+
+  # this needs libdwarf and libiberty
+  # I think we need to build libdwarf first ...
+  # - osrf_testing_tools_cpp
+
+patch_dir: patch
+
diff --git a/vinca_0f028e77a4.json b/vinca_0f028e77a4.json
new file mode 100644
index 00000000..e41df483
--- /dev/null
+++ b/vinca_0f028e77a4.json
@@ -0,0 +1 @@
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