diff --git a/distros/build-env/default.nix b/distros/build-env/default.nix
index bcf5bcaf5cd..9d62cbeb64d 100644
--- a/distros/build-env/default.nix
+++ b/distros/build-env/default.nix
@@ -86,20 +86,8 @@ let
         '';
       };
     };
-  })).overrideAttrs ({ buildCommand, passAsFile ? [], ...}: {
-    # Hack to allow buildEnv to use propagatedBuildInputs
-    buildCommand = null;
-    oldBuildCommand = buildCommand;
-    passAsFile = (if passAsFile == null then [] else passAsFile) ++ [ "oldBuildCommand" ];
-
-    propagatedBuildInputs = propagatedPaths.otherPackages;
-
-    buildPhase = ''
-      runHook preBuild
-      . "$oldBuildCommandPath"
-      runHook postBuild
-    '';
-    phases = [ "buildPhase" "fixupPhase" ];
+  })).overrideAttrs ({ propagatedBuildInputs ? [], ... }: {
+    propagatedBuildInputs = propagatedBuildInputs ++ propagatedPaths.otherPackages;
 
     # Disable redundant fixup operations.
     # The fixupPhase is needed for shell hooks and input propagation, but other
diff --git a/distros/build-env/setup-hook-builder.pl b/distros/build-env/setup-hook-builder.pl
index a8a3f785fb5..a52ae915107 100644
--- a/distros/build-env/setup-hook-builder.pl
+++ b/distros/build-env/setup-hook-builder.pl
@@ -7,20 +7,16 @@
 # Read packages list.
 my $pkgs;
 
-if (exists $ENV{"pkgsPath"}) {
-    open FILE, $ENV{"pkgsPath"};
-    $pkgs = <FILE>;
-    close FILE;
-} else {
-    $pkgs = $ENV{"pkgs"}
-}
+open FILE, $ENV{"NIX_ATTRS_JSON_FILE"};
+$pkgs = <FILE>;
+close FILE;
 
 # Create a setup hook that sources the setup hooks of all packages in the
 # environment.
 mkdir "$out/nix-support" unless -d "$out/nix-support";
 open(my $setupHook, '>', "$out/nix-support/setup-hook");
 
-for my $pkg (@{decode_json $pkgs}) {
+for my $pkg (@{decode_json($pkgs)->{chosenOutputs}}) {
     for my $path (@{$pkg->{paths}}) {
         my $pathSetupHook = "$path/nix-support/setup-hook";
         print $setupHook ". $pathSetupHook\n" if -e $pathSetupHook;
diff --git a/distros/distro-overlay.nix b/distros/distro-overlay.nix
index 5419f2d985e..14a61f42ef5 100644
--- a/distros/distro-overlay.nix
+++ b/distros/distro-overlay.nix
@@ -90,7 +90,7 @@ let
 
     # Some third-party packages are available in rodistro,
     # but have a better packaging in nixpkgs, so use it instead
-    inherit (self.python3Packages) coal eigenpy pinocchio crocoddyl ;
+    inherit (self.python3Packages) coal eigenpy pinocchio crocoddyl tsid;
 
     freeimage = null; # Get rid of freeimage
 
@@ -204,6 +204,10 @@ let
       '';
     });
 
+    # vcstool was replaced by vcs2l in nixpkgs (https://github.com/NixOS/nixpkgs/pull/499630)
+    # TODO: Make this change in rosdep after master is moved to nixpkgs without vcstool.
+    vcstool = self.vcs2l;
+
   } // (mrptOverrides rosSelf rosSuper);
 
   otherSplices = {
diff --git a/distros/humble/overrides.nix b/distros/humble/overrides.nix
index 6cf7ddac23e..a478765e861 100644
--- a/distros/humble/overrides.nix
+++ b/distros/humble/overrides.nix
@@ -176,6 +176,53 @@ in with lib; {
     '';
   });
 
+  boost-plugin-loader = rosSuper.boost-plugin-loader.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # In Boost >= 1.88, boost::dll::import_symbol returns
+    # std::shared_ptr instead of boost::shared_ptr. Use auto to stay
+    # compatible with both. Upstream handles this in
+    # https://github.com/tesseract-robotics/boost_plugin_loader/pull/29,
+    # but it cannot be easily applied to old humble version.
+    postPatch = postPatch + ''
+      substituteInPlace include/boost_plugin_loader/plugin_loader.hpp \
+        --replace-fail \
+          'boost::shared_ptr<ClassBase> plugin = boost::dll::import_symbol<ClassBase>(lib, symbol_name);' \
+          'auto plugin = boost::dll::import_symbol<ClassBase>(lib, symbol_name);'
+    '';
+  });
+
+  bosch-locator-bridge = rosSuper.bosch-locator-bridge.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/boschglobal/rokit_ros_bridge/pull/80
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail "REQUIRED COMPONENTS system" "REQUIRED" 
+    '';
+  });
+
+  canopen-core = rosSuper.canopen-core.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ros-industrial/ros2_canopen/pull/399
+    postPatch = ''
+      substituteInPlace ConfigExtras.cmake --replace-fail \
+        "find_package(Boost REQUIRED system thread)" \
+        "find_package(Boost REQUIRED thread)"
+    '';
+  });
+
+  cartographer = rosSuper.cartographer.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # Fix "ld.bfd: libcartographer.a(tsdf_2d.cc.o): undefined reference to symbol '_ZN4absl12lts_2026010712log_internal17MakeCheckOpStringImmEEPKcT_T0_S4_'"
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail \
+        "absl::utility" \
+        "absl::utility absl::log_internal_check_op"
+    '';
+  });
+
   clips-vendor = lib.patchAmentVendorFile rosSuper.clips-vendor { };
 
   cyclonedds = rosSuper.cyclonedds.overrideAttrs ({
@@ -334,8 +381,22 @@ in with lib; {
 
 
   gtsam = rosSuper.gtsam.overrideAttrs ({
-    postPatch ? "", ...
+    patches ? [], postPatch ? "", ...
   }: {
+    patches = [
+      # https://github.com/borglab/gtsam/pull/2232 merged upstream
+      (self.fetchpatch2 {
+        name = "allow-next-patch.patch";
+        url = "https://github.com/borglab/gtsam/commit/7b96d1e32525dbb123653058e1aab4e82270a782.patch?full_index=1";
+        hash = "sha256-WFyKG3tJ1XoZsIMPbE2VkR+hHdChjw1IHSSXlOR7OZ8=";
+        includes = [ "cmake/HandleBoost.cmake" ];
+      })
+      (self.fetchpatch2 {
+        name = "drop-boost-system.patch";
+        url = "https://github.com/borglab/gtsam/commit/a0592a6b5ab161194da1b162caaedda78ef3f2bf.patch?full_index=1";
+        hash = "sha256-S9YI8/MVthAuuBl3DRR8JCTxTw5Hi+hVz41T95APDu4=";
+      })
+    ];
     postPatch = postPatch + ''
       substituteInPlace CMakeLists.txt gtsam/3rdparty/metis/CMakeLists.txt --replace-fail \
         "cmake_minimum_required(VERSION 3.0)" \
@@ -388,6 +449,17 @@ in with lib; {
     '';
   });
 
+  ld08-driver = rosSuper.ld08-driver.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ROBOTIS-GIT/ld08_driver/pull/36
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt \
+        --replace-fail "Boost::system" "Boost::boost" \
+        --replace-fail "REQUIRED system" "REQUIRED"
+    '';
+  });
+
   lsc-ros2-driver = rosSuper.lsc-ros2-driver.overrideAttrs ({
     patches ? [], ...
   }: {
@@ -579,15 +651,113 @@ in with lib; {
       substituteInPlace deps/libmotioncapture/deps/pybind11/CMakeLists.txt --replace-fail \
         "cmake_minimum_required(VERSION 3.4)" \
         "cmake_minimum_required(VERSION 3.5)"
+
+      # https://github.com/IMRCLab/libmotioncapture/pull/33
+      substituteInPlace deps/libmotioncapture/CMakeLists.txt \
+        --replace-fail "Boost 1.5 COMPONENTS system REQUIRED" "Boost REQUIRED" \
+        --replace-fail "Boost::system" "Boost::boost"
+
+      # https://github.com/whoenig/vicon-datastream-sdk/pull/7
+      substituteInPlace deps/libmotioncapture/deps/vicon-datastream-sdk/CMakeLists.txt \
+        --replace-fail \
+          "Boost 1.5 COMPONENTS system thread chrono REQUIRED" \
+          "Boost 1.5 COMPONENTS thread chrono REQUIRED" \
+        --replace-fail "Boost::system" "Boost::boost"
+
+      # https://github.com/whoenig/NatNetSDKCrossplatform/pull/8
+      substituteInPlace deps/libmotioncapture/deps/NatNetSDKCrossplatform/CMakeLists.txt \
+        --replace-fail \
+          "Boost 1.5 REQUIRED COMPONENTS system thread" \
+          "Boost 1.5 REQUIRED COMPONENTS thread" \
+        --replace-fail "Boost::system" "Boost::boost"
+    '';
+  });
+
+  moveit-core = rosSuper.moveit-core.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake \
+        --replace-fail "  system" ""
     '';
   });
 
   moveit-kinematics = rosSuper.moveit-kinematics.overrideAttrs ({
-    propagatedBuildInputs ? [], ...
+    postPatch ? "", propagatedBuildInputs ? [], ...
   }: {
     # Added upstream in 2.7.2
     # https://github.com/ros-planning/moveit2/pull/2109
     propagatedBuildInputs = propagatedBuildInputs ++ [ rosSelf.moveit-ros-planning ];
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail "system" ""
+    '';
+  });
+
+  moveit-planners-ompl = rosSuper.moveit-planners-ompl.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-control-interface = rosSuper.moveit-ros-control-interface.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail \
+        "Boost REQUIRED COMPONENTS system thread" \
+        "Boost REQUIRED COMPONENTS thread"
+    '';
+  });
+
+  moveit-ros-move-group = rosSuper.moveit-ros-move-group.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-planning = rosSuper.moveit-ros-planning.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-planning-interface = rosSuper.moveit-ros-planning-interface.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-visualization = rosSuper.moveit-ros-visualization.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-warehouse = rosSuper.moveit-ros-warehouse.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
   });
 
   moveit-task-constructor-capabilities = rosSuper.moveit-task-constructor-capabilities.overrideAttrs ({
@@ -603,6 +773,16 @@ in with lib; {
     ];
   });
 
+  moveit-visual-tools = rosSuper.moveit-visual-tools.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit_visual_tools/pull/154
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
+
   mqtt-client = rosSuper.mqtt-client.overrideAttrs ({
     patches ? [], ...
   }: {
@@ -630,6 +810,12 @@ in with lib; {
         url = "https://github.com/KIT-MRT/mrt_cmake_modules/commit/56bb3808fd7883c1afb216bb9b974fb4d6f16ed0.patch?full_index=1";
         hash = "sha256-6BclHo/NEXPSnjjZ1TNF1cPdDCy3t4tjSP5oAgDQS50=";
       })
+      # drop boost system
+      # ref. https://github.com/KIT-MRT/mrt_cmake_modules/pull/41
+      (self.fetchpatch2 {
+        url = "https://github.com/KIT-MRT/mrt_cmake_modules/commit/332c1d733336c6ed5c8c2c8e21146e75d8c7f565.patch?full_index=1";
+        hash = "sha256-oNmIPw7SaDGFQyBPUyMzg8mgSc49MyjuBMya0Odmqfs=";
+      })
     ];
   });
 
@@ -762,6 +948,17 @@ in with lib; {
     ];
   });
 
+  ompl = rosSuper.ompl.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # https://github.com/ompl/ompl/pull/1306 merged
+      (self.fetchpatch2 {
+        url = "https://github.com/ompl/ompl/commit/44eaf82b6e9829d15317884f9b78ab24618c5f6f.patch?full_index=1";
+        hash = "sha256-SSC0Uk3ddHwRdv81cY7DRJS9uekYgr2Zv13Yk0bWl2M=";
+      })
+    ];
+  });
 
   openvdb-vendor = (lib.patchAmentVendorGit rosSuper.openvdb-vendor {}).overrideAttrs ({
     postPatch ? "", ...
@@ -943,6 +1140,17 @@ in with lib; {
     '';
   });
 
+  rtabmap = rosSuper.rtabmap.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/introlab/rtabmap/commit/739628aef9cd765025dd2a0b99c8540abe65e808
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail \
+        "filesystem system" \
+        "filesystem"
+    '';
+  });
+
   rviz-ogre-vendor = (patchVendorUrl rosSuper.rviz-ogre-vendor {
     url = "https://github.com/OGRECave/ogre/archive/v1.12.1.zip";
     sha256 = "1iv6k0dwdzg5nnzw2mcgcl663q4f7p2kj7nhs8afnsikrzxxgsi4";
@@ -985,6 +1193,26 @@ in with lib; {
     sha256 = "1255n51y1bjry97n4w60mgz6b9h14flfrxb01ihjf6pwvvfns8ag";
   };
 
+  slam-toolbox = rosSuper.slam-toolbox.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/SteveMacenski/slam_toolbox/pull/854
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt lib/karto_sdk/CMakeLists.txt \
+        --replace-fail " system" ""
+    '';
+  });
+
+  spatio-temporal-voxel-layer = rosSuper.spatio-temporal-voxel-layer.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # boost removed in https://github.com/SteveMacenski/spatio_temporal_voxel_layer/pull/356
+    # but that does not apply cleanly
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail "COMPONENTS system thread" "COMPONENTS thread"
+    '';
+  });
+
   turtlesim = rosSuper.turtlesim.overrideAttrs ({
     nativeBuildInputs ? [], ...
   }: {
@@ -1100,6 +1328,26 @@ in with lib; {
     '';
   });
 
+  warehouse-ros-sqlite = rosSuper.warehouse-ros-sqlite.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/warehouse_ros_sqlite/pull/61
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
+  web-video-server = rosSuper.web-video-server.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/RobotWebTools/web_video_server/pull/200
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt \
+        --replace-fail "REQUIRED COMPONENTS system" "REQUIRED" \
+        --replace-fail "Boost::system" ""
+    '';
+  });
+
   webots-ros2-driver = rosSuper.webots-ros2-driver.overrideAttrs ({
     postPatch ? "", ...
   }: {
@@ -1112,7 +1360,11 @@ in with lib; {
   zenoh-cpp-vendor = (lib.patchAmentVendorGit rosSuper.zenoh-cpp-vendor {
     # Patch the build.rs script to be able to build internal
     # opaque-types crate without network access.
-    patchesFor.zenoh_c_vendor = [ ./zenoh-cpp-vendor/zenoh-c.patch ];
+    patchesFor.zenoh_c_vendor = [ 
+      ./zenoh-cpp-vendor/zenoh-c.patch 
+      ./zenoh-cpp-vendor/static-init-104.patch
+      ./zenoh-cpp-vendor/opaque-types-static-init-104.patch
+    ];
   }).overrideAttrs(finalAttrs: {
     nativeBuildInputs ? [], postPatch ? "", passthru ? {}, ...
   }: let
diff --git a/distros/humble/zenoh-cpp-vendor/opaque-types-static-init-104.patch b/distros/humble/zenoh-cpp-vendor/opaque-types-static-init-104.patch
new file mode 100644
index 00000000000..9671b2b28a7
--- /dev/null
+++ b/distros/humble/zenoh-cpp-vendor/opaque-types-static-init-104.patch
@@ -0,0 +1,74 @@
+--- a/build-resources/opaque-types/Cargo.lock	1970-01-01 01:00:01.000000000 +0100
++++ b/build-resources/opaque-types/Cargo.lock	2026-05-18 18:35:58.873458133 +0200
+@@ -1285,9 +1285,9 @@
+
+ [[package]]
+ name = "lock_api"
+-version = "0.4.12"
++version = "0.4.14"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
++checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
+ dependencies = [
+  "autocfg",
+  "scopeguard",
+@@ -1618,9 +1618,9 @@
+
+ [[package]]
+ name = "parking_lot"
+-version = "0.11.2"
++version = "0.12.5"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "7d17b78036a60663b797adeaee46f5c9dfebb86948d1255007a1d6be0271ff99"
++checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
+ dependencies = [
+  "instant",
+  "lock_api",
+@@ -1629,9 +1629,9 @@
+
+ [[package]]
+ name = "parking_lot_core"
+-version = "0.8.6"
++version = "0.9.12"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "60a2cfe6f0ad2bfc16aefa463b497d5c7a5ecd44a23efa72aa342d90177356dc"
++checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
+ dependencies = [
+  "cfg-if",
+  "instant",
+@@ -1956,9 +1956,9 @@
+
+ [[package]]
+ name = "redox_syscall"
+-version = "0.2.16"
++version = "0.5.18"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
++checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
+ dependencies = [
+  "bitflags 1.3.2",
+ ]
+@@ -2648,9 +2648,9 @@
+
+ [[package]]
+ name = "static_init"
+-version = "1.0.3"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "8a2a1c578e98c1c16fc3b8ec1328f7659a500737d7a0c6d625e73e830ff9c1f6"
++checksum = "8bae1df58c5fea7502e8e352ec26b5579f6178e1fdb311e088580c980dee25ed"
+ dependencies = [
+  "bitflags 1.3.2",
+  "cfg_aliases 0.1.1",
+@@ -2663,9 +2663,9 @@
+
+ [[package]]
+ name = "static_init_macro"
+-version = "1.0.2"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "70a2595fc3aa78f2d0e45dd425b22282dd863273761cc77780914b2cf3003acf"
++checksum = "1389c88ddd739ec6d3f8f83343764a0e944cd23cfbf126a9796a714b0b6edd6f"
+ dependencies = [
+  "cfg_aliases 0.1.1",
+  "memchr",
diff --git a/distros/humble/zenoh-cpp-vendor/static-init-104.patch b/distros/humble/zenoh-cpp-vendor/static-init-104.patch
new file mode 100644
index 00000000000..da6dcea4617
--- /dev/null
+++ b/distros/humble/zenoh-cpp-vendor/static-init-104.patch
@@ -0,0 +1,74 @@
+--- a/Cargo.lock	1970-01-01 01:00:01.000000000 +0100
++++ b/Cargo.lock	2026-05-18 17:41:00.499670859 +0200
+@@ -1469,9 +1469,9 @@
+
+ [[package]]
+ name = "lock_api"
+-version = "0.4.12"
++version = "0.4.14"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
++checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
+ dependencies = [
+  "autocfg",
+  "scopeguard",
+@@ -1790,9 +1790,9 @@
+
+ [[package]]
+ name = "parking_lot"
+-version = "0.11.2"
++version = "0.12.5"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "7d17b78036a60663b797adeaee46f5c9dfebb86948d1255007a1d6be0271ff99"
++checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
+ dependencies = [
+  "instant",
+  "lock_api",
+@@ -1801,9 +1801,9 @@
+
+ [[package]]
+ name = "parking_lot_core"
+-version = "0.8.6"
++version = "0.9.12"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "60a2cfe6f0ad2bfc16aefa463b497d5c7a5ecd44a23efa72aa342d90177356dc"
++checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
+ dependencies = [
+  "cfg-if",
+  "instant",
+@@ -2199,9 +2199,9 @@
+
+ [[package]]
+ name = "redox_syscall"
+-version = "0.2.16"
++version = "0.5.18"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
++checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
+ dependencies = [
+  "bitflags 1.3.2",
+ ]
+@@ -2913,9 +2913,9 @@
+
+ [[package]]
+ name = "static_init"
+-version = "1.0.3"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "8a2a1c578e98c1c16fc3b8ec1328f7659a500737d7a0c6d625e73e830ff9c1f6"
++checksum = "8bae1df58c5fea7502e8e352ec26b5579f6178e1fdb311e088580c980dee25ed"
+ dependencies = [
+  "bitflags 1.3.2",
+  "cfg_aliases 0.1.1",
+@@ -2928,9 +2928,9 @@
+
+ [[package]]
+ name = "static_init_macro"
+-version = "1.0.2"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "70a2595fc3aa78f2d0e45dd425b22282dd863273761cc77780914b2cf3003acf"
++checksum = "1389c88ddd739ec6d3f8f83343764a0e944cd23cfbf126a9796a714b0b6edd6f"
+ dependencies = [
+  "cfg_aliases 0.1.1",
+  "memchr",
diff --git a/distros/jazzy/overrides.nix b/distros/jazzy/overrides.nix
index d44af5bed54..739569c4a19 100644
--- a/distros/jazzy/overrides.nix
+++ b/distros/jazzy/overrides.nix
@@ -191,6 +191,28 @@ in {
     ];
   });
 
+  canopen-core = rosSuper.canopen-core.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ros-industrial/ros2_canopen/pull/399
+    postPatch = ''
+      substituteInPlace ConfigExtras.cmake --replace-fail \
+        "find_package(Boost REQUIRED system thread)" \
+        "find_package(Boost REQUIRED thread)"
+    '';
+  });
+
+  cartographer = rosSuper.cartographer.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # Fix "ld.bfd: libcartographer.a(tsdf_2d.cc.o): undefined reference to symbol '_ZN4absl12lts_2026010712log_internal17MakeCheckOpStringImmEEPKcT_T0_S4_'"
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail \
+        "absl::utility" \
+        "absl::utility absl::log_internal_check_op"
+    '';
+  });
+
   clips-vendor = lib.patchAmentVendorFile rosSuper.clips-vendor { };
 
   cyclonedds = rosSuper.cyclonedds.overrideAttrs ({
@@ -255,6 +277,23 @@ in {
     ];
   });
 
+  fuse-core = rosSuper.fuse-core.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/locusrobotics/fuse/pull/424
+    postPatch = postPatch + ''
+      substituteInPlace \
+        include/fuse_core/graph.hpp \
+        include/fuse_core/message_buffer.hpp \
+        include/fuse_core/transaction.hpp \
+        include/fuse_core/timestamp_manager.hpp \
+          --replace-fail \
+            "#include <boost/range/any_range.hpp>" \
+            "#include <boost/type_traits/add_const.hpp>
+             #include <boost/range/any_range.hpp>"
+    '';
+  });
+
   fusioncore-ros = rosSuper.fusioncore-ros.overrideAttrs ({
     buildInputs ? [], ...
   }: {
@@ -319,8 +358,22 @@ in {
   };
 
   gtsam = rosSuper.gtsam.overrideAttrs ({
-    postPatch ? "", ...
+    patches ? [], postPatch ? "", ...
   }: {
+    patches = [
+      # https://github.com/borglab/gtsam/pull/2232 merged upstream
+      (self.fetchpatch2 {
+        name = "allow-next-patch.patch";
+        url = "https://github.com/borglab/gtsam/commit/7b96d1e32525dbb123653058e1aab4e82270a782.patch?full_index=1";
+        hash = "sha256-WFyKG3tJ1XoZsIMPbE2VkR+hHdChjw1IHSSXlOR7OZ8=";
+        includes = [ "cmake/HandleBoost.cmake" ];
+      })
+      (self.fetchpatch2 {
+        name = "drop-boost-system.patch";
+        url = "https://github.com/borglab/gtsam/commit/a0592a6b5ab161194da1b162caaedda78ef3f2bf.patch?full_index=1";
+        hash = "sha256-S9YI8/MVthAuuBl3DRR8JCTxTw5Hi+hVz41T95APDu4=";
+      })
+    ];
     postPatch = postPatch + ''
       substituteInPlace CMakeLists.txt gtsam/3rdparty/metis/CMakeLists.txt --replace-fail \
         "cmake_minimum_required(VERSION 3.0)" \
@@ -517,6 +570,17 @@ in {
     '';
   });
 
+  ld08-driver = rosSuper.ld08-driver.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ROBOTIS-GIT/ld08_driver/pull/36
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt \
+        --replace-fail "Boost::system" "Boost::boost" \
+        --replace-fail "REQUIRED system" "REQUIRED"
+    '';
+  });
+
   lely-core-libraries = (lib.patchExternalProjectGit rosSuper.lely-core-libraries {
     url = "https://gitlab.com/lely_industries/lely-core.git";
     rev = "fb735b79cab5f0cdda45bc5087414d405ef8f3ab";
@@ -545,7 +609,7 @@ in {
   };
 
   libpointmatcher = rosSuper.libpointmatcher.overrideAttrs ({
-    patches ? [], ...
+    patches ? [], postPatch ? "", ...
   }: {
     patches = patches ++ [
       # Fix failing build due to deprecated boost::filesystem functions
@@ -554,6 +618,10 @@ in {
         hash = "sha256-U0I5UuJoNtKzNSKriWaiGHr79Y9QWe3Pf1y77YJvaK8=";
       })
     ];
+    # https://github.com/norlab-ulaval/libpointmatcher/pull/614
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail "system program_options" "program_options"
+    '';
   });
 
   mcap-vendor = lib.patchVendorUrl rosSuper.mcap-vendor {
@@ -615,17 +683,77 @@ in {
       substituteInPlace deps/libmotioncapture/deps/vrpn/CMakeLists.txt --replace-fail \
         "cmake_minimum_required(VERSION 2.8.3)" \
         "cmake_minimum_required(VERSION 3.10)"
+
+      # https://github.com/IMRCLab/libmotioncapture/pull/33
+      substituteInPlace deps/libmotioncapture/CMakeLists.txt \
+        --replace-fail "Boost 1.5 COMPONENTS system REQUIRED" "Boost REQUIRED" \
+        --replace-fail "Boost::system" "Boost::boost"
+
+      # https://github.com/whoenig/vicon-datastream-sdk/pull/7
+      substituteInPlace deps/libmotioncapture/deps/vicon-datastream-sdk/CMakeLists.txt \
+        --replace-fail \
+          "Boost 1.5 COMPONENTS system thread chrono REQUIRED" \
+          "Boost 1.5 COMPONENTS thread chrono REQUIRED" \
+        --replace-fail "Boost::system" "Boost::boost"
+
+      # https://github.com/whoenig/NatNetSDKCrossplatform/pull/8
+      substituteInPlace deps/libmotioncapture/deps/NatNetSDKCrossplatform/CMakeLists.txt \
+        --replace-fail \
+          "Boost 1.5 REQUIRED COMPONENTS system thread" \
+          "Boost 1.5 REQUIRED COMPONENTS thread" \
+        --replace-fail "Boost::system" "Boost::boost"
     '';
   });
 
   moveit-core = rosSuper.moveit-core.overrideAttrs ({
     postPatch ? "", ...
   }: {
-    # Remove workaround for Ubuntu-specific dependency hell issue
     postPatch = postPatch + ''
+      # Remove workaround for Ubuntu-specific dependency hell issue
       substituteInPlace CMakeLists.txt --replace-fail \
         'find_package(octomap 1.9.7...<1.10.0 REQUIRED)' \
         'find_package(octomap REQUIRED)'
+
+      # https://github.com/moveit/moveit2/pull/3727
+      substituteInPlace ConfigExtras.cmake --replace-fail "  system" ""
+    '';
+  });
+
+  moveit-kinematics = rosSuper.moveit-kinematics.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail "system" ""
+    '';
+  });
+
+  moveit-planners-ompl = rosSuper.moveit-planners-ompl.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-control-interface = rosSuper.moveit-ros-control-interface.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail \
+        "Boost REQUIRED COMPONENTS system thread" \
+        "Boost REQUIRED COMPONENTS thread"
+    '';
+  });
+
+  moveit-ros-move-group = rosSuper.moveit-ros-move-group.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
     '';
   });
 
@@ -640,6 +768,42 @@ in {
     '';
   });
 
+  moveit-ros-planning = rosSuper.moveit-ros-planning.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-planning-interface = rosSuper.moveit-ros-planning-interface.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-visualization = rosSuper.moveit-ros-visualization.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-warehouse = rosSuper.moveit-ros-warehouse.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
   moveit-setup-framework = rosSuper.moveit-setup-framework.overrideAttrs ({
     patches ? [], ...
   }: {
@@ -654,6 +818,15 @@ in {
     ];
   });
 
+  moveit-visual-tools = rosSuper.moveit-visual-tools.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit_visual_tools/pull/154
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
   mp-units-vendor = lib.patchAmentVendorGit rosSuper.mp-units-vendor {};
 
   mqtt-client = rosSuper.mqtt-client.overrideAttrs ({
@@ -667,6 +840,19 @@ in {
     '';
   });
 
+  mrt-cmake-modules = rosSuper.mrt-cmake-modules.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # drop boost system
+      # ref. https://github.com/KIT-MRT/mrt_cmake_modules/pull/41
+      (self.fetchpatch2 {
+        url = "https://github.com/KIT-MRT/mrt_cmake_modules/commit/332c1d733336c6ed5c8c2c8e21146e75d8c7f565.patch?full_index=1";
+        hash = "sha256-oNmIPw7SaDGFQyBPUyMzg8mgSc49MyjuBMya0Odmqfs=";
+      })
+    ];
+  });
+
   nav2-behavior-tree = rosSuper.nav2-behavior-tree.overrideAttrs({
     ...
   }: {
@@ -767,6 +953,18 @@ in {
     ];
   });
 
+  ompl = rosSuper.ompl.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # https://github.com/ompl/ompl/pull/1306 merged
+      (self.fetchpatch2 {
+        url = "https://github.com/ompl/ompl/commit/44eaf82b6e9829d15317884f9b78ab24618c5f6f.patch?full_index=1";
+        hash = "sha256-SSC0Uk3ddHwRdv81cY7DRJS9uekYgr2Zv13Yk0bWl2M=";
+      })
+    ];
+  });
+
   openvdb-vendor = (lib.patchAmentVendorGit rosSuper.openvdb-vendor {}).overrideAttrs ({
     postPatch ? "", ...
   }: {
@@ -882,6 +1080,17 @@ in {
     ];
   });
 
+  rtabmap = rosSuper.rtabmap.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/introlab/rtabmap/commit/739628aef9cd765025dd2a0b99c8540abe65e808
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail \
+        "filesystem system" \
+        "filesystem"
+    '';
+  });
+
   rviz-ogre-vendor = lib.patchAmentVendorGit rosSuper.rviz-ogre-vendor {
     tarSourceArgs.hook = let
       version = "1.79";
@@ -940,6 +1149,35 @@ in {
     '';
   });
 
+  slam-toolbox = rosSuper.slam-toolbox.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/SteveMacenski/slam_toolbox/pull/854
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt lib/karto_sdk/CMakeLists.txt \
+        --replace-fail " system" ""
+    '';
+  });
+
+  spatio-temporal-voxel-layer = rosSuper.spatio-temporal-voxel-layer.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # boost removed in https://github.com/SteveMacenski/spatio_temporal_voxel_layer/pull/356
+    # but that does not apply cleanly
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail "COMPONENTS system thread" "COMPONENTS thread"
+    '';
+  });
+
+  turtlebot3-panorama = rosSuper.turtlebot3-panorama.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ROBOTIS-GIT/turtlebot3_applications/pull/79
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail "COMPONENTS system" ""
+    '';
+  });
+
   turtlesim = rosSuper.turtlesim.overrideAttrs ({
     nativeBuildInputs ? [], ...
   }: {
@@ -1035,6 +1273,26 @@ in {
     '';
   });
 
+  warehouse-ros-sqlite = rosSuper.warehouse-ros-sqlite.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/warehouse_ros_sqlite/pull/61
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
+  web-video-server = rosSuper.web-video-server.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/RobotWebTools/web_video_server/pull/200
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt \
+        --replace-fail "REQUIRED COMPONENTS system" "REQUIRED" \
+        --replace-fail "Boost::system" ""
+    '';
+  });
+
   webots-ros2-driver = rosSuper.webots-ros2-driver.overrideAttrs ({
     postPatch ? "", ...
   }: {
@@ -1047,7 +1305,11 @@ in {
   zenoh-cpp-vendor = (lib.patchAmentVendorGit rosSuper.zenoh-cpp-vendor {
     # Patch the build.rs script to be able to build internal
     # opaque-types crate without network access.
-    patchesFor.zenoh_c_vendor = [ ./zenoh-cpp-vendor/zenoh-c.patch ];
+    patchesFor.zenoh_c_vendor = [
+      ./zenoh-cpp-vendor/zenoh-c.patch
+      ./zenoh-cpp-vendor/static-init-104.patch
+      ./zenoh-cpp-vendor/opaque-types-static-init-104.patch
+    ];
   }).overrideAttrs(finalAttrs: {
     nativeBuildInputs ? [], postPatch ? "", passthru ? {}, ...
   }: let
diff --git a/distros/jazzy/zenoh-cpp-vendor/opaque-types-static-init-104.patch b/distros/jazzy/zenoh-cpp-vendor/opaque-types-static-init-104.patch
new file mode 100644
index 00000000000..9671b2b28a7
--- /dev/null
+++ b/distros/jazzy/zenoh-cpp-vendor/opaque-types-static-init-104.patch
@@ -0,0 +1,74 @@
+--- a/build-resources/opaque-types/Cargo.lock	1970-01-01 01:00:01.000000000 +0100
++++ b/build-resources/opaque-types/Cargo.lock	2026-05-18 18:35:58.873458133 +0200
+@@ -1285,9 +1285,9 @@
+
+ [[package]]
+ name = "lock_api"
+-version = "0.4.12"
++version = "0.4.14"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
++checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
+ dependencies = [
+  "autocfg",
+  "scopeguard",
+@@ -1618,9 +1618,9 @@
+
+ [[package]]
+ name = "parking_lot"
+-version = "0.11.2"
++version = "0.12.5"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "7d17b78036a60663b797adeaee46f5c9dfebb86948d1255007a1d6be0271ff99"
++checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
+ dependencies = [
+  "instant",
+  "lock_api",
+@@ -1629,9 +1629,9 @@
+
+ [[package]]
+ name = "parking_lot_core"
+-version = "0.8.6"
++version = "0.9.12"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "60a2cfe6f0ad2bfc16aefa463b497d5c7a5ecd44a23efa72aa342d90177356dc"
++checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
+ dependencies = [
+  "cfg-if",
+  "instant",
+@@ -1956,9 +1956,9 @@
+
+ [[package]]
+ name = "redox_syscall"
+-version = "0.2.16"
++version = "0.5.18"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
++checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
+ dependencies = [
+  "bitflags 1.3.2",
+ ]
+@@ -2648,9 +2648,9 @@
+
+ [[package]]
+ name = "static_init"
+-version = "1.0.3"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "8a2a1c578e98c1c16fc3b8ec1328f7659a500737d7a0c6d625e73e830ff9c1f6"
++checksum = "8bae1df58c5fea7502e8e352ec26b5579f6178e1fdb311e088580c980dee25ed"
+ dependencies = [
+  "bitflags 1.3.2",
+  "cfg_aliases 0.1.1",
+@@ -2663,9 +2663,9 @@
+
+ [[package]]
+ name = "static_init_macro"
+-version = "1.0.2"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "70a2595fc3aa78f2d0e45dd425b22282dd863273761cc77780914b2cf3003acf"
++checksum = "1389c88ddd739ec6d3f8f83343764a0e944cd23cfbf126a9796a714b0b6edd6f"
+ dependencies = [
+  "cfg_aliases 0.1.1",
+  "memchr",
diff --git a/distros/jazzy/zenoh-cpp-vendor/static-init-104.patch b/distros/jazzy/zenoh-cpp-vendor/static-init-104.patch
new file mode 100644
index 00000000000..da6dcea4617
--- /dev/null
+++ b/distros/jazzy/zenoh-cpp-vendor/static-init-104.patch
@@ -0,0 +1,74 @@
+--- a/Cargo.lock	1970-01-01 01:00:01.000000000 +0100
++++ b/Cargo.lock	2026-05-18 17:41:00.499670859 +0200
+@@ -1469,9 +1469,9 @@
+
+ [[package]]
+ name = "lock_api"
+-version = "0.4.12"
++version = "0.4.14"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
++checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
+ dependencies = [
+  "autocfg",
+  "scopeguard",
+@@ -1790,9 +1790,9 @@
+
+ [[package]]
+ name = "parking_lot"
+-version = "0.11.2"
++version = "0.12.5"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "7d17b78036a60663b797adeaee46f5c9dfebb86948d1255007a1d6be0271ff99"
++checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
+ dependencies = [
+  "instant",
+  "lock_api",
+@@ -1801,9 +1801,9 @@
+
+ [[package]]
+ name = "parking_lot_core"
+-version = "0.8.6"
++version = "0.9.12"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "60a2cfe6f0ad2bfc16aefa463b497d5c7a5ecd44a23efa72aa342d90177356dc"
++checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
+ dependencies = [
+  "cfg-if",
+  "instant",
+@@ -2199,9 +2199,9 @@
+
+ [[package]]
+ name = "redox_syscall"
+-version = "0.2.16"
++version = "0.5.18"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
++checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
+ dependencies = [
+  "bitflags 1.3.2",
+ ]
+@@ -2913,9 +2913,9 @@
+
+ [[package]]
+ name = "static_init"
+-version = "1.0.3"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "8a2a1c578e98c1c16fc3b8ec1328f7659a500737d7a0c6d625e73e830ff9c1f6"
++checksum = "8bae1df58c5fea7502e8e352ec26b5579f6178e1fdb311e088580c980dee25ed"
+ dependencies = [
+  "bitflags 1.3.2",
+  "cfg_aliases 0.1.1",
+@@ -2928,9 +2928,9 @@
+
+ [[package]]
+ name = "static_init_macro"
+-version = "1.0.2"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "70a2595fc3aa78f2d0e45dd425b22282dd863273761cc77780914b2cf3003acf"
++checksum = "1389c88ddd739ec6d3f8f83343764a0e944cd23cfbf126a9796a714b0b6edd6f"
+ dependencies = [
+  "cfg_aliases 0.1.1",
+  "memchr",
diff --git a/distros/kilted/overrides.nix b/distros/kilted/overrides.nix
index 29f885fcb7f..b5dc2354cc1 100644
--- a/distros/kilted/overrides.nix
+++ b/distros/kilted/overrides.nix
@@ -47,6 +47,28 @@ in {
     ];
   });
 
+  canopen-core = rosSuper.canopen-core.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ros-industrial/ros2_canopen/pull/399
+    postPatch = ''
+      substituteInPlace ConfigExtras.cmake --replace-fail \
+        "find_package(Boost REQUIRED system thread)" \
+        "find_package(Boost REQUIRED thread)"
+    '';
+  });
+
+  cartographer = rosSuper.cartographer.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # Fix "ld.bfd: libcartographer.a(tsdf_2d.cc.o): undefined reference to symbol '_ZN4absl12lts_2026010712log_internal17MakeCheckOpStringImmEEPKcT_T0_S4_'"
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail \
+        "absl::utility" \
+        "absl::utility absl::log_internal_check_op"
+    '';
+  });
+
   clips-vendor = lib.patchAmentVendorFile rosSuper.clips-vendor { };
 
   cyclonedds = rosSuper.cyclonedds.overrideAttrs ({
@@ -109,6 +131,23 @@ in {
       '';
   });
 
+  fuse-core = rosSuper.fuse-core.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/locusrobotics/fuse/pull/424
+    postPatch = postPatch + ''
+      substituteInPlace \
+        include/fuse_core/graph.hpp \
+        include/fuse_core/message_buffer.hpp \
+        include/fuse_core/transaction.hpp \
+        include/fuse_core/timestamp_manager.hpp \
+          --replace-fail \
+            "#include <boost/range/any_range.hpp>" \
+            "#include <boost/type_traits/add_const.hpp>
+             #include <boost/range/any_range.hpp>"
+    '';
+  });
+
   gazebo = self.gazebo_11;
 
   geometric-shapes = rosSuper.geometric-shapes.overrideAttrs({
@@ -129,11 +168,19 @@ in {
   };
 
   gtsam = rosSuper.gtsam.overrideAttrs ({
-    nativeBuildInputs ? [], cmakeFlags ? [], ...
+    nativeBuildInputs ? [], patches ? [], cmakeFlags ? [], ...
   }: {
     # https://github.com/borglab/gtsam/pull/2171
     # boost is optional but enabled by default
     nativeBuildInputs = nativeBuildInputs ++ [ self.boost ];
+    patches = [
+      # https://github.com/borglab/gtsam/pull/2232 merged upstream
+      (self.fetchpatch2 {
+        name = "drop-boost-system.patch";
+        url = "https://github.com/borglab/gtsam/commit/a0592a6b5ab161194da1b162caaedda78ef3f2bf.patch?full_index=1";
+        hash = "sha256-S9YI8/MVthAuuBl3DRR8JCTxTw5Hi+hVz41T95APDu4=";
+      })
+    ];
     # GCC 15 enables -Woverloaded-virtual by default; DecisionTreeFactor hides
     # base class operator* overloads and has no upstream fix yet
     cmakeFlags = cmakeFlags ++ [ "-DCMAKE_CXX_FLAGS=-Wno-overloaded-virtual" ];
@@ -150,6 +197,10 @@ in {
         excludes = ["tutorials/install.md"];
       })
     ];
+  }).overrideAttrs({
+    buildInputs ? [], ...
+  }: {
+    buildInputs = buildInputs ++ [ self.zlib ];
   });
 
   gz-dartsim-vendor = lib.patchAmentVendorGit rosSuper.gz-dartsim-vendor { };
@@ -300,6 +351,17 @@ in {
     '';
   });
 
+  ld08-driver = rosSuper.ld08-driver.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ROBOTIS-GIT/ld08_driver/pull/36
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt \
+        --replace-fail "Boost::system" "Boost::boost" \
+        --replace-fail "REQUIRED system" "REQUIRED"
+    '';
+  });
+
   lely-core-libraries = (lib.patchExternalProjectGit rosSuper.lely-core-libraries {
     url = "https://gitlab.com/lely_industries/lely-core.git";
     rev = "fb735b79cab5f0cdda45bc5087414d405ef8f3ab";
@@ -373,11 +435,52 @@ in {
   moveit-core = rosSuper.moveit-core.overrideAttrs ({
     postPatch ? "", ...
   }: {
-    # Remove workaround for Ubuntu-specific dependency hell issue
     postPatch = postPatch + ''
+      # Remove workaround for Ubuntu-specific dependency hell issue
       substituteInPlace CMakeLists.txt --replace-fail \
         'find_package(octomap 1.9.7...<1.10.0 REQUIRED)' \
         'find_package(octomap REQUIRED)'
+
+      # https://github.com/moveit/moveit2/pull/3727
+      substituteInPlace ConfigExtras.cmake --replace-fail "  system" ""
+    '';
+  });
+
+  moveit-kinematics = rosSuper.moveit-kinematics.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail "system" ""
+    '';
+  });
+
+  moveit-planners-ompl = rosSuper.moveit-planners-ompl.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-control-interface = rosSuper.moveit-ros-control-interface.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail \
+        "Boost REQUIRED COMPONENTS system thread" \
+        "Boost REQUIRED COMPONENTS thread"
+    '';
+  });
+
+  moveit-ros-move-group = rosSuper.moveit-ros-move-group.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
     '';
   });
 
@@ -392,6 +495,42 @@ in {
     '';
   });
 
+  moveit-ros-planning = rosSuper.moveit-ros-planning.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-planning-interface = rosSuper.moveit-ros-planning-interface.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-visualization = rosSuper.moveit-ros-visualization.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
+  moveit-ros-warehouse = rosSuper.moveit-ros-warehouse.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit2/pull/3727
+    postPatch = postPatch + ''
+      substituteInPlace ConfigExtras.cmake --replace-fail " system" ""
+    '';
+  });
+
   moveit-setup-framework = rosSuper.moveit-setup-framework.overrideAttrs ({
     patches ? [], ...
   }: {
@@ -406,6 +545,15 @@ in {
     ];
   });
 
+  moveit-visual-tools = rosSuper.moveit-visual-tools.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/moveit_visual_tools/pull/154
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
   mp-units-vendor = lib.patchAmentVendorGit rosSuper.mp-units-vendor {};
 
   mqtt-client = rosSuper.mqtt-client.overrideAttrs ({
@@ -419,6 +567,19 @@ in {
     '';
   });
 
+  mrt-cmake-modules = rosSuper.mrt-cmake-modules.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # drop boost system
+      # ref. https://github.com/KIT-MRT/mrt_cmake_modules/pull/41
+      (self.fetchpatch2 {
+        url = "https://github.com/KIT-MRT/mrt_cmake_modules/commit/332c1d733336c6ed5c8c2c8e21146e75d8c7f565.patch?full_index=1";
+        hash = "sha256-oNmIPw7SaDGFQyBPUyMzg8mgSc49MyjuBMya0Odmqfs=";
+      })
+    ];
+  });
+
   nav2-behavior-tree = rosSuper.nav2-behavior-tree.overrideAttrs({
     ...
   }: {
@@ -463,6 +624,18 @@ in {
     '';
   });
 
+  ompl = rosSuper.ompl.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # https://github.com/ompl/ompl/pull/1306 merged
+      (self.fetchpatch2 {
+        url = "https://github.com/ompl/ompl/commit/44eaf82b6e9829d15317884f9b78ab24618c5f6f.patch?full_index=1";
+        hash = "sha256-SSC0Uk3ddHwRdv81cY7DRJS9uekYgr2Zv13Yk0bWl2M=";
+      })
+    ];
+  });
+
   openvdb-vendor = (lib.patchAmentVendorGit rosSuper.openvdb-vendor {}).overrideAttrs ({
     postPatch ? "", ...
   }: {
@@ -552,6 +725,17 @@ in {
     '';
   });
 
+  rtabmap = rosSuper.rtabmap.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/introlab/rtabmap/commit/739628aef9cd765025dd2a0b99c8540abe65e808
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail \
+        "filesystem system" \
+        "filesystem"
+    '';
+  });
+
   rviz-ogre-vendor = lib.patchAmentVendorGit rosSuper.rviz-ogre-vendor {
     tarSourceArgs.hook = let
       version = "1.79";
@@ -594,6 +778,16 @@ in {
     ];
   });
 
+  slam-toolbox = rosSuper.slam-toolbox.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/SteveMacenski/slam_toolbox/pull/854
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt lib/karto_sdk/CMakeLists.txt \
+        --replace-fail " system" ""
+    '';
+  });
+
   shared-queues-vendor = lib.patchVendorUrl rosSuper.shared-queues-vendor {
     url = "https://github.com/cameron314/readerwriterqueue/archive/ef7dfbf553288064347d51b8ac335f1ca489032a.zip";
     hash = "sha256-TyFt3d78GidhDGD17KgjAaZl/qvAcGJP8lmu4EOxpYg=";
@@ -609,6 +803,16 @@ in {
     '';
   });
 
+  spatio-temporal-voxel-layer = rosSuper.spatio-temporal-voxel-layer.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # boost removed in https://github.com/SteveMacenski/spatio_temporal_voxel_layer/pull/356
+    # but that does not apply cleanly
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail "COMPONENTS system thread" "COMPONENTS thread"
+    '';
+  });
+
   turtlesim = rosSuper.turtlesim.overrideAttrs ({
     nativeBuildInputs ? [], ...
   }: {
@@ -704,6 +908,26 @@ in {
     '';
   });
 
+  warehouse-ros-sqlite = rosSuper.warehouse-ros-sqlite.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/warehouse_ros_sqlite/pull/61
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
+  web-video-server = rosSuper.web-video-server.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/RobotWebTools/web_video_server/pull/200
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt \
+        --replace-fail "REQUIRED COMPONENTS system" "REQUIRED" \
+        --replace-fail "Boost::system" ""
+    '';
+  });
+
   webots-ros2-driver = rosSuper.webots-ros2-driver.overrideAttrs ({
     postPatch ? "", ...
   }: {
@@ -716,7 +940,11 @@ in {
   zenoh-cpp-vendor = (lib.patchAmentVendorGit rosSuper.zenoh-cpp-vendor {
     # Patch the build.rs script to be able to build internal
     # opaque-types crate without network access.
-    patchesFor.zenoh_c_vendor = [ ./zenoh-cpp-vendor/zenoh-c.patch ];
+    patchesFor.zenoh_c_vendor = [
+      ./zenoh-cpp-vendor/zenoh-c.patch
+      ./zenoh-cpp-vendor/static-init-104.patch
+      ./zenoh-cpp-vendor/opaque-types-static-init-104.patch
+    ];
   }).overrideAttrs(finalAttrs: {
     nativeBuildInputs ? [], postPatch ? "", passthru ? {}, ...
   }: let
diff --git a/distros/kilted/zenoh-cpp-vendor/opaque-types-static-init-104.patch b/distros/kilted/zenoh-cpp-vendor/opaque-types-static-init-104.patch
new file mode 100644
index 00000000000..9671b2b28a7
--- /dev/null
+++ b/distros/kilted/zenoh-cpp-vendor/opaque-types-static-init-104.patch
@@ -0,0 +1,74 @@
+--- a/build-resources/opaque-types/Cargo.lock	1970-01-01 01:00:01.000000000 +0100
++++ b/build-resources/opaque-types/Cargo.lock	2026-05-18 18:35:58.873458133 +0200
+@@ -1285,9 +1285,9 @@
+
+ [[package]]
+ name = "lock_api"
+-version = "0.4.12"
++version = "0.4.14"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
++checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
+ dependencies = [
+  "autocfg",
+  "scopeguard",
+@@ -1618,9 +1618,9 @@
+
+ [[package]]
+ name = "parking_lot"
+-version = "0.11.2"
++version = "0.12.5"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "7d17b78036a60663b797adeaee46f5c9dfebb86948d1255007a1d6be0271ff99"
++checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
+ dependencies = [
+  "instant",
+  "lock_api",
+@@ -1629,9 +1629,9 @@
+
+ [[package]]
+ name = "parking_lot_core"
+-version = "0.8.6"
++version = "0.9.12"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "60a2cfe6f0ad2bfc16aefa463b497d5c7a5ecd44a23efa72aa342d90177356dc"
++checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
+ dependencies = [
+  "cfg-if",
+  "instant",
+@@ -1956,9 +1956,9 @@
+
+ [[package]]
+ name = "redox_syscall"
+-version = "0.2.16"
++version = "0.5.18"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
++checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
+ dependencies = [
+  "bitflags 1.3.2",
+ ]
+@@ -2648,9 +2648,9 @@
+
+ [[package]]
+ name = "static_init"
+-version = "1.0.3"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "8a2a1c578e98c1c16fc3b8ec1328f7659a500737d7a0c6d625e73e830ff9c1f6"
++checksum = "8bae1df58c5fea7502e8e352ec26b5579f6178e1fdb311e088580c980dee25ed"
+ dependencies = [
+  "bitflags 1.3.2",
+  "cfg_aliases 0.1.1",
+@@ -2663,9 +2663,9 @@
+
+ [[package]]
+ name = "static_init_macro"
+-version = "1.0.2"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "70a2595fc3aa78f2d0e45dd425b22282dd863273761cc77780914b2cf3003acf"
++checksum = "1389c88ddd739ec6d3f8f83343764a0e944cd23cfbf126a9796a714b0b6edd6f"
+ dependencies = [
+  "cfg_aliases 0.1.1",
+  "memchr",
diff --git a/distros/kilted/zenoh-cpp-vendor/static-init-104.patch b/distros/kilted/zenoh-cpp-vendor/static-init-104.patch
new file mode 100644
index 00000000000..da6dcea4617
--- /dev/null
+++ b/distros/kilted/zenoh-cpp-vendor/static-init-104.patch
@@ -0,0 +1,74 @@
+--- a/Cargo.lock	1970-01-01 01:00:01.000000000 +0100
++++ b/Cargo.lock	2026-05-18 17:41:00.499670859 +0200
+@@ -1469,9 +1469,9 @@
+
+ [[package]]
+ name = "lock_api"
+-version = "0.4.12"
++version = "0.4.14"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
++checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
+ dependencies = [
+  "autocfg",
+  "scopeguard",
+@@ -1790,9 +1790,9 @@
+
+ [[package]]
+ name = "parking_lot"
+-version = "0.11.2"
++version = "0.12.5"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "7d17b78036a60663b797adeaee46f5c9dfebb86948d1255007a1d6be0271ff99"
++checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
+ dependencies = [
+  "instant",
+  "lock_api",
+@@ -1801,9 +1801,9 @@
+
+ [[package]]
+ name = "parking_lot_core"
+-version = "0.8.6"
++version = "0.9.12"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "60a2cfe6f0ad2bfc16aefa463b497d5c7a5ecd44a23efa72aa342d90177356dc"
++checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
+ dependencies = [
+  "cfg-if",
+  "instant",
+@@ -2199,9 +2199,9 @@
+
+ [[package]]
+ name = "redox_syscall"
+-version = "0.2.16"
++version = "0.5.18"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
++checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
+ dependencies = [
+  "bitflags 1.3.2",
+ ]
+@@ -2913,9 +2913,9 @@
+
+ [[package]]
+ name = "static_init"
+-version = "1.0.3"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "8a2a1c578e98c1c16fc3b8ec1328f7659a500737d7a0c6d625e73e830ff9c1f6"
++checksum = "8bae1df58c5fea7502e8e352ec26b5579f6178e1fdb311e088580c980dee25ed"
+ dependencies = [
+  "bitflags 1.3.2",
+  "cfg_aliases 0.1.1",
+@@ -2928,9 +2928,9 @@
+
+ [[package]]
+ name = "static_init_macro"
+-version = "1.0.2"
++version = "1.0.4"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "70a2595fc3aa78f2d0e45dd425b22282dd863273761cc77780914b2cf3003acf"
++checksum = "1389c88ddd739ec6d3f8f83343764a0e944cd23cfbf126a9796a714b0b6edd6f"
+ dependencies = [
+  "cfg_aliases 0.1.1",
+  "memchr",
diff --git a/distros/lyrical/overrides.nix b/distros/lyrical/overrides.nix
index 755a4826545..15556f27433 100644
--- a/distros/lyrical/overrides.nix
+++ b/distros/lyrical/overrides.nix
@@ -34,6 +34,28 @@ in {
     ];
   });
 
+  canopen-core = rosSuper.canopen-core.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ros-industrial/ros2_canopen/pull/399
+    postPatch = ''
+      substituteInPlace ConfigExtras.cmake --replace-fail \
+        "find_package(Boost REQUIRED system thread)" \
+        "find_package(Boost REQUIRED thread)"
+    '';
+  });
+
+  cartographer = rosSuper.cartographer.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # Fix "ld.bfd: libcartographer.a(tsdf_2d.cc.o): undefined reference to symbol '_ZN4absl12lts_2026010712log_internal17MakeCheckOpStringImmEEPKcT_T0_S4_'"
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail \
+        "absl::utility" \
+        "absl::utility absl::log_internal_check_op"
+    '';
+  });
+
   clips-vendor = lib.patchAmentVendorFile rosSuper.clips-vendor { };
 
   ecl-build = rosSuper.ecl-build.overrideAttrs ({
@@ -96,6 +118,33 @@ in {
       '';
   });
 
+  fuse-core = rosSuper.fuse-core.overrideAttrs ({
+    patches ? [], postPatch ? "", ...
+  }: {
+    patches = patches ++ [
+      # Don't fail with boost >= 1.86
+      # https://github.com/locusrobotics/fuse/pull/423
+      (self.fetchpatch2 {
+        url = "https://github.com/wentasah/fuse/commit/037b417d9db394b3d5154a800283c30d0ae30cee.patch?full_index=1";
+        hash = "sha256-ShWKk5H/6eaViWfAOL0T+ynCps2FgsPWtAZDoUjvR50=";
+        stripLen = 1;
+      })
+    ];
+
+    # https://github.com/locusrobotics/fuse/pull/424
+    postPatch = postPatch + ''
+      substituteInPlace \
+        include/fuse_core/graph.hpp \
+        include/fuse_core/message_buffer.hpp \
+        include/fuse_core/transaction.hpp \
+        include/fuse_core/timestamp_manager.hpp \
+          --replace-fail \
+            "#include <boost/range/any_range.hpp>" \
+            "#include <boost/type_traits/add_const.hpp>
+             #include <boost/range/any_range.hpp>"
+    '';
+  });
+
   gazebo = self.gazebo_11;
 
   geometric-shapes = rosSuper.geometric-shapes.overrideAttrs({
@@ -134,6 +183,10 @@ in {
         excludes = ["tutorials/install.md"];
       })
     ];
+  }).overrideAttrs({
+    buildInputs ? [], ...
+  }: {
+    buildInputs = buildInputs ++ [ self.zlib ];
   });
 
   gz-dartsim-vendor = lib.patchAmentVendorGit rosSuper.gz-dartsim-vendor { };
@@ -266,6 +319,9 @@ in {
     ];
   });
 
+  # upstream archived
+  kinematics-interface-pinocchio = null;
+
   # Fixes build error in autoware-lanelet2-extension:
   # Imported target "lanelet2_maps::lanelet2_maps" includes non-existent path
   #   "/nix/store/85v2zq13fh16v2zy6nyljz7f4caqvrab-ros-humble-lanelet2-maps-1.2.2-r1/include"
@@ -276,6 +332,17 @@ in {
     '';
   });
 
+  ld08-driver = rosSuper.ld08-driver.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ROBOTIS-GIT/ld08_driver/pull/36
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt \
+        --replace-fail "Boost::system" "Boost::boost" \
+        --replace-fail "REQUIRED system" "REQUIRED"
+    '';
+  });
+
   lely-core-libraries = (lib.patchExternalProjectGit rosSuper.lely-core-libraries {
     url = "https://gitlab.com/lely_industries/lely-core.git";
     rev = "fb735b79cab5f0cdda45bc5087414d405ef8f3ab";
@@ -360,6 +427,19 @@ in {
 
   mp-units-vendor = lib.patchAmentVendorGit rosSuper.mp-units-vendor {};
 
+  mrt-cmake-modules = rosSuper.mrt-cmake-modules.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # drop boost system
+      # ref. https://github.com/KIT-MRT/mrt_cmake_modules/pull/41
+      (self.fetchpatch2 {
+        url = "https://github.com/KIT-MRT/mrt_cmake_modules/commit/332c1d733336c6ed5c8c2c8e21146e75d8c7f565.patch?full_index=1";
+        hash = "sha256-oNmIPw7SaDGFQyBPUyMzg8mgSc49MyjuBMya0Odmqfs=";
+      })
+    ];
+  });
+
   nlohmann-json-schema-validator-vendor = (lib.patchExternalProjectGit rosSuper.nlohmann-json-schema-validator-vendor {
     url = "https://github.com/pboettch/json-schema-validator.git";
     rev = "5ef4f903af055550e06955973a193e17efded896";
@@ -376,6 +456,18 @@ in {
     '';
   });
 
+  ompl = rosSuper.ompl.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # https://github.com/ompl/ompl/pull/1306 merged
+      (self.fetchpatch2 {
+        url = "https://github.com/ompl/ompl/commit/44eaf82b6e9829d15317884f9b78ab24618c5f6f.patch?full_index=1";
+        hash = "sha256-SSC0Uk3ddHwRdv81cY7DRJS9uekYgr2Zv13Yk0bWl2M=";
+      })
+    ];
+  });
+
   pcl-conversions = rosSuper.pcl-conversions.overrideAttrs ({
     patches ? [], ...
   }: {
@@ -667,6 +759,15 @@ in {
     '';
   });
 
+  warehouse-ros-sqlite = rosSuper.warehouse-ros-sqlite.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/warehouse_ros_sqlite/pull/61
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
   webots-ros2-driver = rosSuper.webots-ros2-driver.overrideAttrs ({
     postPatch ? "", ...
   }: {
diff --git a/distros/rolling/overrides.nix b/distros/rolling/overrides.nix
index e2bb1c1219f..1d8fed950a0 100644
--- a/distros/rolling/overrides.nix
+++ b/distros/rolling/overrides.nix
@@ -34,6 +34,28 @@ in {
     ];
   });
 
+  canopen-core = rosSuper.canopen-core.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ros-industrial/ros2_canopen/pull/399
+    postPatch = ''
+      substituteInPlace ConfigExtras.cmake --replace-fail \
+        "find_package(Boost REQUIRED system thread)" \
+        "find_package(Boost REQUIRED thread)"
+    '';
+  });
+
+  cartographer = rosSuper.cartographer.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # Fix "ld.bfd: libcartographer.a(tsdf_2d.cc.o): undefined reference to symbol '_ZN4absl12lts_2026010712log_internal17MakeCheckOpStringImmEEPKcT_T0_S4_'"
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail \
+        "absl::utility" \
+        "absl::utility absl::log_internal_check_op"
+    '';
+  });
+
   clips-vendor = lib.patchAmentVendorFile rosSuper.clips-vendor { };
 
   ecl-build = rosSuper.ecl-build.overrideAttrs ({
@@ -134,6 +156,10 @@ in {
         excludes = ["tutorials/install.md"];
       })
     ];
+  }).overrideAttrs({
+    buildInputs ? [], ...
+  }: {
+    buildInputs = buildInputs ++ [ self.zlib ];
   });
 
   gz-dartsim-vendor = lib.patchAmentVendorGit rosSuper.gz-dartsim-vendor { };
@@ -276,6 +302,17 @@ in {
     '';
   });
 
+  ld08-driver = rosSuper.ld08-driver.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/ROBOTIS-GIT/ld08_driver/pull/36
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt \
+        --replace-fail "Boost::system" "Boost::boost" \
+        --replace-fail "REQUIRED system" "REQUIRED"
+    '';
+  });
+
   lely-core-libraries = (lib.patchExternalProjectGit rosSuper.lely-core-libraries {
     url = "https://gitlab.com/lely_industries/lely-core.git";
     rev = "fb735b79cab5f0cdda45bc5087414d405ef8f3ab";
@@ -360,6 +397,19 @@ in {
 
   mp-units-vendor = lib.patchAmentVendorGit rosSuper.mp-units-vendor {};
 
+  mrt-cmake-modules = rosSuper.mrt-cmake-modules.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # drop boost system
+      # ref. https://github.com/KIT-MRT/mrt_cmake_modules/pull/41
+      (self.fetchpatch2 {
+        url = "https://github.com/KIT-MRT/mrt_cmake_modules/commit/332c1d733336c6ed5c8c2c8e21146e75d8c7f565.patch?full_index=1";
+        hash = "sha256-oNmIPw7SaDGFQyBPUyMzg8mgSc49MyjuBMya0Odmqfs=";
+      })
+    ];
+  });
+
   nlohmann-json-schema-validator-vendor = (lib.patchExternalProjectGit rosSuper.nlohmann-json-schema-validator-vendor {
     url = "https://github.com/pboettch/json-schema-validator.git";
     rev = "5ef4f903af055550e06955973a193e17efded896";
@@ -376,6 +426,18 @@ in {
     '';
   });
 
+  ompl = rosSuper.ompl.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # https://github.com/ompl/ompl/pull/1306 merged
+      (self.fetchpatch2 {
+        url = "https://github.com/ompl/ompl/commit/44eaf82b6e9829d15317884f9b78ab24618c5f6f.patch?full_index=1";
+        hash = "sha256-SSC0Uk3ddHwRdv81cY7DRJS9uekYgr2Zv13Yk0bWl2M=";
+      })
+    ];
+  });
+
   pcl-conversions = rosSuper.pcl-conversions.overrideAttrs ({
     patches ? [], ...
   }: {
@@ -652,6 +714,15 @@ in {
     '';
   });
 
+  warehouse-ros-sqlite = rosSuper.warehouse-ros-sqlite.overrideAttrs ({
+    postPatch ? "", ...
+  }: {
+    # https://github.com/moveit/warehouse_ros_sqlite/pull/61
+    postPatch = postPatch + ''
+      substituteInPlace CMakeLists.txt --replace-fail " system" ""
+    '';
+  });
+
   webots-ros2-driver = rosSuper.webots-ros2-driver.overrideAttrs ({
     postPatch ? "", ...
   }: {
diff --git a/examples/ros2-gz.nix b/examples/ros2-gz.nix
index ffd4b196f58..0e0e7e99d56 100644
--- a/examples/ros2-gz.nix
+++ b/examples/ros2-gz.nix
@@ -23,6 +23,7 @@ with rosPackages.${rosDistro};
       })
     ] ++ lib.optionals (builtins.elem rosDistro [ "lyrical" "rolling" ]) [
       # this is for the shellhook portion
+      qt6.qtbase
       qt6.wrapQtAppsHook
       makeWrapper
     ];
diff --git a/flake.lock b/flake.lock
index c36cd6b1ccd..19e79ae734b 100644
--- a/flake.lock
+++ b/flake.lock
@@ -20,11 +20,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1771369470,
-        "narHash": "sha256-0NBlEBKkN3lufyvFegY4TYv5mCNHbi5OmBDrzihbBMQ=",
+        "lastModified": 1778869304,
+        "narHash": "sha256-30sZNZoA1cqF5JNO9fVX+wgiQYjB7HJqqJ4ztCDeBZE=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "0182a361324364ae3f436a63005877674cf45efb",
+        "rev": "d233902339c02a9c334e7e593de68855ad26c4cb",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index b4817d7495d..cb4e0275a42 100644
--- a/flake.nix
+++ b/flake.nix
@@ -28,7 +28,6 @@
       };
 
       devShells = {
-        example-turtlebot3-gazebo = import ./examples/turtlebot3-gazebo.nix { inherit pkgs; };
         example-ros2-basic = import ./examples/ros2-basic.nix { inherit pkgs; };
         example-ros2-desktop = import ./examples/ros2-desktop.nix { inherit pkgs; };
         example-ros2-desktop-full = import ./examples/ros2-desktop-full.nix { inherit pkgs; };
diff --git a/pkgs/default.nix b/pkgs/default.nix
index 38688513293..acc2d88a4c4 100644
--- a/pkgs/default.nix
+++ b/pkgs/default.nix
@@ -65,6 +65,19 @@ self: super: with self.lib; {
     utils = self.ignition.utils1;
   };
 
+  libfyaml = super.libfyaml.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # backport "Fix C11 atomics detection and buggy macros for C++ compatibility"
+      # https://github.com/NixOS/nixpkgs/pull/517279
+      (self.fetchpatch {
+        url = "https://github.com/pantoniou/libfyaml/commit/1026d76850909dc9b1c5f95b8cd94e865a313fd5.diff";
+        hash = "sha256-0YfOqdqHdELFMqr52TDAC3BNFLkcuxvuJY5b9yZ7NFk=";
+      })
+    ];
+  });
+
   # Needs unsecure freeimage. We want Gazebo to use gz-gz-ogre-next-vendor
   ogre1_9 = null;