diff --git a/patch/ros-humble-nav2-waypoint-follower.patch b/patch/ros-humble-nav2-waypoint-follower.patch
index b01e8d3d..469cda25 100644
--- a/patch/ros-humble-nav2-waypoint-follower.patch
+++ b/patch/ros-humble-nav2-waypoint-follower.patch
@@ -1,3 +1,16 @@
+diff --git a/plugins/photo_at_waypoint.cpp b/plugins/photo_at_waypoint.cpp
+index 296f8f41de..4e2858f655 100644
+--- a/plugins/photo_at_waypoint.cpp
++++ b/plugins/photo_at_waypoint.cpp
+@@ -119,7 +119,7 @@ bool PhotoAtWaypoint::processAtWaypoint(
+     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/CMakeLists.txt b/CMakeLists.txt
 index a3b46942b..e228086fa 100644
 --- a/CMakeLists.txt
@@ -11,96 +24,19 @@ index a3b46942b..e228086fa 100644
  # 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
+index 9c46fdf1f8..1e6048aefc 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"
+@@ -32,8 +32,8 @@
  
  #include "sensor_msgs/msg/image.hpp"
  #include "nav2_core/waypoint_task_executor.hpp"
 -#include "opencv4/opencv2/core.hpp"
 -#include "opencv4/opencv2/opencv.hpp"
++#include "opencv2/core.hpp"
++#include "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/vinca_win.yaml b/vinca_win.yaml
index 1b681a71..9f32a768 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -64,16 +64,16 @@ packages_select_by_deps:
   - ros2-controllers-test-nodes
   - joint-state-publisher-gui
 
+  # Nav2
+  - slam-toolbox
+  - nav2-bringup
+
   # PREVIOUSLY SUPPORTED PACKAGES, CURRENTLY BROKEN
   # Currently has upstream issues with git LFS
   # - moveit
   # Broken for now until we migrate to newer gazebo
   # - desktop_full
 
-  # REQUESTED PACKAGES
-  # Fails due to not finding csparse, could borrow patch from mrpt2
-  # - slam-toolbox
-  # Needs slam-toolbox
-  # - nav2-bringup
+
 
 patch_dir: patch