diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index 3bc465cd7..834199c45 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -167,9 +167,9 @@ vision_msgs_rviz_plugins:
   add_host: ["REQUIRE_OPENGL"]
 velodyne_pointcloud:
   add_host: ["libboost-devel"]
-# TODO unvendor?!
 uncrustify_vendor:
-  add_build: ["vcstool"]
+  add_host: ["uncrustify"]
+  add_run: ["uncrustify"]
 mimick_vendor:
   add_build: ["vcstool"]
 gz_cmake_vendor:
@@ -252,9 +252,15 @@ rclpy:
   add_run: ["typing_extensions"]
 image_tools:
   # Depends on opencv with gui support, see https://github.com/ros2/demos/blob/8f361a1ece2daae54016959f3ea9ab2e7692ddbb/image_tools/src/showimage.cpp#L190
-  add_run: ["libopencv * *qt6*"] 
+  add_run: ["libopencv * *qt6*"]
 camera_calibration:
   # Depends on opencv with gui support, see https://github.com/ros-perception/image_pipeline/blob/746268fcfd21b389bc39ae60bb6345a53c838558/camera_calibration/src/camera_calibration/camera_calibrator.py#L286
   add_run: ["libopencv * *qt6*"]
 livox_ros_driver2:
   add_host: ["livox-sdk2"]
+spdlog_vendor:
+  add_host: ["spdlog"]
+  add_run: ["spdlog"]
+console_bridge_vendor:
+  add_host: ["console_bridge"]
+  add_run: ["console_bridge"]
diff --git a/patch/ros-kilted-ament-cmake-vendor-package.patch b/patch/ros-kilted-ament-cmake-vendor-package.patch
index 4a02afd05..9dd817eb9 100644
--- a/patch/ros-kilted-ament-cmake-vendor-package.patch
+++ b/patch/ros-kilted-ament-cmake-vendor-package.patch
@@ -1,53 +1,153 @@
-diff --git a/cmake/ament_vendor.cmake b/cmake/ament_vendor.cmake
-index c9b963cd0..d23ff2aa2 100644
---- a/cmake/ament_vendor.cmake
-+++ b/cmake/ament_vendor.cmake
-@@ -49,6 +49,14 @@
+From 1132cb348f7267c51627ec596182bbcaa4d57c07 Mon Sep 17 00:00:00 2001
+From: Silvio <silvio.traversaro@iit.it>
+Date: Thu, 3 Jul 2025 10:14:56 +0200
+Subject: [PATCH] ament_vendor: Add IS_VENDORED_OUTPUT_VARIABLE_NAME argument
+ and AMENT_VENDOR_POLICY CMake option
+
+Signed-off-by: Silvio <silvio.traversaro@iit.it>
+---
+ .../cmake/ament_vendor.cmake                  | 93 ++++++++++++++++++-
+ 1 file changed, 88 insertions(+), 5 deletions(-)
+
+diff --git a/ament_cmake_vendor_package/cmake/ament_vendor.cmake b/ament_cmake_vendor_package/cmake/ament_vendor.cmake
+index c9b963cd..2ca2f40a 100644
+--- a/ament_cmake_vendor_package/cmake/ament_vendor.cmake
++++ b/ament_cmake_vendor_package/cmake/ament_vendor.cmake
+@@ -48,6 +48,31 @@
+ #   project, expose the external project globally to any downstream CMake
  #   projects.
  # :type GLOBAL_HOOK: option
- #
-+# Beside CMake macro options, the macro is also influenced by the following two
-+# CMake options, that can be set at the CMake invocation for the project that
-+# uses ament_vendor() macro:
-+# * `FORCE_BUILD_VENDOR_PKG`: If ON build vendor packages from source, even if 
-+#                             system-installed packages are available
-+# * `AMENT_VENDOR_NEVER_VENDOR`: If ON, raise an error if SATISFIED argument is 
-+#                                not true instead of building the vendored package
++# :param IS_VENDORED_OUTPUT_VARIABLE_NAME: the name of the variable that
++#   will be set to ``TRUE`` if the package has been vendored, or ``FALSE``
++#   otherwise.
++# :type IS_VENDORED_OUTPUT_VARIABLE_NAME: string
++#
++# Beside proper CMake macro arguments, the macro also is influenced by the
++# following CMake advanced options, that can be set from the CMake command
++# line when the project that contains the 'ament_vendor' call is configured.
++#
++#   AMENT_VENDOR_POLICY: String option that specifies how ament_vendor behaves,
++#                        the allowed values are listed in the following.
++#     DEFAULT: Vendor if ``SATISFIED`` argument is not supplied or false,
++#              do not vendor otherwise.
++#     FORCE_BUILD_VENDOR: Always vendor, independently of the value of the
++#                   ``SATISFIED`` argument.
++#     NEVER_VENDOR: Never vendor, and raise an error if ``SATISFIED`` argument
++#                   is not supplied or false.
++#     NEVER_VENDOR_IGNORE_SATISFIED_CHECK: Never vendor, and do not raise
++#                   an error even if ``SATISFIED`` argument is not supplied
++#                   or false. This option is in unsupported by most packages,
++#                   so use at your own risk, as it could break the buid.
 +#
++# To check if a package has been actually vendored, downstream users of
++# ``ament_vendor` can pass a variable name to IS_VENDORED_OUTPUT_VARIABLE_NAME
++# argument, and check its value.
+ #
  # @public
  #
- macro(ament_vendor TARGET_NAME)
-@@ -97,6 +105,18 @@ macro(ament_vendor TARGET_NAME)
+@@ -60,7 +85,7 @@ macro(ament_vendor TARGET_NAME)
+     message(FATAL_ERROR "ament_vendor() must be called before ament_package()")
+   endif()
+
+-  cmake_parse_arguments(_ARG "GLOBAL_HOOK;SKIP_INSTALL" "SOURCE_SUBDIR;VCS_TYPE;VCS_URL;VCS_VERSION;SATISFIED" "CMAKE_ARGS;PATCHES" ${ARGN})
++  cmake_parse_arguments(_ARG "GLOBAL_HOOK;SKIP_INSTALL" "SOURCE_SUBDIR;VCS_TYPE;VCS_URL;VCS_VERSION;SATISFIED;IS_VENDORED_OUTPUT_VARIABLE_NAME" "CMAKE_ARGS;PATCHES" ${ARGN})
+   if(_ARG_UNPARSED_ARGUMENTS)
+     message(FATAL_ERROR "ament_vendor() called with unused arguments: "
+       "${_ARG_UNPARSED_ARGUMENTS}")
+@@ -93,15 +118,57 @@ macro(ament_vendor TARGET_NAME)
+     set(_ARG_SATISFIED FALSE)
+   endif()
+
++  # If defined, let's set ${_ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME} to FALSE, it will be set
++  # to TRUE if the package is actually vendored
++  if(DEFINED _ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME)
++    # There is no PARENT_SCOPE as this is a cmake macro,
++    # if it is converted to a function PARENT_SCOPE will need to be added
++    set(${_ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME} FALSE)
++  endif()
++
+   option(FORCE_BUILD_VENDOR_PKG
      "Build vendor packages from source, even if system-installed packages are available"
      OFF)
- 
-+  option(AMENT_VENDOR_NEVER_VENDOR
-+    "If ON, raise an error if SATISFIED argument is not true instead of building the vendored package"
-+    OFF)
++  mark_as_advanced(FORCE_BUILD_VENDOR_PKG)
 +
-+  if(FORCE_BUILD_VENDOR_PKG AND AMENT_VENDOR_NEVER_VENDOR)
-+      message(FATAL_ERROR "ament_vendor() cannot have both FORCE_BUILD_VENDOR_PKG and AMENT_VENDOR_NEVER_VENDOR options enabled")
++  set(_AMENT_VENDOR_POLICY_DOCS "Specify how ament_vendor behaves, allowed values are DEFAULT, FORCE_BUILD_VENDOR, NEVER_VENDOR and NEVER_VENDOR_IGNORE_SATISFIED_CHECK.")
++  set(AMENT_VENDOR_POLICY "DEFAULT" CACHE STRING ${_AMENT_VENDOR_POLICY_DOCS})
++  set_property(CACHE AMENT_VENDOR_POLICY PROPERTY STRINGS "DEFAULT" "FORCE_BUILD_VENDOR" "NEVER_VENDOR" "NEVER_VENDOR_IGNORE_SATISFIED_CHECK")
++  mark_as_advanced(AMENT_VENDOR_POLICY)
+ 
+-  if(NOT _ARG_SATISFIED OR FORCE_BUILD_VENDOR_PKG)
++  if(FORCE_BUILD_VENDOR_PKG AND NOT AMENT_VENDOR_POLICY STREQUAL "FORCE_BUILD_VENDOR")
++    message(DEPRECATION "FORCE_BUILD_VENDOR_PKG set to ON detected, FORCE_BUILD_VENDOR_PKG variable is deprecated, please set AMENT_VENDOR_POLICY to FORCE_BUILD_VENDOR instead.")
++    set(CMAKE_BUILD_TYPE "FORCE_BUILD_VENDOR" CACHE STRING ${_AMENT_VENDOR_POLICY_DOCS} FORCE)
 +  endif()
 +
-+  if(NOT _ARG_SATISFIED AND AMENT_VENDOR_NEVER_VENDOR)
-+      message(FATAL_ERROR "ament_vendor() SATISFIED option is OFF and AMENT_VENDOR_NEVER_VENDOR is ON")
-+  endif()
++  # AMENT_VENDOR_POLICY
 +
-   if(NOT _ARG_SATISFIED OR FORCE_BUILD_VENDOR_PKG)
++  if(AMENT_VENDOR_POLICY STREQUAL "FORCE_BUILD_VENDOR")
++    set(_call_ament_vendor TRUE)
++    if(_ARG_SATISFIED)
++      message(STATUS "Forcing vendor package build for '${TARGET_NAME}', which is already satisfied as AMENT_VENDOR_POLICY is set to FORCE_BUILD_VENDOR")
++    endif()
++  elseif(AMENT_VENDOR_POLICY STREQUAL "NEVER_VENDOR")
++    if(NOT _ARG_SATISFIED)
++      message(FATAL_ERROR "Error as SATISFIED argument is not TRUE, but AMENT_VENDOR_POLICY is set to NEVER_VENDOR")
++    endif()
++    set(_call_ament_vendor FALSE)
++  elseif(AMENT_VENDOR_POLICY STREQUAL "NEVER_VENDOR_IGNORE_SATISFIED_CHECK")
++    if(NOT _ARG_SATISFIED)
++      message(STATUS "Not vendoring even if SATISFIED is not TRUE as AMENT_VENDOR_POLICY is set to NEVER_VENDOR_IGNORE_SATISFIED_CHECK")
++    endif()
++    set(_call_ament_vendor FALSE)
++  else()
++    # This is the default case
      if(_ARG_SATISFIED)
-       message(STATUS "Forcing vendor package build for '${TARGET_NAME}', which is already satisfied")
-@@ -245,6 +245,10 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR
-     set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_MODULE_PATH [=[${CMAKE_MODULE_PATH}]=] CACHE INTERNAL \"\")")
+-      message(STATUS "Forcing vendor package build for '${TARGET_NAME}', which is already satisfied")
++      message(STATUS "Skipping vendor package build for '${TARGET_NAME}', as SATISFIED is TRUE and AMENT_VENDOR_POLICY is set to DEFAULT")
++      set(_call_ament_vendor FALSE)
++    else()
++      set(_call_ament_vendor TRUE)
+     endif()
++  endif()
+
++  if(_call_ament_vendor)
+     list_append_unique(_AMENT_CMAKE_VENDOR_PACKAGE_PREFIX_PATH "${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}-prefix/install")
+
+     _ament_vendor(
+@@ -115,6 +182,12 @@ macro(ament_vendor TARGET_NAME)
+       "${_ARG_SKIP_INSTALL}"
+     )
+
++    if(DEFINED _ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME)
++      # There is no PARENT_SCOPE as this is a cmake macro,
++      # if it is converted to a function PARENT_SCOPE will need to be added
++      set(${_ARG_IS_VENDORED_OUTPUT_VARIABLE_NAME} TRUE)
++    endif()
++
+     if(NOT _ament_vendor_called AND NOT _ARG_SKIP_INSTALL)
+       # Hooks for CMAKE_PREFIX_PATH
+       if(_ARG_GLOBAL_HOOK)
+@@ -142,8 +215,6 @@ macro(ament_vendor TARGET_NAME)
+
+       set(_ament_vendor_called TRUE)
+     endif()
+-  else()
+-    message(STATUS "Skipping vendor package build for '${TARGET_NAME}', which is already satisfied")
    endif()
+ endmacro()
  
+@@ -241,6 +312,10 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR
+     set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_BUILD_TYPE [=[${CMAKE_BUILD_TYPE}]=] CACHE INTERNAL \"\")")
+   endif()
+
 +  if(DEFINED CMAKE_IGNORE_PREFIX_PATH)
 +    set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_IGNORE_PREFIX_PATH [=[${CMAKE_IGNORE_PREFIX_PATH}]=] CACHE INTERNAL \"\")")
 +  endif()
 +
-   list(PREPEND CMAKE_PREFIX_PATH ${_AMENT_CMAKE_VENDOR_PACKAGE_PREFIX_PATH})
-   set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_PREFIX_PATH [=[${CMAKE_PREFIX_PATH}]=] CACHE INTERNAL \"\")")
- 
-@@ -256,6 +260,14 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR
+   if(DEFINED CMAKE_MODULE_PATH)
+     set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_MODULE_PATH [=[${CMAKE_MODULE_PATH}]=] CACHE INTERNAL \"\")")
+   endif()
+@@ -256,6 +331,14 @@ function(_ament_vendor TARGET_NAME VCS_TYPE VCS_URL VCS_VERSION PATCHES CMAKE_AR
      set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(BUILD_SHARED_LIBS ON CACHE BOOL \"\")")
    endif()
  
@@ -56,7 +156,7 @@ index c9b963cd0..d23ff2aa2 100644
 +  endif()
 +
 +  if(DEFINED Python3_EXECUTABLE)
-+    set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(Python3_EXECUTABLE [=[${Python3_EXECUTABLE}]=] CACHE INTERNAL \"\")")
++    set(CMAKE_ARGS_CONTENT "${CMAKE_ARGS_CONTENT}\nset(CMAKE_IGNORE_PREFIX_PATH [=[${Python3_EXECUTABLE}]=] CACHE INTERNAL \"\")")
 +  endif()
 +
    file(GENERATE OUTPUT "${CMAKE_ARGS_FILE}" CONTENT "${CMAKE_ARGS_CONTENT}")
diff --git a/patch/ros-kilted-gz-cmake-vendor.patch b/patch/ros-kilted-gz-cmake-vendor.patch
deleted file mode 100644
index 30b3d86b7..000000000
--- a/patch/ros-kilted-gz-cmake-vendor.patch
+++ /dev/null
@@ -1,8 +0,0 @@
-diff --git a/gz_cmake_vendor-extras.cmake.in b/gz_cmake_vendor-extras.cmake.in
-index d490202..7dc00ea 100644
---- a/gz_cmake_vendor-extras.cmake.in
-+++ b/gz_cmake_vendor-extras.cmake.in
-@@ -1 +1,3 @@
-+set(ENV{GZ_RELAX_VERSION_MATCH} "True")
-+set(AMENT_VENDOR_NEVER_VENDOR ON)
- list(PREPEND CMAKE_PREFIX_PATH "@CMAKE_INSTALL_PREFIX@/opt/@PROJECT_NAME@/extra_cmake")
diff --git a/patch/ros-kilted-gz-common-vendor.patch b/patch/ros-kilted-gz-common-vendor.patch
deleted file mode 100644
index 27ebba917..000000000
--- a/patch/ros-kilted-gz-common-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 34a9d3c..b9af25c 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -37,7 +37,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-dartsim-vendor.patch b/patch/ros-kilted-gz-dartsim-vendor.patch
deleted file mode 100644
index 7e1f8c69d..000000000
--- a/patch/ros-kilted-gz-dartsim-vendor.patch
+++ /dev/null
@@ -1,23 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 77ca936..5decd53 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -25,7 +25,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(DART ${VERSION_MATCH} ${LIB_VER_MAJOR}.${LIB_VER_MINOR}
-+find_package(DART
-   CONFIG
-   COMPONENTS
-   collision-bullet
-@@ -35,6 +35,9 @@ find_package(DART ${VERSION_MATCH} ${LIB_VER_MAJOR}.${LIB_VER_MINOR}
-   QUIET
- )
- 
-+# Hack
-+set(DART_FOUND TRUE)
-+
- ament_vendor(${PROJECT_NAME}
-   SATISFIED ${DART_FOUND}
-   VCS_URL https://github.com/dartsim/dart.git
diff --git a/patch/ros-kilted-gz-fuel-tools-vendor.patch b/patch/ros-kilted-gz-fuel-tools-vendor.patch
deleted file mode 100644
index 4245e9bcc..000000000
--- a/patch/ros-kilted-gz-fuel-tools-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b16ac05..f32b0fb 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -40,7 +40,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-gui-vendor.patch b/patch/ros-kilted-gz-gui-vendor.patch
deleted file mode 100644
index 4ca80dba1..000000000
--- a/patch/ros-kilted-gz-gui-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index bdd8370..73d5147 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -43,7 +43,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-math-vendor.patch b/patch/ros-kilted-gz-math-vendor.patch
deleted file mode 100644
index e5a1c5d64..000000000
--- a/patch/ros-kilted-gz-math-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index bacf717..69ead8b 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -36,7 +36,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-msgs-vendor.patch b/patch/ros-kilted-gz-msgs-vendor.patch
deleted file mode 100644
index 7b6340ffa..000000000
--- a/patch/ros-kilted-gz-msgs-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a234d6c..1bc36ea 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -37,7 +37,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-ogre-next-vendor.patch b/patch/ros-kilted-gz-ogre-next-vendor.patch
deleted file mode 100644
index 124d088fa..000000000
--- a/patch/ros-kilted-gz-ogre-next-vendor.patch
+++ /dev/null
@@ -1,233 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a904707..e6b84cd 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -1,9 +1,21 @@
- cmake_minimum_required(VERSION 3.10)
- project(gz_ogre_next_vendor)
- 
-+# Project-specific settings
-+set(LIB_VER_MAJOR 2)
-+set(LIB_VER_MINOR 3)
-+set(LIB_VER_PATCH 3)
-+set(LIB_VER ${LIB_VER_MAJOR}.${LIB_VER_MINOR}.${LIB_VER_PATCH})
-+
- find_package(ament_cmake REQUIRED)
- find_package(ament_cmake_vendor_package REQUIRED)
- 
-+find_package(OGRE ${LIB_VER})
-+message(NOTICE "OGRE_FOUND" = ${OGRE})
-+
-+# Hack
-+set(OGRE_FOUND TRUE)
-+
- set(EXTRA_CMAKE_FLAGS)
- if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*|arm64.*|ARM64.*|arm.*|ARM.*)")
-   # Flags for non SIMD architectures
-@@ -12,6 +24,7 @@ if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*|arm64.*|ARM64.*|arm.*|A
- endif()
- 
- ament_vendor(${PROJECT_NAME}
-+  SATISFIED ${OGRE_FOUND}
-   VCS_URL https://github.com/OGRECave/ogre-next.git
-   VCS_VERSION v2.3.3
-   CMAKE_ARGS
-@@ -33,8 +46,7 @@ ament_vendor(${PROJECT_NAME}
-     -DOGRE_VULKAN_WINDOW_XCB:BOOL=ON
-     ${EXTRA_CMAKE_FLAGS}
-   GLOBAL_HOOK
--  PATCHES
--    patches/0001-Fix-incomplete-vulkan-linkage.patch
-+  PATCHES patches
- )
- 
- if(BUILD_TESTING)
-diff --git a/patches/0002-correct-cmake-vars.patch b/patches/0002-correct-cmake-vars.patch
-new file mode 100644
-index 0000000..357ee82
---- /dev/null
-+++ b/patches/0002-correct-cmake-vars.patch
-@@ -0,0 +1,160 @@
-+diff --git a/CMake/Utils/AndroidMacros.cmake b/CMake/Utils/AndroidMacros.cmake
-+index d1a3880..e3616fc 100644
-+--- a/CMake/Utils/AndroidMacros.cmake
-++++ b/CMake/Utils/AndroidMacros.cmake
-+@@ -10,7 +10,7 @@
-+ 
-+ macro(add_static_libs LIB_DIR)
-+     foreach(LIB_NAME ${ARGN})
-+-        SET(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude $(CLEAR_VARS)\n\tLOCAL_MODULE    := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB_DIR}/lib${LIB_NAME}.a\n\tinclude $(PREBUILT_STATIC_LIBRARY)\n\n")
-++        SET(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude ${CLEAR_VARS}\n\tLOCAL_MODULE    := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB_DIR}/lib${LIB_NAME}.a\n\tinclude ${PREBUILT_STATIC_LIBRARY}\n\n")
-+         SET(SAMPLE_LDLIBS "${SAMPLE_LDLIBS} ${LIB_NAME}")
-+     endforeach(LIB_NAME ${ARGN})
-+     SET(SAMPLE_LDLIBS "${SAMPLE_LDLIBS}\n    LOCAL_STATIC_LIBRARIES\t+= ")
-+@@ -21,7 +21,7 @@ macro(add_static_libs_from_paths)
-+         get_filename_component(LIB_NAME ${LIB} NAME_WE)
-+         string(SUBSTRING ${LIB_NAME} 3 -1 LIB_NAME) # strip lib prefix
-+         
-+-        set(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude $(CLEAR_VARS)\n\tLOCAL_MODULE    := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB}\n\tinclude $(PREBUILT_STATIC_LIBRARY)\n\n")
-++        set(HEADERS "${HEADERS}# ${LIB_NAME}\n\tinclude ${CLEAR_VARS}\n\tLOCAL_MODULE    := ${LIB_NAME}\n\tLOCAL_SRC_FILES := ${LIB}\n\tinclude ${PREBUILT_STATIC_LIBRARY}\n\n")
-+         set(SAMPLE_LDLIBS "${SAMPLE_LDLIBS} ${LIB_NAME}")
-+     endforeach()
-+     set(SAMPLE_LDLIBS "${SAMPLE_LDLIBS}\n    LOCAL_STATIC_LIBRARIES\t+= ")
-+@@ -135,4 +135,3 @@ macro(create_android_proj ANDROID_PROJECT_TARGET)
-+ 	                    WORKING_DIRECTORY ${NDKOUT}
-+ 	                  )
-+ endmacro(create_android_proj)
-+-
-+diff --git a/CMake/Utils/OgreConfigTargets.cmake b/CMake/Utils/OgreConfigTargets.cmake
-+index d8e0208..28acb8c 100644
-+--- a/CMake/Utils/OgreConfigTargets.cmake
-++++ b/CMake/Utils/OgreConfigTargets.cmake
-+@@ -18,7 +18,7 @@ if(APPLE)
-+   if(NOT OGRE_BUILD_PLATFORM_ANDROID AND NOT OGRE_BUILD_PLATFORM_APPLE_IOS)
-+     set(PLATFORM_NAME "macosx")
-+   elseif(OGRE_BUILD_PLATFORM_APPLE_IOS)
-+-    set(PLATFORM_NAME "$(PLATFORM_NAME)")
-++    set(PLATFORM_NAME "${PLATFORM_NAME}")
-+   endif()
-+ endif()
-+ 
-+diff --git a/CMakeLists.txt b/CMakeLists.txt
-+index 2786e35..9c6de22 100755
-+--- a/CMakeLists.txt
-++++ b/CMakeLists.txt
-+@@ -316,7 +316,7 @@ if (OGRE_BUILD_PLATFORM_APPLE_IOS)
-+   set(MACOSX_BUNDLE_GUI_IDENTIFIER "com.yourcompany.\${PRODUCT_NAME:rfc1034identifier}")
-+   set( CMAKE_XCODE_ATTRIBUTE_TARGETED_DEVICE_FAMILY "1,2" )
-+ 
-+-  set(CMAKE_OSX_ARCHITECTURES "$(ARCHS_STANDARD_INCLUDING_64_BIT)")
-++  set(CMAKE_OSX_ARCHITECTURES "${ARCHS_STANDARD_INCLUDING_64_BIT}")
-+   string (REPLACE "-msse2" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
-+   string (REPLACE "-msse" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
-+ elseif (ANDROID)
-+@@ -363,8 +363,6 @@ elseif (APPLE AND NOT OGRE_BUILD_PLATFORM_APPLE_IOS)
-+   if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
-+     execute_process(COMMAND xcodebuild -version -sdk "${XCODE_ATTRIBUTE_SDKROOT}" Path | head -n 1 OUTPUT_VARIABLE CMAKE_OSX_SYSROOT)
-+     string(REGEX REPLACE "(\r?\n)+$" "" CMAKE_OSX_SYSROOT "${CMAKE_OSX_SYSROOT}")
-+-  else()
-+-    set(CMAKE_OSX_SYSROOT macosx)
-+   endif()
-+ 
-+   set( CMAKE_XCODE_ATTRIBUTE_CLANG_ENABLE_OBJC_ARC YES )
-+@@ -697,4 +695,3 @@ include(Packaging)
-+ 
-+ # Show feature summary
-+ include(FeatureSummary)
-+-
-+diff --git a/OgreMain/CMakeLists.txt b/OgreMain/CMakeLists.txt
-+index b698b84..bd3b21e 100644
-+--- a/OgreMain/CMakeLists.txt
-++++ b/OgreMain/CMakeLists.txt
-+@@ -439,7 +439,7 @@ if (APPLE)
-+         LINK_FLAGS "-framework IOKit -framework Cocoa -framework Carbon -framework OpenGL -framework CoreVideo"
-+     )
-+ 
-+-    set(OGRE_OSX_BUILD_CONFIGURATION "$(PLATFORM_NAME)/$(CONFIGURATION)")
-++    set(OGRE_OSX_BUILD_CONFIGURATION "${PLATFORM_NAME}/${CONFIGURATION}")
-+   
-+ 	add_custom_command(TARGET ${OGRE_NEXT}Main POST_BUILD
-+ 		COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/${OGRE_OSX_BUILD_CONFIGURATION}/Ogre.framework/Headers/Threading
-+diff --git a/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake b/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake
-+index 23596b5..b57c2a9 100644
-+--- a/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake
-++++ b/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake
-+@@ -222,10 +222,10 @@ set( CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/Dependencies/Ogre/CMake/Pack
-+ set( OGRE_SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/Dependencies/Ogre" CACHE STRING "Path to OGRE source code (see http://www.ogre3d.org/tikiwiki/tiki-index.php?page=CMake+Quick+Start+Guide)" )
-+ if( WIN32 )
-+ 	set( OGRE_BINARIES "${OGRE_SOURCE}/build" CACHE STRING "Path to OGRE's build folder generated by CMake" )
-+-	link_directories( "${OGRE_BINARIES}/lib/$(ConfigurationName)" )
-++	link_directories( "${OGRE_BINARIES}/lib/${ConfigurationName}" )
-+ elseif( APPLE )
-+ 	set( OGRE_BINARIES "${OGRE_SOURCE}/build" CACHE STRING "Path to OGRE's build folder generated by CMake" )
-+-	link_directories( "${OGRE_BINARIES}/lib/$(PLATFORM_NAME)/$(CONFIGURATION)" )
-++	link_directories( "${OGRE_BINARIES}/lib/${PLATFORM_NAME}/${CONFIGURATION}" )
-+ elseif( ANDROID )
-+ 	set( OGRE_BINARIES "${OGRE_SOURCE}/build/Android/${CMAKE_BUILD_TYPE}" CACHE STRING "Path to OGRE's build folder generated by CMake" )
-+ 	link_directories( "${OGRE_BINARIES}/lib" )
-+@@ -406,10 +406,10 @@ macro( addStaticDependencies OGRE_SOURCE, OGRE_BINARIES, OGRE_BUILD_SETTINGS_STR
-+ 	endif()
-+ 
-+ 	if( WIN32 )
-+-		set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/Dependencies/lib/$(ConfigurationName)" CACHE STRING
-++		set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/Dependencies/lib/${ConfigurationName}" CACHE STRING
-+ 			 "Path to OGRE's dependencies folder. Only used in Static Builds" )
-+ 	elseif( IOS )
-+-		set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/iOSDependencies/lib/$(CONFIGURATION)" CACHE STRING
-++		set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/iOSDependencies/lib/${CONFIGURATION}" CACHE STRING
-+ 			 "Path to OGRE's dependencies folder. Only used in Static Builds" )
-+ 	elseif( ANDROID )
-+ 		set( OGRE_DEPENDENCIES "${OGRE_SOURCE}/DependenciesAndroid/lib" CACHE STRING
-+diff --git a/Tests/CMakeLists.txt b/Tests/CMakeLists.txt
-+index 5167104..bf8fe80 100644
-+--- a/Tests/CMakeLists.txt
-++++ b/Tests/CMakeLists.txt
-+@@ -151,8 +151,8 @@ if (OGRE_BUILD_TESTS)
-+ 	ogre_config_sample_exe(Test_Ogre)
-+ 	target_link_libraries(Test_Ogre ${OGRE_LIBRARIES} ${CppUnit_LIBRARIES})
-+ 	if(APPLE AND NOT OGRE_BUILD_PLATFORM_APPLE_IOS)
-+-        set(OGRE_BUILT_FRAMEWORK "$(PLATFORM_NAME)/$(CONFIGURATION)")
-+-        set(OGRE_TEST_CONTENTS_PATH ${OGRE_BINARY_DIR}/bin/$(CONFIGURATION)/Test_Ogre.app/Contents)
-++        set(OGRE_BUILT_FRAMEWORK "${PLATFORM_NAME}/${CONFIGURATION}")
-++        set(OGRE_TEST_CONTENTS_PATH ${OGRE_BINARY_DIR}/bin/${CONFIGURATION}/Test_Ogre.app/Contents)
-+ 		set_target_properties(Test_Ogre PROPERTIES
-+ 			LINK_FLAGS "-framework Carbon -framework Cocoa")
-+         add_custom_command(TARGET Test_Ogre POST_BUILD
-+diff --git a/Tests/VisualTests/Context/CMakeLists.txt b/Tests/VisualTests/Context/CMakeLists.txt
-+index 551a8e7..6e0e49b 100644
-+--- a/Tests/VisualTests/Context/CMakeLists.txt
-++++ b/Tests/VisualTests/Context/CMakeLists.txt
-+@@ -86,18 +86,18 @@ if (APPLE)
-+     set_target_properties(TestContext PROPERTIES XCODE_ATTRIBUTE_ONLY_ACTIVE_ARCH "NO")
-+     set_target_properties(TestContext PROPERTIES XCODE_ATTRIBUTE_TARGETED_DEVICE_FAMILY "1,2")
-+ 	set (OGRE_TESTCONTEXT_CONTENTS_PATH
-+-		${OGRE_BINARY_DIR}/bin/$(CONFIGURATION)/TestContext.app)
-++		${OGRE_BINARY_DIR}/bin/${CONFIGURATION}/TestContext.app)
-+     add_custom_command(TARGET TestContext POST_BUILD
-+       COMMAND ditto ${OGRE_SOURCE_DIR}/Samples/Common/misc/*.png ${OGRE_TESTCONTEXT_CONTENTS_PATH}/
-+       COMMAND ditto ${OGRE_BINARY_DIR}/bin/*.cfg ${OGRE_TESTCONTEXT_CONTENTS_PATH}/
-+     )
-+     add_custom_command(TARGET TestContext POST_BUILD
-+-      COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/$(CONFIGURATION)/
-++      COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/${CONFIGURATION}/
-+       COMMAND ditto ${OGRE_SOURCE_DIR}/Samples/Media ${OGRE_TESTCONTEXT_CONTENTS_PATH}/Media
-+       COMMAND ditto ${OGRE_SOURCE_DIR}/Tests/Media ${OGRE_TESTCONTEXT_CONTENTS_PATH}/Media
-+     )
-+   else()
-+-    set(OGRE_OSX_BUILD_CONFIGURATION "$(PLATFORM_NAME)/$(CONFIGURATION)")
-++    set(OGRE_OSX_BUILD_CONFIGURATION "${PLATFORM_NAME}/${CONFIGURATION}")
-+ 	set_property(TARGET TestContext PROPERTY MACOSX_BUNDLE TRUE)
-+ 	set_property(TARGET TestContext PROPERTY MACOSX_BUNDLE_ICON_FILE SampleBrowser_OSX.icns)
-+ 	set_property(TARGET TestContext PROPERTY MACOSX_BUNDLE_INFO_PLIST ${OGRE_SOURCE_DIR}/Tests/VisualTests/Context/misc/Info.plist)
-+@@ -106,7 +106,7 @@ if (APPLE)
-+     set_target_properties(TestContext PROPERTIES
-+         LINK_FLAGS "-framework IOKit -framework Cocoa -framework Carbon -framework OpenGL -framework CoreVideo")
-+ 	set (OGRE_TESTCONTEXT_CONTENTS_PATH
-+-		${OGRE_BINARY_DIR}/bin/$(CONFIGURATION)/TestContext.app/Contents)
-++		${OGRE_BINARY_DIR}/bin/${CONFIGURATION}/TestContext.app/Contents)
-+ 	add_custom_command(TARGET TestContext POST_BUILD
-+ 		COMMAND mkdir ARGS -p ${OGRE_TESTCONTEXT_CONTENTS_PATH}/Frameworks
-+ 		COMMAND ln ARGS -s -f ${OGRE_BINARY_DIR}/lib/${OGRE_OSX_BUILD_CONFIGURATION}/Ogre.framework
-diff --git a/patches/0003-fix-string.patch b/patches/0003-fix-string.patch
-new file mode 100644
-index 0000000..82f5dbf
---- /dev/null
-+++ b/patches/0003-fix-string.patch
-@@ -0,0 +1,17 @@
-+diff --git a/OgreMain/include/OgreUTFString.h b/OgreMain/include/OgreUTFString.h
-+index 0aeab6a..a3be244 100644
-+--- a/OgreMain/include/OgreUTFString.h
-++++ b/OgreMain/include/OgreUTFString.h
-+@@ -189,10 +189,10 @@ namespace Ogre {
-+         static const size_type npos = static_cast<size_type>(~0);
-+ 
-+         //! a single 32-bit Unicode character
-+-        typedef uint32 unicode_char;
-++        typedef char32_t unicode_char;
-+ 
-+         //! a single UTF-16 code point
-+-        typedef uint16 code_point;
-++        typedef char16_t code_point;
-+ 
-+         //! value type typedef for use in iterators
-+         typedef code_point value_type;
diff --git a/patch/ros-kilted-gz-physics-vendor.patch b/patch/ros-kilted-gz-physics-vendor.patch
deleted file mode 100644
index d6352aa36..000000000
--- a/patch/ros-kilted-gz-physics-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 3b0b5e4..fa007d8 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -41,7 +41,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-plugin-vendor.patch b/patch/ros-kilted-gz-plugin-vendor.patch
deleted file mode 100644
index bd4b6df7b..000000000
--- a/patch/ros-kilted-gz-plugin-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index ed2578e..cb5c72a 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -36,7 +36,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-rendering-vendor.patch b/patch/ros-kilted-gz-rendering-vendor.patch
deleted file mode 100644
index 881281a20..000000000
--- a/patch/ros-kilted-gz-rendering-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index f7decac..c7c068e 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -40,7 +40,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-sensors-vendor.patch b/patch/ros-kilted-gz-sensors-vendor.patch
deleted file mode 100644
index 9aa287b6c..000000000
--- a/patch/ros-kilted-gz-sensors-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 1fba7c8..c82aaa5 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -42,7 +42,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-sim-vendor.patch b/patch/ros-kilted-gz-sim-vendor.patch
deleted file mode 100644
index 482109fd4..000000000
--- a/patch/ros-kilted-gz-sim-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index db289b6..e1f3327 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -48,7 +48,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-transport-vendor.patch b/patch/ros-kilted-gz-transport-vendor.patch
deleted file mode 100644
index 01ccc8759..000000000
--- a/patch/ros-kilted-gz-transport-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index d0d7a23..77f334f 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -38,7 +38,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-gz-utils-vendor.patch b/patch/ros-kilted-gz-utils-vendor.patch
deleted file mode 100644
index fdaa40128..000000000
--- a/patch/ros-kilted-gz-utils-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 264ab97..acc88cd 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -34,7 +34,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-sdformat-vendor.patch b/patch/ros-kilted-sdformat-vendor.patch
deleted file mode 100644
index afae280cd..000000000
--- a/patch/ros-kilted-sdformat-vendor.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 723d6a6..08a726c 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -38,7 +38,7 @@ if(NOT $ENV{GZ_RELAX_VERSION_MATCH} STREQUAL "")
-   set(VERSION_MATCH "")
- endif()
- 
--find_package(${LIB_NAME_FULL} ${VERSION_MATCH} ${LIB_VER} COMPONENTS all QUIET)
-+find_package(${LIB_NAME_FULL} COMPONENTS all QUIET)
- 
- ament_vendor(${LIB_NAME_UNDERSCORE}_vendor
-   SATISFIED ${${LIB_NAME_FULL}_FOUND}
diff --git a/patch/ros-kilted-zenoh-cpp-vendor.patch b/patch/ros-kilted-zenoh-cpp-vendor.patch
index 30907cc82..c8b37ce47 100644
--- a/patch/ros-kilted-zenoh-cpp-vendor.patch
+++ b/patch/ros-kilted-zenoh-cpp-vendor.patch
@@ -1,53 +1,36 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 18c92be..de97184 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -10,46 +10,10 @@ endif()
- find_package(ament_cmake REQUIRED)
- find_package(ament_cmake_vendor_package REQUIRED)
+From 67a1b3ba0f30c9302bd20893a806d9ecaabe80e6 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Thu, 3 Jul 2025 11:37:44 +0200
+Subject: [PATCH] zenoh_cpp_vendor: Do not call
+ externalproject_add_stepdependencies if projects are not vendored
+
+Signed-off-by: Silvio Traversaro <silvio@traversaro.it>
+---
+ zenoh_cpp_vendor/CMakeLists.txt | 6 +++++-
+ 1 file changed, 5 insertions(+), 1 deletion(-)
+
+diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
+index 18c92be1..ec6c054b 100644
+--- a/zenoh_cpp_vendor/CMakeLists.txt
++++ b/zenoh_cpp_vendor/CMakeLists.txt
+@@ -37,6 +37,7 @@ ament_vendor(zenoh_c_vendor
+     "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
+     "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}"
+   PATCHES ${CMAKE_CURRENT_SOURCE_DIR}/pin-rust-1.75.0.patch
++  IS_VENDORED_OUTPUT_VARIABLE_NAME ZENOH_C_IS_VENDORED
+ )
  
--# Disable default features and enable only the most useful ones. This reduces build time and footprint.
--# For a complete list of features see: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
--# Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
--# latter is a list separater in cmake and hence the string will be split into two
--# when expanded.
--set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_udp zenoh/transport_tls")
--
--# Set VCS_VERSION to 1.4.0 commits of zenoh/zenoh-c/zenoh-cpp to benefit from:
--# - Add a "bind" config option for endpoints:
--#    - https://github.com/eclipse-zenoh/zenoh/pull/1892
--# - Add a "low_pass_filter" config:
--#    - https://github.com/eclipse-zenoh/zenoh/pull/1868
--#    - https://github.com/eclipse-zenoh/zenoh/pull/1895
--# - Add "zids" config parameter to "qos_overwrite":
--#    - https://github.com/eclipse-zenoh/zenoh/pull/1908
--# - Add support for link weights:
--#    - https://github.com/eclipse-zenoh/zenoh/pull/1914
--# - Add support for DiffServ's DSCP config for endpoints:
--#    - https://github.com/eclipse-zenoh/zenoh/pull/1937
--ament_vendor(zenoh_c_vendor
--  VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
--  VCS_VERSION 6bea1f1ebc29412548f36af91cf2225c8bf476d4
--  CMAKE_ARGS
--    "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
--    "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
--    "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}"
--  PATCHES ${CMAKE_CURRENT_SOURCE_DIR}/pin-rust-1.75.0.patch
--)
--
-+find_package(zenohc REQUIRED)
  ament_export_dependencies(zenohc)
+@@ -46,9 +47,12 @@ ament_vendor(zenoh_cpp_vendor
+   VCS_VERSION 7379592436398079934f4296d2fa90217f8eddf9
+   CMAKE_ARGS
+     -DZENOHCXX_ZENOHC=OFF
++  IS_VENDORED_OUTPUT_VARIABLE_NAME ZENOH_CPP_IS_VENDORED
+ )
  
--ament_vendor(zenoh_cpp_vendor
--  VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
--  VCS_VERSION 7379592436398079934f4296d2fa90217f8eddf9
--  CMAKE_ARGS
--    -DZENOHCXX_ZENOHC=OFF
--)
--
 -externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
--
-+find_package(zenohcxx REQUIRED)
- ament_export_dependencies(zenohcxx)
++if(ZENOH_C_IS_VENDORED AND ZENOH_CPP_IS_VENDORED)
++  externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
++endif()
  
- ament_package()
+ ament_export_dependencies(zenohcxx)
diff --git a/pixi.lock b/pixi.lock
index 56c3296f3..8cd790c9e 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -131,7 +131,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/fa/c1/b0616243c1f922252ceb4513c22abefc1773cf372bfc0b6f7e59c2829f96/rospkg-1.6.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/35/79/5e2cffa1c77432f11cd93a5351f30732c997a239d3a3090856a72d6d8ba7/ruamel.yaml-0.17.40-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/44/d0/3f68a86e006448fb6c005aee66565b9eb89014a70c491d70c08de597f8e4/ruamel.yaml.clib-0.2.12-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
-      - pypi: git+https://github.com/RoboStack/vinca.git?rev=12c56c58cb1ad53a837ef6dbb691b9e7632c73a8#12c56c58cb1ad53a837ef6dbb691b9e7632c73a8
+      - pypi: git+https://github.com/RoboStack/vinca.git?rev=df7f9739c5e14babf449125ca72a3e8de1794f1b#df7f9739c5e14babf449125ca72a3e8de1794f1b
       linux-aarch64:
       - conda: https://repo.prefix.dev/conda-forge/linux-aarch64/_openmp_mutex-4.5-2_gnu.tar.bz2
       - conda: https://repo.prefix.dev/conda-forge/noarch/anaconda-cli-base-0.5.2-pyhd8ed1ab_0.conda
@@ -256,7 +256,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/fa/c1/b0616243c1f922252ceb4513c22abefc1773cf372bfc0b6f7e59c2829f96/rospkg-1.6.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/35/79/5e2cffa1c77432f11cd93a5351f30732c997a239d3a3090856a72d6d8ba7/ruamel.yaml-0.17.40-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/ec/b0/b850385604334c2ce90e3ee1013bd911aedf058a934905863a6ea95e9eb4/ruamel.yaml.clib-0.2.12-cp312-cp312-manylinux2014_aarch64.whl
-      - pypi: git+https://github.com/RoboStack/vinca.git?rev=12c56c58cb1ad53a837ef6dbb691b9e7632c73a8#12c56c58cb1ad53a837ef6dbb691b9e7632c73a8
+      - pypi: git+https://github.com/RoboStack/vinca.git?rev=df7f9739c5e14babf449125ca72a3e8de1794f1b#df7f9739c5e14babf449125ca72a3e8de1794f1b
       osx-64:
       - conda: https://repo.prefix.dev/conda-forge/noarch/anaconda-cli-base-0.5.2-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/anaconda-client-1.13.0-pyh29332c3_1.conda
@@ -370,7 +370,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/fa/c1/b0616243c1f922252ceb4513c22abefc1773cf372bfc0b6f7e59c2829f96/rospkg-1.6.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/35/79/5e2cffa1c77432f11cd93a5351f30732c997a239d3a3090856a72d6d8ba7/ruamel.yaml-0.17.40-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/20/84/80203abff8ea4993a87d823a5f632e4d92831ef75d404c9fc78d0176d2b5/ruamel.yaml.clib-0.2.12.tar.gz
-      - pypi: git+https://github.com/RoboStack/vinca.git?rev=12c56c58cb1ad53a837ef6dbb691b9e7632c73a8#12c56c58cb1ad53a837ef6dbb691b9e7632c73a8
+      - pypi: git+https://github.com/RoboStack/vinca.git?rev=df7f9739c5e14babf449125ca72a3e8de1794f1b#df7f9739c5e14babf449125ca72a3e8de1794f1b
       osx-arm64:
       - conda: https://repo.prefix.dev/conda-forge/noarch/anaconda-cli-base-0.5.2-pyhd8ed1ab_0.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/anaconda-client-1.13.0-pyh29332c3_1.conda
@@ -484,7 +484,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/fa/c1/b0616243c1f922252ceb4513c22abefc1773cf372bfc0b6f7e59c2829f96/rospkg-1.6.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/35/79/5e2cffa1c77432f11cd93a5351f30732c997a239d3a3090856a72d6d8ba7/ruamel.yaml-0.17.40-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/20/84/80203abff8ea4993a87d823a5f632e4d92831ef75d404c9fc78d0176d2b5/ruamel.yaml.clib-0.2.12.tar.gz
-      - pypi: git+https://github.com/RoboStack/vinca.git?rev=12c56c58cb1ad53a837ef6dbb691b9e7632c73a8#12c56c58cb1ad53a837ef6dbb691b9e7632c73a8
+      - pypi: git+https://github.com/RoboStack/vinca.git?rev=df7f9739c5e14babf449125ca72a3e8de1794f1b#df7f9739c5e14babf449125ca72a3e8de1794f1b
       win-64:
       - conda: https://repo.prefix.dev/conda-forge/win-64/_openmp_mutex-4.5-2_gnu.conda
       - conda: https://repo.prefix.dev/conda-forge/noarch/anaconda-cli-base-0.5.2-pyhd8ed1ab_0.conda
@@ -605,7 +605,7 @@ environments:
       - pypi: https://files.pythonhosted.org/packages/fa/c1/b0616243c1f922252ceb4513c22abefc1773cf372bfc0b6f7e59c2829f96/rospkg-1.6.0-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/35/79/5e2cffa1c77432f11cd93a5351f30732c997a239d3a3090856a72d6d8ba7/ruamel.yaml-0.17.40-py3-none-any.whl
       - pypi: https://files.pythonhosted.org/packages/d7/8f/c3654f6f1ddb75daf3922c3d8fc6005b1ab56671ad56ffb874d908bfa668/ruamel.yaml.clib-0.2.12-cp312-cp312-win_amd64.whl
-      - pypi: git+https://github.com/RoboStack/vinca.git?rev=12c56c58cb1ad53a837ef6dbb691b9e7632c73a8#12c56c58cb1ad53a837ef6dbb691b9e7632c73a8
+      - pypi: git+https://github.com/RoboStack/vinca.git?rev=df7f9739c5e14babf449125ca72a3e8de1794f1b#df7f9739c5e14babf449125ca72a3e8de1794f1b
 packages:
 - conda: https://repo.prefix.dev/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
   sha256: fe51de6107f9edc7aa4f786a70f4a883943bc9d39b3bb7307c04c41410990726
@@ -4480,7 +4480,7 @@ packages:
   purls: []
   size: 756109
   timestamp: 1750371459116
-- pypi: git+https://github.com/RoboStack/vinca.git?rev=12c56c58cb1ad53a837ef6dbb691b9e7632c73a8#12c56c58cb1ad53a837ef6dbb691b9e7632c73a8
+- pypi: git+https://github.com/RoboStack/vinca.git?rev=df7f9739c5e14babf449125ca72a3e8de1794f1b#df7f9739c5e14babf449125ca72a3e8de1794f1b
   name: vinca
   version: 0.1.0
   requires_dist:
diff --git a/pixi.toml b/pixi.toml
index 0c1198ed8..149fc275a 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -24,7 +24,7 @@ git = "*"
 
 [pypi-dependencies]
 # This is tipically the latest commit on main branch
-vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "12c56c58cb1ad53a837ef6dbb691b9e7632c73a8" }
+vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "df7f9739c5e14babf449125ca72a3e8de1794f1b" }
 # Uncomment this line to work with a local vinca for faster iteration, but remember to comment it back
 # (and regenerate the pixi.lock) once you push the modified commit to the repo
 #vinca = { path = "../vinca", editable = true }
diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml
index ba219328d..b04c1af81 100644
--- a/pkg_additional_info.yaml
+++ b/pkg_additional_info.yaml
@@ -61,3 +61,43 @@ gtsam:
     override_version: '4.2.0'
 data_tamer_cpp:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+gz_cmake_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_common_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_dartsim_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_fuel_tools_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_gui_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_math_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_msgs_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_ogre_next_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_physics_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_plugin_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_rendering_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_sensors_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_sim_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_transport_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+gz_utils_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+sdformat_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+spdlog_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+console_bridge_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+uncrustify_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+zenoh_cpp_vendor:
+  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"