diff --git a/.github/scripts/summarize_rattler_build.py b/.github/scripts/summarize_rattler_build.py
new file mode 100644
index 00000000..008ca3c4
--- /dev/null
+++ b/.github/scripts/summarize_rattler_build.py
@@ -0,0 +1,98 @@
+#!/usr/bin/env python3
+"""Write a compact rattler-build diagnostic for the GitHub job summary."""
+
+from __future__ import annotations
+
+import argparse
+import os
+import re
+from pathlib import Path
+
+
+ANSI_ESCAPE = re.compile(r"\x1b(?:[@-_][0-?]*[ -/]*[@-~]|\][^\x07]*(?:\x07|\x1b\\))")
+TIMESTAMP = re.compile(r"^\d{4}-\d{2}-\d{2}T\d{2}:\d{2}:\d{2}\.\d+Z\s*")
+DIAGNOSTIC = re.compile(
+    r"(?:Error:\s+×|fatal error(?:\s+[A-Z]+\d+)?:|\berror(?:\s+[A-Z]+\d+)?:|"
+    r"CMake Error(?::|\s+at\b)|FAILED:|Patch application error|"
+    r"Failed to resolve dependencies|Cannot solve the request)",
+    re.IGNORECASE,
+)
+RECIPE_START = re.compile(r"Running build for recipe:|Build variant:")
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--log", type=Path, required=True)
+    parser.add_argument("--platform", required=True)
+    parser.add_argument("--outcome", required=True)
+    return parser.parse_args()
+
+
+def clean(line: str) -> str:
+    cleaned = TIMESTAMP.sub("", ANSI_ESCAPE.sub("", line)).rstrip()
+    if len(cleaned) > 1_000:
+        return cleaned[:1_000] + " … [line truncated]"
+    return cleaned
+
+
+def diagnostic_excerpt(lines: list[str]) -> list[str]:
+    matches = [index for index, line in enumerate(lines) if DIAGNOSTIC.search(line)]
+    if not matches:
+        return []
+
+    # Keep context around the last diagnostics. This includes multiline solver
+    # explanations without flooding the GitHub summary with the complete log.
+    selected: set[int] = set()
+    for index in matches[-20:]:
+        selected.update(range(max(0, index - 2), min(len(lines), index + 14)))
+
+    # Name the recipe that produced the final diagnostic even when dependency
+    # solver output has pushed its heading far outside the context window.
+    first_diagnostic = matches[max(0, len(matches) - 20)]
+    for index in range(first_diagnostic, -1, -1):
+        if RECIPE_START.search(lines[index]):
+            selected.add(index)
+            break
+
+    excerpt: list[str] = []
+    previous = -2
+    for index in sorted(selected):
+        if previous >= 0 and index > previous + 1:
+            excerpt.append("...")
+        excerpt.append(lines[index])
+        previous = index
+    return excerpt[-160:]
+
+
+def main() -> None:
+    args = parse_args()
+    run_url = (
+        f"{os.environ.get('GITHUB_SERVER_URL', 'https://github.com')}/"
+        f"{os.environ.get('GITHUB_REPOSITORY', '')}/actions/runs/"
+        f"{os.environ.get('GITHUB_RUN_ID', '')}"
+    )
+    symbol = "✅" if args.outcome == "success" else "❌"
+
+    print(f"## {symbol} rattler-build: `{args.platform}`")
+    print()
+    print(f"Outcome: **{args.outcome}** · [Open workflow run]({run_url})")
+
+    if not args.log.is_file():
+        print("\nNo build log was produced.")
+        return
+
+    lines = [clean(line) for line in args.log.read_text(encoding="utf-8", errors="replace").splitlines()]
+    excerpt = diagnostic_excerpt(lines)
+    if not excerpt:
+        print("\nNo error diagnostics were found in the build log.")
+        return
+
+    print("\n### Final diagnostics\n")
+    print("```text")
+    print("\n".join(excerpt))
+    print("```")
+    print("\nThe complete `rattler-build.log` is available in this run's artifacts.")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index 9be3126b..66caa69f 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -2,13 +2,17 @@ on:
   pull_request:
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
 env:
   ROS_VERSION: 2
   PYTHONIOENCODING: utf-8
   # Change to 'true' to enable the cache upload as artifacts
   SAVE_CACHE_AS_ARTIFACT: 'true'
   # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging
-  IGNORE_CACHE_AND_DO_FULL_REBUILD: 'false'
+  IGNORE_CACHE_AND_DO_FULL_REBUILD: 'true'
 
 jobs:
   build:
@@ -51,6 +55,9 @@ jobs:
       run: |
         # Workaround for problem related to long paths
         echo "CONDA_BLD_PATH=C:\\bld\\" >> $GITHUB_ENV
+        # Keep rattler-build's package-specific directory but omit its timestamp
+        # suffix, which can push generated MSVC object paths over MAX_PATH.
+        echo "RATTLER_BUILD_EXTRA_ARGS=--no-build-id" >> $GITHUB_ENV
         mkdir /c/bld
 
     # Workaround for https://github.com/RoboStack/ros-humble/pull/141#issuecomment-1941919816
@@ -72,6 +79,11 @@ jobs:
         rm -rf /c/Strawberry
         rm -rf "/c/Program Files (x86)/Windows Kits/10/Include/10.0.17763.0/"
 
+    - name: Disable git auto-maintenance in source caches
+      shell: bash -l {0}
+      run: |
+        git config --global maintenance.auto false
+
     - name: Generate recipes
       shell: bash -l {0}
       run: |
@@ -103,7 +115,9 @@ jobs:
     - name: Delete specific outdated cache entries
       shell: bash -l {0}
       run: |
-        # rm -rf ${{ matrix.folder_cache }}/ros-lyrical-pcl-conversions* 2>/dev/null || true
+        # You can uncomment/modify the line below in case the cache for some packages becomes corrupted and needs to be regenerated.
+        # Make sure you don't merge these changes, though!
+        # rm -rf ${{ matrix.folder_cache }}/ros-lyrical-moveit-core* 2>/dev/null || true
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 
@@ -113,9 +127,33 @@ jobs:
         ls ${{ matrix.folder_cache }} || true
 
     - name: Build recipes
+      id: build-recipes
+      shell: bash -l {0}
+      run: |
+        set +e
+        pixi run rattler-build build ${RATTLER_BUILD_EXTRA_ARGS:-} --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing 2>&1 | tee rattler-build.log
+        build_status=${PIPESTATUS[0]}
+        echo "exit-code=${build_status}" >> "$GITHUB_OUTPUT"
+        exit "$build_status"
+
+    - name: Summarize build result
+      if: always()
       shell: bash -l {0}
       run: |
-        pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing
+        pixi run python .github/scripts/summarize_rattler_build.py \
+          --log rattler-build.log \
+          --platform "${{ matrix.platform }}" \
+          --outcome "${{ steps.build-recipes.outcome }}" \
+          >> "$GITHUB_STEP_SUMMARY"
+
+    - name: Upload build log
+      if: always()
+      uses: actions/upload-artifact@v6
+      with:
+        name: build-log-${{ matrix.platform }}-${{ github.run_id }}-${{ github.run_attempt }}
+        path: rattler-build.log
+        if-no-files-found: warn
+        retention-days: 7
 
     - name: See packages that will be saved in cache
       shell: bash -l {0}
@@ -125,7 +163,8 @@ jobs:
 
     - name: Save build cache
       uses: actions/cache/save@v5
-      if: always()
+      # Save partial output when the build fails or is cancelled by the job timeout; do not save when it was skipped.
+      if: ${{ always() && (steps.build-recipes.outcome == 'success' || steps.build-recipes.outcome == 'failure' || steps.build-recipes.outcome == 'cancelled') }}
       with:
         path: |
           ${{ matrix.folder_cache }}
@@ -137,7 +176,8 @@ jobs:
         pixi run vinca-gha --platform ${{ matrix.platform }} --trigger-branch dummy_build_branch_as_it_is_unused -d ./recipes
 
     - name: Upload build cache as artifact
-      if: ${{ always() && env.SAVE_CACHE_AS_ARTIFACT == 'true' }}
+      # Keep artifacts consistent with the cache: retain partial output from failed or cancelled builds, but not skipped builds.
+      if: ${{ always() && env.SAVE_CACHE_AS_ARTIFACT == 'true' && (steps.build-recipes.outcome == 'success' || steps.build-recipes.outcome == 'failure' || steps.build-recipes.outcome == 'cancelled') }}
       uses: actions/upload-artifact@v6
       with:
         name: cache-${{ matrix.platform }}-${{ github.run_id }}
diff --git a/check_patches_clean_apply.py b/check_patches_clean_apply.py
index 646d8882..38cb4b14 100644
--- a/check_patches_clean_apply.py
+++ b/check_patches_clean_apply.py
@@ -189,6 +189,12 @@ def run_rattler_build_individually(recipes: List[Path]) -> None:
         print("\n Running:", " ".join(cmd), "\n", flush=True)
         try:
             proc = subprocess.run(cmd, text=True, capture_output=True, errors="replace", encoding="utf-8")
+            # rattler-build's shared Git source cache can occasionally retain
+            # tag refs whose objects were not fetched. Retry from a clean Git
+            # cache rather than reporting a spurious patch failure.
+            if proc.returncode != 0 and "Git error: Git fetch failed" in proc.stderr:
+                shutil.rmtree(ROOT_DIR / "output" / "src_cache" / "git", ignore_errors=True)
+                proc = subprocess.run(cmd, text=True, capture_output=True, errors="replace", encoding="utf-8")
             success = proc.returncode == 0
             results.append(
                 {
diff --git a/conda_build_config.yaml b/conda_build_config.yaml
index 23ef0a0f..322d8ba0 100644
--- a/conda_build_config.yaml
+++ b/conda_build_config.yaml
@@ -12,9 +12,9 @@ libboost_devel:
 libboost_python_devel:
   - '1.90'
 libprotobuf:
-  - 6.33.5
+  - 7.35.1
 protobuf:
-  - 6.33.5
+  - 7.35.1
 spdlog:
   - 1.17
 pugixml:
@@ -25,18 +25,26 @@ libxml2:
   - 2.14.*
 graphviz:
   - 14.*
+libgdal:
+  - '3.13'
+libgdal_core:
+  - '3.13'
 # Mitigation for
 # https://github.com/RoboStack/ros-jazzy/pull/126#issuecomment-3515455380
 libcap:
-  - 2.77
+  - 2.78
+libtheora:
+  - '1.2'
 fmt:
   - 12.1
 lua:
   - 5.4
 tbb:
-  - '2022'
+  - '2023'
 tbb_devel:
-  - '2022'
+  - '2023'
+jsoncpp:
+  - 1.9.8
 
 # Workaround for https://github.com/RoboStack/ros-jazzy/pull/40#issuecomment-2782226697
 cmake:
@@ -60,7 +68,7 @@ c_compiler:
   - vs2022                     # [win]
 c_compiler_version:            # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 c_stdlib:
   - sysroot                    # [linux]
   - macosx_deployment_target   # [osx]
@@ -75,7 +83,7 @@ cxx_compiler:
   - vs2022                     # [win]
 cxx_compiler_version:          # [unix]
   - 14                         # [linux]
-  - 18                         # [osx]
+  - 19                         # [osx]
 
 libzenohc:
   - 1.9.0
@@ -83,4 +91,4 @@ libzenohcxx:
   - 1.9.0
 
 libhwloc:
-  - 2.12.2
+  - 2.13.0
diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index d69cd383..82dbe368 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -49,9 +49,6 @@ rmf_visualization_schedule:
 rmf_fleet_adapter:
   add_host: ["eigen-abi-devel"]
   remove_host: ["eigen"]
-rmf_websocket:
-  add_host: ["asio", "websocketpp"]
-  add_run: ["asio", "websocketpp"]
 behaviortree_cpp:
   add_host: ["libboost-devel", "cppzmq", "zeromq", "sqlite"]
   add_run: ["libboost"]
@@ -98,13 +95,14 @@ backward_ros:
   add_host: ["${{ 'binutils' if linux }}", "${{ 'elfutils' if linux }}", "ros-lyrical-ament-cmake-libraries"]
 nav2_smac_planner:
   add_build: ["${{ 'llvm-openmp' if osx }}"]
-  add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode"]
-nav2_util:
-  add_host: ["libboost-devel"]
+  # omplConfig.cmake exports Boost as a dependency.
+  add_host: ["${{ 'llvm-openmp' if osx }}", "ompl", "libode", "libboost-devel"]
+nav2_rviz_plugins:
+  # Qt 6 provides its StateMachine component through the qt6-scxml package.
+  add_host: ["qt6-scxml"]
+  add_run: ["qt6-scxml"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}", "ceres-solver * cpu*"]
-nav2_mppi_controller:
-  add_build: ["${{ 'clang <19' if osx }}"]
 ompl:
   add_host: ["ompl"]
 pybind11_json_vendor:
@@ -164,15 +162,24 @@ force_torque_sensor_broadcaster:
   add_host: ["typeguard", "jinja2"]
 ros_gz_sim:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros-lyrical-gz-sensors-vendor"]
+ament_cmake_ros:
+  # Break the test-only runtime cycle so a new mutex migration can bootstrap.
+  remove_run: ["ros-lyrical-rmw-test-fixture-implementation"]
 geometric_shapes:
   add_host: ["libboost-devel", "octomap"]
+rmf_traffic:
+  add_host: ["octomap"]
+  add_run: ["octomap"]
 ros_image_to_qimage:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rqt_image_overlay:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 slam_toolbox:
   add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver * cpu*"]
+  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "blas-devel", "ceres-solver * cpu*", "qt6-main"]
+  add_run: ["qt6-main"]
+  remove_host: ["qt-main"]
+  remove_run: ["qt-main"]
 vision_msgs_rviz_plugins:
   add_build: ["${{ 'qt6-main' if (build_platform != target_platform) }}"]
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
@@ -275,6 +282,16 @@ autoware_behavior_velocity_planner_common:
   add_host: ["cpp-expected"]
 autoware_behavior_velocity_stop_line_module:
   add_host: ["cpp-expected"]
+rmf_task_sequence:
+  # The vendor package's ament config does not load the imported validator
+  # target. Make the conda-forge CMake package directly available.
+  add_host: ["json_schema_validator"]
+  add_run: ["json_schema_validator"]
+rmw_implementation:
+  # These backends are only used by the disabled test suite. Keeping them all
+  # as host dependencies creates a bootstrap cycle during mutex migrations;
+  # the default Fast DDS backend is sufficient to configure the package.
+  remove_host: ["ros-lyrical-rmw-connextdds", "ros-lyrical-rmw-cyclonedds-cpp", "ros-lyrical-rmw-fastrtps-dynamic-cpp", "ros-lyrical-rmw-zenoh-cpp"]
 rclpy:
   add_host: ["typing_extensions"]
   add_run: ["typing_extensions"]
@@ -296,7 +313,7 @@ grid_map_octomap:
   add_host: ["octomap"]
   add_run: ["octomap"]
 py_trees:
-  add_host: ["poetry-core"]
+  add_host: ["hatchling"]
 py_trees_js:
   add_host: ["poetry-core"]
 py_trees_ros:
diff --git a/patch/ros-lyrical-autoware-osqp-interface.patch b/patch/ros-lyrical-autoware-osqp-interface.patch
index 605d9333..1cd17b5a 100644
--- a/patch/ros-lyrical-autoware-osqp-interface.patch
+++ b/patch/ros-lyrical-autoware-osqp-interface.patch
@@ -1,11 +1,14 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9688962a..c219242b 100644
+index 9688962a6..c219242b6 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -34,9 +34,9 @@ target_include_directories(${PROJECT_NAME}
+@@ -31,15 +31,15 @@ target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast)
+ target_include_directories(${PROJECT_NAME}
+   SYSTEM PUBLIC
+     "${OSQP_INCLUDE_DIR}"
      "${EIGEN3_INCLUDE_DIR}"
  )
- 
+
 -ament_target_dependencies(${PROJECT_NAME}
 -  Eigen3
 -  osqp_vendor
@@ -13,13 +16,83 @@ index 9688962a..c219242b 100644
 +  Eigen3::Eigen
 +  osqp::osqp
  )
- 
+
  # crucial so downstream package builds because autoware_osqp_interface exposes osqp.hpp
+ ament_export_include_directories("${OSQP_INCLUDE_DIR}")
+ # crucial so the linking order is correct in a downstream package: libosqp_interface.a should come before libosqp.a
+ ament_export_libraries(osqp::osqp)
+diff --git a/include/autoware/osqp_interface/csc_matrix_conv.hpp b/include/autoware/osqp_interface/csc_matrix_conv.hpp
+index 62138933c..b6dda2f71 100644
+--- a/include/autoware/osqp_interface/csc_matrix_conv.hpp
++++ b/include/autoware/osqp_interface/csc_matrix_conv.hpp
+@@ -13,18 +13,22 @@
+ // limitations under the License.
+
+ #ifndef AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_
+ #define AUTOWARE__OSQP_INTERFACE__CSC_MATRIX_CONV_HPP_
+
+ #include "autoware/osqp_interface/visibility_control.hpp"
+-#include "osqp/glob_opts.h"  // for 'c_int' type ('long' or 'long long')
++#include "osqp/osqp.h"
+
+ #include <Eigen/Core>
+
+ #include <vector>
+
++// Preserve the OSQP 0.6 type names used by this package's public API.
++using c_float = OSQPFloat;
++using c_int = OSQPInt;
++
+ namespace autoware::osqp_interface
+ {
+ /// \brief Compressed-Column-Sparse Matrix
+ struct OSQP_INTERFACE_PUBLIC CSC_Matrix
+ {
+   /// Vector of non-zero values. Ex: [4,1,1,2]
+diff --git a/include/autoware/osqp_interface/osqp_interface.hpp b/include/autoware/osqp_interface/osqp_interface.hpp
+index 31b2b1ae7..82e7c2080 100644
+--- a/include/autoware/osqp_interface/osqp_interface.hpp
++++ b/include/autoware/osqp_interface/osqp_interface.hpp
+@@ -46,28 +46,28 @@ struct OSQPResult
+  * Implementation of a native C++ interface for the OSQP solver.
+  *
+  */
+ class OSQP_INTERFACE_PUBLIC OSQPInterface
+ {
+ private:
+-  std::unique_ptr<OSQPWorkspace, std::function<void(OSQPWorkspace *)>> m_work;
++  std::unique_ptr<OSQPSolver, std::function<void(OSQPSolver *)>> m_work;
+   std::unique_ptr<OSQPSettings> m_settings;
+-  std::unique_ptr<OSQPData> m_data;
+   // store last work info since work is cleaned up at every execution to prevent memory leak.
+   OSQPInfo m_latest_work_info;
+   // Number of parameters to optimize
+   int64_t m_param_n;
++  int64_t m_constraint_n;
+   // Flag to check if the current work exists
+   bool m_work_initialized = false;
+   // Exitflag
+   int64_t m_exitflag;
+
+   // Runs the solver on the stored problem.
+   OSQPResult solve();
+
+-  static void OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept;
++  static void OSQPSolverDeleter(OSQPSolver * ptr) noexcept;
+
+ public:
+   /// \brief Constructor without problem formulation
+   explicit OSQPInterface(
+     const c_float eps_abs = std::numeric_limits<c_float>::epsilon(), const bool polish = true);
+   /// \brief Constructor with problem setup
 diff --git a/src/csc_matrix_conv.cpp b/src/csc_matrix_conv.cpp
-index c6e1a0a4..7c169c82 100644
+index c6e1a0a42..7c169c82b 100644
 --- a/src/csc_matrix_conv.cpp
 +++ b/src/csc_matrix_conv.cpp
-@@ -25,9 +25,9 @@ namespace autoware::osqp_interface
+@@ -22,15 +22,15 @@
+ #include <vector>
+
+ namespace autoware::osqp_interface
  {
  CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat)
  {
@@ -27,17 +100,360 @@ index c6e1a0a4..7c169c82 100644
    const Eigen::Index rows = mat.rows();
    const Eigen::Index cols = mat.cols();
 +  const size_t elem = static_cast<size_t>(rows * cols);
- 
+
    std::vector<c_float> vals;
    vals.reserve(elem);
-@@ -66,9 +66,9 @@ CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat)
- 
+   std::vector<c_int> row_idxs;
+   row_idxs.reserve(elem);
+   std::vector<c_int> col_idxs;
+@@ -63,15 +63,15 @@ CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat)
+
+   return csc_matrix;
+ }
+
  CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat)
  {
 -  const size_t elem = static_cast<size_t>(mat.nonZeros());
    const Eigen::Index rows = mat.rows();
    const Eigen::Index cols = mat.cols();
 +  const size_t elem = static_cast<size_t>(rows * (rows + 1) / 2);
- 
+
    if (rows != cols) {
      throw std::invalid_argument("Matrix must be square (n, n)");
+   }
+
+   std::vector<c_float> vals;
+diff --git a/src/osqp_interface.cpp b/src/osqp_interface.cpp
+index 8b11ed148..1600c03b4 100644
+--- a/src/osqp_interface.cpp
++++ b/src/osqp_interface.cpp
+@@ -25,28 +25,27 @@
+ #include <tuple>
+ #include <vector>
+
+ namespace autoware::osqp_interface
+ {
+ OSQPInterface::OSQPInterface(const c_float eps_abs, const bool polish)
+-: m_work{nullptr, OSQPWorkspaceDeleter}
++: m_work{nullptr, OSQPSolverDeleter}
+ {
+   m_settings = std::make_unique<OSQPSettings>();
+-  m_data = std::make_unique<OSQPData>();
+
+   if (m_settings) {
+     osqp_set_default_settings(m_settings.get());
+     m_settings->alpha = 1.6;  // Change alpha parameter
+     m_settings->eps_rel = 1.0E-4;
+     m_settings->eps_abs = eps_abs;
+     m_settings->eps_prim_inf = 1.0E-4;
+     m_settings->eps_dual_inf = 1.0E-4;
+-    m_settings->warm_start = true;
++    m_settings->warm_starting = true;
+     m_settings->max_iter = 4000;
+     m_settings->verbose = false;
+-    m_settings->polish = polish;
++    m_settings->polishing = polish;
+   }
+   m_exitflag = 0;
+ }
+
+ OSQPInterface::OSQPInterface(
+   const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<double> & q,
+@@ -61,19 +60,15 @@ OSQPInterface::OSQPInterface(
+   const std::vector<double> & l, const std::vector<double> & u, const c_float eps_abs)
+ : OSQPInterface(eps_abs)
+ {
+   initializeProblem(P, A, q, l, u);
+ }
+
+-OSQPInterface::~OSQPInterface()
+-{
+-  if (m_data->P) free(m_data->P);
+-  if (m_data->A) free(m_data->A);
+-}
++OSQPInterface::~OSQPInterface() = default;
+
+-void OSQPInterface::OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept
++void OSQPInterface::OSQPSolverDeleter(OSQPSolver * ptr) noexcept
+ {
+   if (ptr != nullptr) {
+     osqp_cleanup(ptr);
+   }
+ }
+
+@@ -86,103 +81,107 @@ void OSQPInterface::updateP(const Eigen::MatrixXd & P_new)
+   Eigen::SparseMatrix<double> P_sparse = P_trap.sparseView();
+   double *P_val_ptr = P_sparse.valuePtr();
+   // Convert dynamic 'int' arrays to 'c_int' arrays (OSQP input type)
+   c_int P_elem_N = P_sparse.nonZeros();
+   */
+   CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P_new);
+-  osqp_update_P(
+-    m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast<c_int>(P_csc.m_vals.size()));
++  osqp_update_data_mat(
++    m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast<c_int>(P_csc.m_vals.size()),
++    OSQP_NULL, OSQP_NULL, 0);
+ }
+
+ void OSQPInterface::updateCscP(const CSC_Matrix & P_csc)
+ {
+-  osqp_update_P(
+-    m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast<c_int>(P_csc.m_vals.size()));
++  osqp_update_data_mat(
++    m_work.get(), P_csc.m_vals.data(), OSQP_NULL, static_cast<c_int>(P_csc.m_vals.size()),
++    OSQP_NULL, OSQP_NULL, 0);
+ }
+
+ void OSQPInterface::updateA(const Eigen::MatrixXd & A_new)
+ {
+   /*
+   // Transform 'A' into a sparse matrix and extract data as dynamic arrays
+   Eigen::SparseMatrix<double> A_sparse = A_new.sparseView();
+   double *A_val_ptr = A_sparse.valuePtr();
+   // Convert dynamic 'int' arrays to 'c_int' arrays (OSQP input type)
+   c_int A_elem_N = A_sparse.nonZeros();
+   */
+   CSC_Matrix A_csc = calCSCMatrix(A_new);
+-  osqp_update_A(
+-    m_work.get(), A_csc.m_vals.data(), OSQP_NULL, static_cast<c_int>(A_csc.m_vals.size()));
++  osqp_update_data_mat(
++    m_work.get(), OSQP_NULL, OSQP_NULL, 0, A_csc.m_vals.data(), OSQP_NULL,
++    static_cast<c_int>(A_csc.m_vals.size()));
+   return;
+ }
+
+ void OSQPInterface::updateCscA(const CSC_Matrix & A_csc)
+ {
+-  osqp_update_A(
+-    m_work.get(), A_csc.m_vals.data(), OSQP_NULL, static_cast<c_int>(A_csc.m_vals.size()));
++  osqp_update_data_mat(
++    m_work.get(), OSQP_NULL, OSQP_NULL, 0, A_csc.m_vals.data(), OSQP_NULL,
++    static_cast<c_int>(A_csc.m_vals.size()));
+ }
+
+ void OSQPInterface::updateQ(const std::vector<double> & q_new)
+ {
+   std::vector<double> q_tmp(q_new.begin(), q_new.end());
+   double * q_dyn = q_tmp.data();
+-  osqp_update_lin_cost(m_work.get(), q_dyn);
++  osqp_update_data_vec(m_work.get(), q_dyn, OSQP_NULL, OSQP_NULL);
+ }
+
+ void OSQPInterface::updateL(const std::vector<double> & l_new)
+ {
+   std::vector<double> l_tmp(l_new.begin(), l_new.end());
+   double * l_dyn = l_tmp.data();
+-  osqp_update_lower_bound(m_work.get(), l_dyn);
++  osqp_update_data_vec(m_work.get(), OSQP_NULL, l_dyn, OSQP_NULL);
+ }
+
+ void OSQPInterface::updateU(const std::vector<double> & u_new)
+ {
+   std::vector<double> u_tmp(u_new.begin(), u_new.end());
+   double * u_dyn = u_tmp.data();
+-  osqp_update_upper_bound(m_work.get(), u_dyn);
++  osqp_update_data_vec(m_work.get(), OSQP_NULL, OSQP_NULL, u_dyn);
+ }
+
+ void OSQPInterface::updateBounds(
+   const std::vector<double> & l_new, const std::vector<double> & u_new)
+ {
+   std::vector<double> l_tmp(l_new.begin(), l_new.end());
+   std::vector<double> u_tmp(u_new.begin(), u_new.end());
+   double * l_dyn = l_tmp.data();
+   double * u_dyn = u_tmp.data();
+-  osqp_update_bounds(m_work.get(), l_dyn, u_dyn);
++  osqp_update_data_vec(m_work.get(), OSQP_NULL, l_dyn, u_dyn);
+ }
+
+ void OSQPInterface::updateEpsAbs(const double eps_abs)
+ {
+   m_settings->eps_abs = eps_abs;  // for default setting
+   if (m_work_initialized) {
+-    osqp_update_eps_abs(m_work.get(), eps_abs);  // for current work
++    osqp_update_settings(m_work.get(), m_settings.get());  // for current work
+   }
+ }
+
+ void OSQPInterface::updateEpsRel(const double eps_rel)
+ {
+   m_settings->eps_rel = eps_rel;  // for default setting
+   if (m_work_initialized) {
+-    osqp_update_eps_rel(m_work.get(), eps_rel);  // for current work
++    osqp_update_settings(m_work.get(), m_settings.get());  // for current work
+   }
+ }
+
+ void OSQPInterface::updateMaxIter(const int max_iter)
+ {
+   m_settings->max_iter = max_iter;  // for default setting
+   if (m_work_initialized) {
+-    osqp_update_max_iter(m_work.get(), max_iter);  // for current work
++    osqp_update_settings(m_work.get(), m_settings.get());  // for current work
+   }
+ }
+
+ void OSQPInterface::updateVerbose(const bool is_verbose)
+ {
+   m_settings->verbose = is_verbose;  // for default setting
+   if (m_work_initialized) {
+-    osqp_update_verbose(m_work.get(), is_verbose);  // for current work
++    osqp_update_settings(m_work.get(), m_settings.get());  // for current work
+   }
+ }
+
+ void OSQPInterface::updateRhoInterval(const int rho_interval)
+ {
+   m_settings->adaptive_rho_interval = rho_interval;  // for default setting
+@@ -197,52 +196,52 @@ void OSQPInterface::updateRho(const double rho)
+ }
+
+ void OSQPInterface::updateAlpha(const double alpha)
+ {
+   m_settings->alpha = alpha;
+   if (m_work_initialized) {
+-    osqp_update_alpha(m_work.get(), alpha);
++    osqp_update_settings(m_work.get(), m_settings.get());
+   }
+ }
+
+ void OSQPInterface::updateScaling(const int scaling)
+ {
+   m_settings->scaling = scaling;
+ }
+
+ void OSQPInterface::updatePolish(const bool polish)
+ {
+-  m_settings->polish = polish;
++  m_settings->polishing = polish;
+   if (m_work_initialized) {
+-    osqp_update_polish(m_work.get(), polish);
++    osqp_update_settings(m_work.get(), m_settings.get());
+   }
+ }
+
+ void OSQPInterface::updatePolishRefinementIteration(const int polish_refine_iter)
+ {
+   if (polish_refine_iter < 0) {
+     std::cerr << "Polish refinement iterations must be positive" << std::endl;
+     return;
+   }
+
+   m_settings->polish_refine_iter = polish_refine_iter;
+   if (m_work_initialized) {
+-    osqp_update_polish_refine_iter(m_work.get(), polish_refine_iter);
++    osqp_update_settings(m_work.get(), m_settings.get());
+   }
+ }
+
+ void OSQPInterface::updateCheckTermination(const int check_termination)
+ {
+   if (check_termination < 0) {
+     std::cerr << "Check termination must be positive" << std::endl;
+     return;
+   }
+
+   m_settings->check_termination = check_termination;
+   if (m_work_initialized) {
+-    osqp_update_check_termination(m_work.get(), check_termination);
++    osqp_update_settings(m_work.get(), m_settings.get());
+   }
+ }
+
+ bool OSQPInterface::setWarmStart(
+   const std::vector<double> & primal_variables, const std::vector<double> & dual_variables)
+ {
+@@ -252,13 +251,13 @@ bool OSQPInterface::setWarmStart(
+ bool OSQPInterface::setPrimalVariables(const std::vector<double> & primal_variables)
+ {
+   if (!m_work_initialized) {
+     return false;
+   }
+
+-  const auto result = osqp_warm_start_x(m_work.get(), primal_variables.data());
++  const auto result = osqp_warm_start(m_work.get(), primal_variables.data(), OSQP_NULL);
+   if (result != 0) {
+     std::cerr << "Failed to set primal variables for warm start" << std::endl;
+     return false;
+   }
+
+   return true;
+@@ -267,13 +266,13 @@ bool OSQPInterface::setPrimalVariables(const std::vector<double> & primal_variab
+ bool OSQPInterface::setDualVariables(const std::vector<double> & dual_variables)
+ {
+   if (!m_work_initialized) {
+     return false;
+   }
+
+-  const auto result = osqp_warm_start_y(m_work.get(), dual_variables.data());
++  const auto result = osqp_warm_start(m_work.get(), OSQP_NULL, dual_variables.data());
+   if (result != 0) {
+     std::cerr << "Failed to set dual variables for warm start" << std::endl;
+     return false;
+   }
+
+   return true;
+@@ -329,35 +328,33 @@ int64_t OSQPInterface::initializeProblem(
+   double * u_dyn = u_tmp.data();
+
+   /**********************
+    * OBJECTIVE FUNCTION
+    **********************/
+   m_param_n = static_cast<int>(q.size());
+-  m_data->m = static_cast<int>(l.size());
++  m_constraint_n = static_cast<int>(l.size());
+
+   /*****************
+    * POPULATE DATA
+    *****************/
+-  m_data->n = m_param_n;
+-  if (m_data->P) free(m_data->P);
+-  m_data->P = csc_matrix(
+-    m_data->n, m_data->n, static_cast<c_int>(P_csc.m_vals.size()), P_csc.m_vals.data(),
++  OSQPCscMatrix P;
++  OSQPCscMatrix_set_data(
++    &P, m_param_n, m_param_n, static_cast<c_int>(P_csc.m_vals.size()), P_csc.m_vals.data(),
+     P_csc.m_row_idxs.data(), P_csc.m_col_idxs.data());
+-  m_data->q = q_dyn;
+-  if (m_data->A) free(m_data->A);
+-  m_data->A = csc_matrix(
+-    m_data->m, m_data->n, static_cast<c_int>(A_csc.m_vals.size()), A_csc.m_vals.data(),
++  OSQPCscMatrix A;
++  OSQPCscMatrix_set_data(
++    &A, m_constraint_n, m_param_n, static_cast<c_int>(A_csc.m_vals.size()),
++    A_csc.m_vals.data(),
+     A_csc.m_row_idxs.data(), A_csc.m_col_idxs.data());
+-  m_data->l = l_dyn;
+-  m_data->u = u_dyn;
+
+   // Setup workspace
+-  OSQPWorkspace * workspace;
+-  m_exitflag = osqp_setup(&workspace, m_data.get(), m_settings.get());
+-  m_work.reset(workspace);
+-  m_work_initialized = true;
++  OSQPSolver * solver = nullptr;
++  m_exitflag = osqp_setup(
++    &solver, &P, q_dyn, &A, l_dyn, u_dyn, m_constraint_n, m_param_n, m_settings.get());
++  m_work.reset(solver);
++  m_work_initialized = m_exitflag == 0;
+
+   return m_exitflag;
+ }
+
+ OSQPResult OSQPInterface::solve()
+ {
+@@ -367,13 +364,13 @@ OSQPResult OSQPInterface::solve()
+   /********************
+    * EXTRACT SOLUTION
+    ********************/
+   double * sol_x = m_work->solution->x;
+   double * sol_y = m_work->solution->y;
+   std::vector<double> sol_primal(sol_x, sol_x + m_param_n);
+-  std::vector<double> sol_lagrange_multiplier(sol_y, sol_y + m_data->m);
++  std::vector<double> sol_lagrange_multiplier(sol_y, sol_y + m_constraint_n);
+
+   int64_t status_polish = m_work->info->status_polish;
+   int64_t status_solution = m_work->info->status_val;
+   int64_t status_iteration = m_work->info->iter;
+
+   // Result tuple
diff --git a/patch/ros-lyrical-autoware-qp-interface.patch b/patch/ros-lyrical-autoware-qp-interface.patch
index 18891898..3c6d44a9 100644
--- a/patch/ros-lyrical-autoware-qp-interface.patch
+++ b/patch/ros-lyrical-autoware-qp-interface.patch
@@ -1,11 +1,13 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a402b138..8b50b5ae 100644
+index a402b1381..8b50b5ae0 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -38,10 +38,10 @@ target_include_directories(${PROJECT_NAME}
+@@ -36,14 +36,14 @@ target_include_directories(${PROJECT_NAME}
+   SYSTEM PUBLIC
+     "${OSQP_INCLUDE_DIR}"
      "${EIGEN3_INCLUDE_DIR}"
  )
- 
+
 -ament_target_dependencies(${PROJECT_NAME}
 -  Eigen3
 -  osqp_vendor
@@ -15,13 +17,78 @@ index a402b138..8b50b5ae 100644
 +  osqp::osqp
 +  proxsuite::proxsuite
  )
- 
+
  # crucial so downstream package builds because osqp_interface exposes osqp.hpp
+ ament_export_include_directories("${OSQP_INCLUDE_DIR}")
+ # crucial so the linking order is correct in a downstream package: libosqp_interface.a should come before libosqp.a
+diff --git a/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp b/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp
+index 5d447e5ce..8dcc3615c 100644
+--- a/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp
++++ b/include/autoware/qp_interface/osqp_csc_matrix_conv.hpp
+@@ -15,14 +15,18 @@
+ #ifndef AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
+ #define AUTOWARE__QP_INTERFACE__OSQP_CSC_MATRIX_CONV_HPP_
+
+ #include <Eigen/Core>
+
+-#include <osqp/glob_opts.h>
++#include <osqp/osqp.h>
+
+ #include <vector>
+
++// Preserve the OSQP 0.6 type names used by this package's public API.
++using c_float = OSQPFloat;
++using c_int = OSQPInt;
++
+ namespace autoware::qp_interface
+ {
+ /// \brief Compressed-Column-Sparse Matrix
+ struct CSC_Matrix
+ {
+diff --git a/include/autoware/qp_interface/osqp_interface.hpp b/include/autoware/qp_interface/osqp_interface.hpp
+index c8e8f6962..c4ff18953 100644
+--- a/include/autoware/qp_interface/osqp_interface.hpp
++++ b/include/autoware/qp_interface/osqp_interface.hpp
+@@ -56,11 +56,11 @@ public:
+     const std::vector<double> & l, const std::vector<double> & u,
+     const bool enable_warm_start = false,
+     const c_float eps_abs = std::numeric_limits<c_float>::epsilon());
+   ~OSQPInterface() override;
+
+-  static void OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept;
++  static void OSQPSolverDeleter(OSQPSolver * ptr) noexcept;
+
+   std::vector<double> optimize(
+     CSC_Matrix P, CSC_Matrix A, const std::vector<double> & q, const std::vector<double> & l,
+     const std::vector<double> & u);
+
+@@ -120,17 +120,17 @@ public:
+     const std::vector<double> & primal_variables, const std::vector<double> & dual_variables);
+   bool setPrimalVariables(const std::vector<double> & primal_variables);
+   bool setDualVariables(const std::vector<double> & dual_variables);
+
+ private:
+-  std::unique_ptr<OSQPWorkspace, std::function<void(OSQPWorkspace *)>> work_;
++  std::unique_ptr<OSQPSolver, std::function<void(OSQPSolver *)>> work_;
+   std::unique_ptr<OSQPSettings> settings_;
+-  std::unique_ptr<OSQPData> data_;
+   // store last work info since work is cleaned up at every execution to prevent memory leak.
+   OSQPInfo latest_work_info_;
+   // Number of parameters to optimize
+   int64_t param_n_;
++  int64_t constraint_n_;
+   // Flag to check if the current work exists
+   bool work__initialized = false;
+   // Exitflag
+   int64_t exitflag_;
+
 diff --git a/src/osqp_csc_matrix_conv.cpp b/src/osqp_csc_matrix_conv.cpp
-index 15314a9e..96056753 100644
+index 15314a9e4..960567534 100644
 --- a/src/osqp_csc_matrix_conv.cpp
 +++ b/src/osqp_csc_matrix_conv.cpp
-@@ -25,9 +25,9 @@ namespace autoware::qp_interface
+@@ -23,13 +23,13 @@
+
+ namespace autoware::qp_interface
  {
  CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat)
  {
@@ -29,17 +96,338 @@ index 15314a9e..96056753 100644
    const Eigen::Index rows = mat.rows();
    const Eigen::Index cols = mat.cols();
 +  const size_t elem = static_cast<size_t>(rows * cols);
- 
+
    std::vector<c_float> vals;
    vals.reserve(elem);
-@@ -66,9 +66,9 @@ CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat)
- 
+   std::vector<c_int> row_idxs;
+   row_idxs.reserve(elem);
+@@ -64,13 +64,13 @@ CSC_Matrix calCSCMatrix(const Eigen::MatrixXd & mat)
+   return csc_matrix;
+ }
+
  CSC_Matrix calCSCMatrixTrapezoidal(const Eigen::MatrixXd & mat)
  {
 -  const size_t elem = static_cast<size_t>(mat.nonZeros());
    const Eigen::Index rows = mat.rows();
    const Eigen::Index cols = mat.cols();
 +  const size_t elem = static_cast<size_t>(rows * (rows + 1) / 2);
- 
+
    if (rows != cols) {
      throw std::invalid_argument("Matrix must be square (n, n)");
+   }
+
+diff --git a/src/osqp_interface.cpp b/src/osqp_interface.cpp
+index 89a0b10e0..4dcb14f43 100644
+--- a/src/osqp_interface.cpp
++++ b/src/osqp_interface.cpp
+@@ -26,26 +26,25 @@
+ namespace autoware::qp_interface
+ {
+ OSQPInterface::OSQPInterface(
+   const bool enable_warm_start, const int max_iteration, const c_float eps_abs,
+   const c_float eps_rel, const bool polish, const bool verbose)
+-: QPInterface(enable_warm_start), work_{nullptr, OSQPWorkspaceDeleter}
++: QPInterface(enable_warm_start), work_{nullptr, OSQPSolverDeleter}
+ {
+   settings_ = std::make_unique<OSQPSettings>();
+-  data_ = std::make_unique<OSQPData>();
+
+   if (settings_) {
+     osqp_set_default_settings(settings_.get());
+     settings_->alpha = 1.6;  // Change alpha parameter
+     settings_->eps_rel = eps_rel;
+     settings_->eps_abs = eps_abs;
+     settings_->eps_prim_inf = 1.0E-4;
+     settings_->eps_dual_inf = 1.0E-4;
+-    settings_->warm_start = enable_warm_start;
++    settings_->warm_starting = enable_warm_start;
+     settings_->max_iter = max_iteration;
+     settings_->verbose = verbose;
+-    settings_->polish = polish;
++    settings_->polishing = polish;
+   }
+   exitflag_ = 0;
+ }
+
+ OSQPInterface::OSQPInterface(
+@@ -64,15 +63,11 @@ OSQPInterface::OSQPInterface(
+ : OSQPInterface(enable_warm_start, OSQP_MAX_ITERATION, eps_abs)
+ {
+   initializeCSCProblemImpl(P, A, q, l, u);
+ }
+
+-OSQPInterface::~OSQPInterface()
+-{
+-  if (data_->P) free(data_->P);
+-  if (data_->A) free(data_->A);
+-}
++OSQPInterface::~OSQPInterface() = default;
+
+ void OSQPInterface::initializeProblemImpl(
+   const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<double> & q,
+   const std::vector<double> & l, const std::vector<double> & u)
+ {
+@@ -95,71 +90,68 @@ void OSQPInterface::initializeCSCProblemImpl(
+
+   /**********************
+    * OBJECTIVE FUNCTION
+    **********************/
+   param_n_ = static_cast<int>(q.size());
+-  data_->m = static_cast<int>(l.size());
++  constraint_n_ = static_cast<int>(l.size());
+
+   /*****************
+    * POPULATE DATA
+    *****************/
+-  data_->n = param_n_;
+-  if (data_->P) free(data_->P);
+-  data_->P = csc_matrix(
+-    data_->n, data_->n, static_cast<c_int>(P_csc.vals_.size()), P_csc.vals_.data(),
++  OSQPCscMatrix P;
++  OSQPCscMatrix_set_data(
++    &P, param_n_, param_n_, static_cast<c_int>(P_csc.vals_.size()), P_csc.vals_.data(),
+     P_csc.row_idxs_.data(), P_csc.col_idxs_.data());
+-  data_->q = q_dyn;
+-  if (data_->A) free(data_->A);
+-  data_->A = csc_matrix(
+-    data_->m, data_->n, static_cast<c_int>(A_csc.vals_.size()), A_csc.vals_.data(),
++  OSQPCscMatrix A;
++  OSQPCscMatrix_set_data(
++    &A, constraint_n_, param_n_, static_cast<c_int>(A_csc.vals_.size()), A_csc.vals_.data(),
+     A_csc.row_idxs_.data(), A_csc.col_idxs_.data());
+-  data_->l = l_dyn;
+-  data_->u = u_dyn;
+
+   // Setup workspace
+-  OSQPWorkspace * workspace;
+-  exitflag_ = osqp_setup(&workspace, data_.get(), settings_.get());
+-  work_.reset(workspace);
+-  work__initialized = true;
++  OSQPSolver * solver = nullptr;
++  exitflag_ = osqp_setup(
++    &solver, &P, q_dyn, &A, l_dyn, u_dyn, constraint_n_, param_n_, settings_.get());
++  work_.reset(solver);
++  work__initialized = exitflag_ == 0;
+ }
+
+-void OSQPInterface::OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept
++void OSQPInterface::OSQPSolverDeleter(OSQPSolver * ptr) noexcept
+ {
+   if (ptr != nullptr) {
+     osqp_cleanup(ptr);
+   }
+ }
+
+ void OSQPInterface::updateEpsAbs(const double eps_abs)
+ {
+   settings_->eps_abs = eps_abs;  // for default setting
+   if (work__initialized) {
+-    osqp_update_eps_abs(work_.get(), eps_abs);  // for current work
++    osqp_update_settings(work_.get(), settings_.get());  // for current work
+   }
+ }
+
+ void OSQPInterface::updateEpsRel(const double eps_rel)
+ {
+   settings_->eps_rel = eps_rel;  // for default setting
+   if (work__initialized) {
+-    osqp_update_eps_rel(work_.get(), eps_rel);  // for current work
++    osqp_update_settings(work_.get(), settings_.get());  // for current work
+   }
+ }
+
+ void OSQPInterface::updateMaxIter(const int max_iter)
+ {
+   settings_->max_iter = max_iter;  // for default setting
+   if (work__initialized) {
+-    osqp_update_max_iter(work_.get(), max_iter);  // for current work
++    osqp_update_settings(work_.get(), settings_.get());  // for current work
+   }
+ }
+
+ void OSQPInterface::updateVerbose(const bool is_verbose)
+ {
+   settings_->verbose = is_verbose;  // for default setting
+   if (work__initialized) {
+-    osqp_update_verbose(work_.get(), is_verbose);  // for current work
++    osqp_update_settings(work_.get(), settings_.get());  // for current work
+   }
+ }
+
+ void OSQPInterface::updateRhoInterval(const int rho_interval)
+ {
+@@ -176,24 +168,24 @@ void OSQPInterface::updateRho(const double rho)
+
+ void OSQPInterface::updateAlpha(const double alpha)
+ {
+   settings_->alpha = alpha;
+   if (work__initialized) {
+-    osqp_update_alpha(work_.get(), alpha);
++    osqp_update_settings(work_.get(), settings_.get());
+   }
+ }
+
+ void OSQPInterface::updateScaling(const int scaling)
+ {
+   settings_->scaling = scaling;
+ }
+
+ void OSQPInterface::updatePolish(const bool polish)
+ {
+-  settings_->polish = polish;
++  settings_->polishing = polish;
+   if (work__initialized) {
+-    osqp_update_polish(work_.get(), polish);
++    osqp_update_settings(work_.get(), settings_.get());
+   }
+ }
+
+ void OSQPInterface::updatePolishRefinementIteration(const int polish_refine_iter)
+ {
+@@ -202,11 +194,11 @@ void OSQPInterface::updatePolishRefinementIteration(const int polish_refine_iter
+     return;
+   }
+
+   settings_->polish_refine_iter = polish_refine_iter;
+   if (work__initialized) {
+-    osqp_update_polish_refine_iter(work_.get(), polish_refine_iter);
++    osqp_update_settings(work_.get(), settings_.get());
+   }
+ }
+
+ void OSQPInterface::updateCheckTermination(const int check_termination)
+ {
+@@ -215,11 +207,11 @@ void OSQPInterface::updateCheckTermination(const int check_termination)
+     return;
+   }
+
+   settings_->check_termination = check_termination;
+   if (work__initialized) {
+-    osqp_update_check_termination(work_.get(), check_termination);
++    osqp_update_settings(work_.get(), settings_.get());
+   }
+ }
+
+ bool OSQPInterface::setWarmStart(
+   const std::vector<double> & primal_variables, const std::vector<double> & dual_variables)
+@@ -231,11 +223,11 @@ bool OSQPInterface::setPrimalVariables(const std::vector<double> & primal_variab
+ {
+   if (!work__initialized) {
+     return false;
+   }
+
+-  const auto result = osqp_warm_start_x(work_.get(), primal_variables.data());
++  const auto result = osqp_warm_start(work_.get(), primal_variables.data(), OSQP_NULL);
+   if (result != 0) {
+     std::cerr << "Failed to set primal variables for warm start" << std::endl;
+     return false;
+   }
+
+@@ -246,11 +238,11 @@ bool OSQPInterface::setDualVariables(const std::vector<double> & dual_variables)
+ {
+   if (!work__initialized) {
+     return false;
+   }
+
+-  const auto result = osqp_warm_start_y(work_.get(), dual_variables.data());
++  const auto result = osqp_warm_start(work_.get(), OSQP_NULL, dual_variables.data());
+   if (result != 0) {
+     std::cerr << "Failed to set dual variables for warm start" << std::endl;
+     return false;
+   }
+
+@@ -267,16 +259,20 @@ void OSQPInterface::updateP(const Eigen::MatrixXd & P_new)
+   double *P_val_ptr = P_sparse.valuePtr();
+   // Convert dynamic 'int' arrays to 'c_int' arrays (OSQP input type)
+   c_int P_elem_N = P_sparse.nonZeros();
+   */
+   CSC_Matrix P_csc = calCSCMatrixTrapezoidal(P_new);
+-  osqp_update_P(work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast<c_int>(P_csc.vals_.size()));
++  osqp_update_data_mat(
++    work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast<c_int>(P_csc.vals_.size()),
++    OSQP_NULL, OSQP_NULL, 0);
+ }
+
+ void OSQPInterface::updateCscP(const CSC_Matrix & P_csc)
+ {
+-  osqp_update_P(work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast<c_int>(P_csc.vals_.size()));
++  osqp_update_data_mat(
++    work_.get(), P_csc.vals_.data(), OSQP_NULL, static_cast<c_int>(P_csc.vals_.size()),
++    OSQP_NULL, OSQP_NULL, 0);
+ }
+
+ void OSQPInterface::updateA(const Eigen::MatrixXd & A_new)
+ {
+   /*
+@@ -285,48 +281,52 @@ void OSQPInterface::updateA(const Eigen::MatrixXd & A_new)
+   double *A_val_ptr = A_sparse.valuePtr();
+   // Convert dynamic 'int' arrays to 'c_int' arrays (OSQP input type)
+   c_int A_elem_N = A_sparse.nonZeros();
+   */
+   CSC_Matrix A_csc = calCSCMatrix(A_new);
+-  osqp_update_A(work_.get(), A_csc.vals_.data(), OSQP_NULL, static_cast<c_int>(A_csc.vals_.size()));
++  osqp_update_data_mat(
++    work_.get(), OSQP_NULL, OSQP_NULL, 0, A_csc.vals_.data(), OSQP_NULL,
++    static_cast<c_int>(A_csc.vals_.size()));
+   return;
+ }
+
+ void OSQPInterface::updateCscA(const CSC_Matrix & A_csc)
+ {
+-  osqp_update_A(work_.get(), A_csc.vals_.data(), OSQP_NULL, static_cast<c_int>(A_csc.vals_.size()));
++  osqp_update_data_mat(
++    work_.get(), OSQP_NULL, OSQP_NULL, 0, A_csc.vals_.data(), OSQP_NULL,
++    static_cast<c_int>(A_csc.vals_.size()));
+ }
+
+ void OSQPInterface::updateQ(const std::vector<double> & q_new)
+ {
+   std::vector<double> q_tmp(q_new.begin(), q_new.end());
+   double * q_dyn = q_tmp.data();
+-  osqp_update_lin_cost(work_.get(), q_dyn);
++  osqp_update_data_vec(work_.get(), q_dyn, OSQP_NULL, OSQP_NULL);
+ }
+
+ void OSQPInterface::updateL(const std::vector<double> & l_new)
+ {
+   std::vector<double> l_tmp(l_new.begin(), l_new.end());
+   double * l_dyn = l_tmp.data();
+-  osqp_update_lower_bound(work_.get(), l_dyn);
++  osqp_update_data_vec(work_.get(), OSQP_NULL, l_dyn, OSQP_NULL);
+ }
+
+ void OSQPInterface::updateU(const std::vector<double> & u_new)
+ {
+   std::vector<double> u_tmp(u_new.begin(), u_new.end());
+   double * u_dyn = u_tmp.data();
+-  osqp_update_upper_bound(work_.get(), u_dyn);
++  osqp_update_data_vec(work_.get(), OSQP_NULL, OSQP_NULL, u_dyn);
+ }
+
+ void OSQPInterface::updateBounds(
+   const std::vector<double> & l_new, const std::vector<double> & u_new)
+ {
+   std::vector<double> l_tmp(l_new.begin(), l_new.end());
+   std::vector<double> u_tmp(u_new.begin(), u_new.end());
+   double * l_dyn = l_tmp.data();
+   double * u_dyn = u_tmp.data();
+-  osqp_update_bounds(work_.get(), l_dyn, u_dyn);
++  osqp_update_data_vec(work_.get(), OSQP_NULL, l_dyn, u_dyn);
+ }
+
+ int OSQPInterface::getIterationNumber() const
+ {
+   return work_->info->iter;
+@@ -348,11 +348,11 @@ int OSQPInterface::getPolishStatus() const
+ }
+
+ std::vector<double> OSQPInterface::getDualSolution() const
+ {
+   double * sol_y = work_->solution->y;
+-  std::vector<double> dual_solution(sol_y, sol_y + data_->m);
++  std::vector<double> dual_solution(sol_y, sol_y + constraint_n_);
+   return dual_solution;
+ }
+
+ std::vector<double> OSQPInterface::optimizeImpl()
+ {
diff --git a/patch/ros-lyrical-chomp-motion-planner.patch b/patch/ros-lyrical-chomp-motion-planner.patch
deleted file mode 100644
index f3ee7510..00000000
--- a/patch/ros-lyrical-chomp-motion-planner.patch
+++ /dev/null
@@ -1,26 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -11,6 +11,7 @@
- find_package(rclcpp REQUIRED)
- find_package(rsl REQUIRED)
- find_package(trajectory_msgs REQUIRED)
-+find_package(visualization_msgs REQUIRED)
- 
- set(THIS_PACKAGE_INCLUDE_DEPENDS moveit_core rclcpp rsl trajectory_msgs
-                                  visualization_msgs)
-@@ -23,7 +24,13 @@
-   src/chomp_optimizer.cpp src/chomp_planner.cpp)
- set_target_properties(chomp_motion_planner
-                       PROPERTIES VERSION "${chomp_motion_planner_VERSION}")
--ament_target_dependencies(chomp_motion_planner ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  chomp_motion_planner
-+  moveit_core::moveit_core
-+  rclcpp::rclcpp
-+  rsl::rsl
-+  ${trajectory_msgs_TARGETS}
-+  ${visualization_msgs_TARGETS})
- 
- install(
-   TARGETS chomp_motion_planner
diff --git a/patch/ros-lyrical-foxglove-bridge.osx.patch b/patch/ros-lyrical-foxglove-bridge.osx.patch
deleted file mode 100644
index 9a0b8c7f..00000000
--- a/patch/ros-lyrical-foxglove-bridge.osx.patch
+++ /dev/null
@@ -1,177 +0,0 @@
-diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
-index 601db6c..fc18e1c 100644
---- a/src/ros2_foxglove_bridge.cpp
-+++ b/src/ros2_foxglove_bridge.cpp
-@@ -492,7 +492,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
-       const TopicAndDatatype topicAndSchemaName = {topic, schemaName};
-       if (latestTopics.find(topicAndSchemaName) == latestTopics.end()) {
-         const auto channelId = channel.id();
--        RCLCPP_INFO(this->get_logger(), "Removing channel %lu for topic \"%s\" (%s)", channelId,
-+        RCLCPP_INFO(this->get_logger(), "Removing channel %llu for topic \"%s\" (%s)", channelId,
-                     topic.c_str(), schemaName.c_str());
-         // Remove any active subscriptions for this channel
-         _subscriptions.erase(channelId);
-@@ -562,7 +562,7 @@ void FoxgloveBridge::updateAdvertisedTopics(
-       }
- 
-       const ChannelId channelId = channelResult.value().id();
--      RCLCPP_INFO(this->get_logger(), "Advertising new channel %lu for topic \"%s\"", channelId,
-+      RCLCPP_INFO(this->get_logger(), "Advertising new channel %llu for topic \"%s\"", channelId,
-                   topic.c_str());
-       _channels.insert({channelId, std::move(channelResult.value())});
-     }
-@@ -827,7 +827,7 @@ void FoxgloveBridge::subscribeConnectionGraph(bool subscribe) {
- }
- 
- void FoxgloveBridge::subscribe(ChannelId channelId, const foxglove::ClientMetadata& client) {
--  RCLCPP_INFO(this->get_logger(), "received subscribe request for channel %lu from client %u",
-+  RCLCPP_INFO(this->get_logger(), "received subscribe request for channel %llu from client %u",
-               channelId, client.id);
-   createOrIncrementSubscription(channelId, client.id, false, client.sink_id);
- }
-@@ -880,7 +880,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
-                                                          std::optional<SinkId> sinkId) {
-   auto channelIt = _channels.find(channelId);
-   if (channelIt == _channels.end()) {
--    RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %lu",
-+    RCLCPP_ERROR(this->get_logger(), "received subscribe request for unknown channel: %llu",
-                  channelId);
-     return;
-   }
-@@ -911,7 +911,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
-     auto [it, inserted] = _subscriptions.emplace(channelId, std::move(channelSub));
-     subIt = it;
- 
--    RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %lu",
-+    RCLCPP_INFO(this->get_logger(), "Created ROS subscription on %s (%s) for channel %llu",
-                 topic.c_str(), datatype.c_str(), channelId);
-   }
- 
-@@ -935,7 +935,7 @@ void FoxgloveBridge::createOrIncrementSubscriptionLocked(ChannelId channelId, Cl
- }
- 
- void FoxgloveBridge::unsubscribe(ChannelId channelId, const foxglove::ClientMetadata& client) {
--  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %lu from client %u",
-+  RCLCPP_INFO(this->get_logger(), "received unsubscribe request for channel %llu from client %u",
-               channelId, client.id);
-   removeOrDecrementSubscription(channelId, client.id, false);
- }
-@@ -951,7 +951,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl
-   auto subIt = _subscriptions.find(channelId);
-   if (subIt == _subscriptions.end()) {
-     RCLCPP_ERROR(this->get_logger(),
--                 "Client %u tried unsubscribing from channel %lu but no subscription exists",
-+                 "Client %u tried unsubscribing from channel %llu but no subscription exists",
-                  clientId, channelId);
-     return;
-   }
-@@ -966,7 +966,7 @@ void FoxgloveBridge::removeOrDecrementSubscriptionLocked(ChannelId channelId, Cl
-   // If no more subscribers, destroy the ROS subscription
-   if (subIt->second.wsClientIds.empty() && subIt->second.gatewayClientIds.empty()) {
-     RCLCPP_INFO(this->get_logger(),
--                "Cleaned up ROS subscription for channel %lu (no more subscribers)", channelId);
-+                "Cleaned up ROS subscription for channel %llu (no more subscribers)", channelId);
-     _subscriptions.erase(subIt);
-   }
- }
-@@ -1105,7 +1105,7 @@ void FoxgloveBridge::clientUnadvertise(ClientId clientId, ChannelId clientChanne
- 
-   const auto& publisher = it->second.publisher;
-   RCLCPP_INFO(this->get_logger(),
--              "Client ID %u is no longer advertising %s (%zu subscribers) on channel %lu", clientId,
-+              "Client ID %u is no longer advertising %s (%zu subscribers) on channel %llu", clientId,
-               publisher->get_topic_name(), publisher->get_subscription_count(), clientChannelId);
- 
-   _clientAdvertisedTopics.erase(it);
-@@ -1585,13 +1585,13 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId,
-   auto sinkId = _gateway->sinkId();
-   if (!sinkId.has_value()) {
-     RCLCPP_WARN(this->get_logger(),
--                "Gateway: subscribe request for channel %lu (\"%s\") from client %u "
-+                "Gateway: subscribe request for channel %llu (\"%s\") from client %u "
-                 "but gateway session has no sink ID (reconnecting?); "
-                 "cached transient_local messages will not be replayed",
-                 channel.id(), std::string(channel.topic()).c_str(), clientId);
-   }
-   RCLCPP_INFO(this->get_logger(),
--              "Gateway: received subscribe request for channel %lu (\"%s\") from client %u",
-+              "Gateway: received subscribe request for channel %llu (\"%s\") from client %u",
-               channel.id(), std::string(channel.topic()).c_str(), clientId);
-   createOrIncrementSubscription(channel.id(), clientId, true, sinkId);
- }
-@@ -1599,7 +1599,7 @@ void FoxgloveBridge::gatewaySubscribe(uint32_t clientId,
- void FoxgloveBridge::gatewayUnsubscribe(uint32_t clientId,
-                                         const foxglove::ChannelDescriptor& channel) {
-   RCLCPP_INFO(this->get_logger(),
--              "Gateway: received unsubscribe request for channel %lu (\"%s\") from client %u",
-+              "Gateway: received unsubscribe request for channel %llu (\"%s\") from client %u",
-               channel.id(), std::string(channel.topic()).c_str(), clientId);
-   removeOrDecrementSubscription(channel.id(), clientId, true);
- }
-@@ -1614,7 +1614,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
- 
-   ChannelAndClientId key = {channelId, clientId};
-   if (_gatewayClientAdvertisedTopics.find(key) != _gatewayClientAdvertisedTopics.end()) {
--    RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %lu (\"%s\")",
-+    RCLCPP_WARN(this->get_logger(), "Gateway: client %u already advertised channel %llu (\"%s\")",
-                 clientId, channelId, topicName.c_str());
-     return;
-   }
-@@ -1631,7 +1631,7 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
- 
-   if (topicType.empty()) {
-     RCLCPP_ERROR(this->get_logger(),
--                 "Gateway: client %u advertised channel %lu (\"%s\") with empty schema name",
-+                 "Gateway: client %u advertised channel %llu (\"%s\") with empty schema name",
-                  clientId, channelId, topicName.c_str());
-     return;
-   }
-@@ -1639,12 +1639,12 @@ void FoxgloveBridge::gatewayClientAdvertise(uint32_t clientId,
-   try {
-     auto ad = createClientPublisher(topicName, topicType, encoding, schemaData, schemaLen);
-     RCLCPP_INFO(this->get_logger(),
--                "Gateway: client %u is advertising channel %lu \"%s\" (%s) with encoding \"%s\"",
-+                "Gateway: client %u is advertising channel %llu \"%s\" (%s) with encoding \"%s\"",
-                 clientId, channelId, topicName.c_str(), topicType.c_str(), encoding.c_str());
-     _gatewayClientAdvertisedTopics.emplace(key, std::move(ad));
-   } catch (const std::exception& ex) {
-     RCLCPP_ERROR(this->get_logger(),
--                 "Gateway: failed to create publisher for client %u channel %lu (\"%s\"): %s",
-+                 "Gateway: failed to create publisher for client %u channel %llu (\"%s\"): %s",
-                  clientId, channelId, topicName.c_str(), ex.what());
-   }
- }
-@@ -1658,13 +1658,13 @@ void FoxgloveBridge::gatewayClientUnadvertise(uint32_t clientId,
- 
-   auto it = _gatewayClientAdvertisedTopics.find(key);
-   if (it == _gatewayClientAdvertisedTopics.end()) {
--    RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %lu (\"%s\")",
-+    RCLCPP_WARN(this->get_logger(), "Gateway: client %u unadvertised unknown channel %llu (\"%s\")",
-                 clientId, channelId, std::string(channel.topic()).c_str());
-     return;
-   }
- 
-   RCLCPP_INFO(this->get_logger(),
--              "Gateway: client %u is no longer advertising channel %lu (\"%s\")", clientId,
-+              "Gateway: client %u is no longer advertising channel %llu (\"%s\")", clientId,
-               channelId, it->second.topicName.c_str());
-   _gatewayClientAdvertisedTopics.erase(it);
- 
-@@ -1688,7 +1688,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId,
-     auto it = _gatewayClientAdvertisedTopics.find(key);
-     if (it == _gatewayClientAdvertisedTopics.end()) {
-       RCLCPP_ERROR(this->get_logger(),
--                   "Gateway: dropping message from client %u for unknown channel %lu", clientId,
-+                   "Gateway: dropping message from client %u for unknown channel %llu", clientId,
-                    channelId);
-       return;
-     }
-@@ -1699,7 +1699,7 @@ void FoxgloveBridge::gatewayClientMessage(uint32_t clientId,
-   try {
-     publishClientData(ad, data, dataLen);
-   } catch (const std::exception& ex) {
--    RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %lu: %s",
-+    RCLCPP_ERROR(this->get_logger(), "Gateway: dropping message from client %u for channel %llu: %s",
-                  clientId, channelId, ex.what());
-   }
- }
diff --git a/patch/ros-lyrical-foxglove-bridge.patch b/patch/ros-lyrical-foxglove-bridge.patch
index ce120dbf..0f0d55c2 100644
--- a/patch/ros-lyrical-foxglove-bridge.patch
+++ b/patch/ros-lyrical-foxglove-bridge.patch
@@ -1,27 +1,27 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 8ee07c2..7426013 100644
+index 6171894..f285973 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -98,6 +98,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc
+@@ -97,6 +97,18 @@ if (CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarc
  elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
    set(FOXGLOVE_SDK_PLATFORM "x86_64-unknown-linux-gnu")
-   set(FOXGLOVE_SDK_SHA "0b9d348df3a8e98d2c2cee2360cc9f52e83bb3445044debd771d1b46dc358be4")
+   set(FOXGLOVE_SDK_SHA "4790dad26adaced1a5f81530ed406bab7b60aa202a868eb78cfc04976b9ce6d7")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")
 +  set(FOXGLOVE_SDK_PLATFORM "aarch64-apple-darwin")
-+  set(FOXGLOVE_SDK_SHA "c9dfa5061d72795af2620c2840a85e695b9dacce19475eaec8caf0102c4940ef")
++  set(FOXGLOVE_SDK_SHA "70c6e59cf757ac0480912c13cb2c630a3839de34eba428ef717411dae6b1688e")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
 +  set(FOXGLOVE_SDK_PLATFORM "x86_64-apple-darwin")
-+  set(FOXGLOVE_SDK_SHA "3531502efd958be3f9dca06a099c167512dd3006b98ac3eecf8250d376eaa16b")
++  set(FOXGLOVE_SDK_SHA "c6092c615523d462a9d3779313b8c033cf923ce30a43dc5305d48fe4f6d26988")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64")
 +  set(FOXGLOVE_SDK_PLATFORM "aarch64-pc-windows-msvc")
-+  set(FOXGLOVE_SDK_SHA "da293bf4dac2b973b7c72d1d368932f7f4f989fcac9311d529b93c7d2b84eae9")
++  set(FOXGLOVE_SDK_SHA "b88abb1bc2c5e230db65cd3d608174f005b3b4563b1c0b2e33db05bc3a2b528b")
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "AMD64")
 +  set(FOXGLOVE_SDK_PLATFORM "x86_64-pc-windows-msvc")
-+  set(FOXGLOVE_SDK_SHA "09d2ff5dbb6a5216a303f9470fbec186c0ebd849713570d6b8145a9d22d804af")
++  set(FOXGLOVE_SDK_SHA "ae4ac0f4ab9eb998542a5626cd7870ba011824499fe33fa86936e82ed6502185")
  else()
    message(FATAL_ERROR "Unsupported platform/architecture combination: ${CMAKE_SYSTEM_PROCESSOR}-${CMAKE_SYSTEM_NAME}")
  endif()
-@@ -202,6 +214,12 @@ target_link_libraries(foxglove_bridge_component
+@@ -201,6 +213,12 @@ target_link_libraries(foxglove_bridge_component
    rosx_introspection::rosx_introspection
  )
  
@@ -35,7 +35,7 @@ index 8ee07c2..7426013 100644
  enable_strict_compiler_warnings(foxglove_bridge_component)
  set_target_properties(foxglove_bridge_component PROPERTIES
 diff --git a/src/message_definition_cache.cpp b/src/message_definition_cache.cpp
-index ef72c9c..ed85745 100644
+index cf2864e..9124c80 100644
 --- a/src/message_definition_cache.cpp
 +++ b/src/message_definition_cache.cpp
 @@ -3,6 +3,7 @@
diff --git a/patch/ros-lyrical-foxglove-bridge.win.patch b/patch/ros-lyrical-foxglove-bridge.win.patch
index d9c0c1ef..575d47e8 100644
--- a/patch/ros-lyrical-foxglove-bridge.win.patch
+++ b/patch/ros-lyrical-foxglove-bridge.win.patch
@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 7426013..72e281d 100644
+index f285973..28652e5 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -61,7 +61,7 @@ endif()
@@ -11,7 +11,7 @@ index 7426013..72e281d 100644
    elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
      target_compile_options(${target} PRIVATE -Wall -Wextra -Wpedantic -Werror -Wold-style-cast -Wfloat-equal -Wmost -Wunused-exception-parameter)
    else()
-@@ -122,6 +122,75 @@ FetchContent_Declare(
+@@ -121,6 +121,75 @@ FetchContent_Declare(
    URL_HASH SHA256=${FOXGLOVE_SDK_SHA}
  )
  FetchContent_MakeAvailable(foxglove_sdk)
@@ -87,7 +87,7 @@ index 7426013..72e281d 100644
  
  # The dist's CMake package config defines IMPORTED targets for the prebuilt C libraries
  # (foxglove-static, foxglove-shared) and the foxglove_sdk_add_cpp_library() helper, which
-@@ -136,6 +205,16 @@ if (FOXGLOVE_BRIDGE_REMOTE_ACCESS)
+@@ -135,6 +204,16 @@ if (FOXGLOVE_BRIDGE_REMOTE_ACCESS)
  else()
    foxglove_sdk_add_cpp_library(foxglove_cpp_shared TYPE SHARED REMOTE_ACCESS OFF)
  endif()
@@ -105,11 +105,12 @@ index 7426013..72e281d 100644
    BUILD_WITH_INSTALL_RPATH TRUE
  )
 diff --git a/src/ros2_foxglove_bridge.cpp b/src/ros2_foxglove_bridge.cpp
-index 601db6c..cc4e4f5 100644
+index b7fc123..fa78588 100644
 --- a/src/ros2_foxglove_bridge.cpp
 +++ b/src/ros2_foxglove_bridge.cpp
-@@ -1,3 +1,4 @@
+@@ -1,3 +1,5 @@
 +#define _CRT_SECURE_NO_WARNINGS
- #include <filesystem>
- #include <fstream>
- #include <type_traits>
++
+ #include <algorithm>
+ #include <cctype>
+ #include <cinttypes>
diff --git a/patch/ros-lyrical-geometric-shapes.patch b/patch/ros-lyrical-geometric-shapes.patch
index 6319d0a1..51384f3a 100644
--- a/patch/ros-lyrical-geometric-shapes.patch
+++ b/patch/ros-lyrical-geometric-shapes.patch
@@ -1,26 +1,3 @@
-From d236b8e9172705076e1c0aba34940307a925d3e2 Mon Sep 17 00:00:00 2001
-From: Silvio Traversaro <silvio@traversaro.it>
-Date: Wed, 18 Dec 2024 13:50:38 +0100
-Subject: [PATCH] Adjust octomap lookup and fix FCL assert include
-
----
- CMakeLists.txt | 2 +-
- src/aabb.cpp   | 1 +
- 2 files changed, 2 insertions(+), 1 deletion(-)
-
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 8c46189..277356c 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -45,7 +45,7 @@ find_package(eigen_stl_containers REQUIRED)
- find_package(geometry_msgs REQUIRED)
- # Enforce the system package version on Ubuntu jammy and noble which is also used by libfcl-dev
- # The version is fixed to prevent ABI conflicts with ros-octomap
--find_package(octomap 1.9.7...<1.10.0 REQUIRED)
-+find_package(octomap REQUIRED)
- find_package(QHULL REQUIRED)
- find_package(random_numbers REQUIRED)
- find_package(rclcpp REQUIRED)
 diff --git a/src/aabb.cpp b/src/aabb.cpp
 index 115028c..37f24cb 100644
 --- a/src/aabb.cpp
@@ -32,3 +9,4 @@ index 115028c..37f24cb 100644
 +#include <cassert>
  
  #include <fcl/geometry/shape/utility.h>
+ 
diff --git a/patch/ros-lyrical-geometric-shapes.win.patch b/patch/ros-lyrical-geometric-shapes.win.patch
deleted file mode 100644
index 5541bee5..00000000
--- a/patch/ros-lyrical-geometric-shapes.win.patch
+++ /dev/null
@@ -1,12 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 3e70189..ef0ebad 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -39,6 +39,7 @@ find_package(Eigen3 REQUIRED)
- 
- find_package(ament_cmake REQUIRED)
- find_package(assimp REQUIRED)
-+find_package(Boost REQUIRED COMPONENTS thread)
- find_package(console_bridge REQUIRED)
- find_package(console_bridge_vendor REQUIRED)
- find_package(eigen_stl_containers REQUIRED)
diff --git a/patch/ros-lyrical-gz-ros2-control.osx.patch b/patch/ros-lyrical-gz-ros2-control.osx.patch
deleted file mode 100644
index 44b175e3..00000000
--- a/patch/ros-lyrical-gz-ros2-control.osx.patch
+++ /dev/null
@@ -1,22 +0,0 @@
-diff --git a/src/gz_ros2_control_plugin.cpp b/src/gz_ros2_control_plugin.cpp
-index 236be25c..bdbc85da 100644
---- a/src/gz_ros2_control_plugin.cpp
-+++ b/src/gz_ros2_control_plugin.cpp
-@@ -214,7 +214,7 @@ GazeboSimROS2ControlPluginPrivate::GetEnabledJoints(
-       case sdf::JointType::FIXED:
-         {
-           RCLCPP_INFO(
--            node_->get_logger(), "[gz_ros2_control] Fixed joint ['%s'] (Entity='%lu') is skipped.",
-+            node_->get_logger(), "[gz_ros2_control] Fixed joint ['%s'] (Entity='%llu') is skipped.",
-             jointName.c_str(), jointEntity);
-           continue;
-         }
-@@ -225,7 +225,7 @@ GazeboSimROS2ControlPluginPrivate::GetEnabledJoints(
-         {
-           RCLCPP_WARN(
-             node_->get_logger(),
--            "[gz_ros2_control] Joint ['%s'] (Entity='%lu') is of unsupported type."
-+            "[gz_ros2_control] Joint ['%s'] (Entity='%llu') is of unsupported type."
-             " Only joints with a single axis are supported.",
-             jointName.c_str(), jointEntity);
-           continue;
diff --git a/patch/ros-lyrical-hardware-interface.osx.patch b/patch/ros-lyrical-hardware-interface.osx.patch
deleted file mode 100644
index fa7c2c03..00000000
--- a/patch/ros-lyrical-hardware-interface.osx.patch
+++ /dev/null
@@ -1,22 +0,0 @@
-diff --git a/src/lexical_casts.cpp b/src/lexical_casts.cpp
-index 6de4c69ae1..f875fad92b 100644
---- a/src/lexical_casts.cpp
-+++ b/src/lexical_casts.cpp
-@@ -64,7 +64,7 @@ std::optional<FloatingPointType> parse_floating_point_with_from_chars(const std:
- 
- std::optional<double> stod(const std::string & s)
- {
--#if __cplusplus < 202002L
-+#if __cplusplus < 202002L || defined(__APPLE__)
-   // convert from string using no locale
-   // Impl with std::istringstream
-   std::istringstream stream(s);
-@@ -84,7 +84,7 @@ std::optional<double> stod(const std::string & s)
- 
- std::optional<float> stof(const std::string & s)
- {
--#if __cplusplus < 202002L
-+#if __cplusplus < 202002L || defined(__APPLE__)
-   // convert from string using no locale
-   // Impl with std::istringstream
-   std::istringstream stream(s);
diff --git a/patch/ros-lyrical-moveit-core.patch b/patch/ros-lyrical-moveit-core.patch
index 63d7c559..f9193c73 100644
--- a/patch/ros-lyrical-moveit-core.patch
+++ b/patch/ros-lyrical-moveit-core.patch
@@ -1,139 +1,5 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index ca30488f7..b6f5f2ad4 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -13,19 +13,20 @@ find_package(eigen_stl_containers REQUIRED)
- find_package(Eigen3 REQUIRED)
- find_package(eigen3_cmake_module REQUIRED)
- find_package(fcl REQUIRED)
-+find_package(fmt REQUIRED)
- find_package(generate_parameter_library REQUIRED)
- find_package(geometric_shapes REQUIRED)
- find_package(geometry_msgs REQUIRED)
- find_package(kdl_parser REQUIRED)
- find_package(moveit_msgs REQUIRED)
--# Enforce system version liboctomap-dev
--# https://github.com/moveit/moveit2/issues/2862
--find_package(octomap 1.9.7...<1.10.0 REQUIRED)
-+find_package(octomap REQUIRED)
- find_package(octomap_msgs REQUIRED)
-+find_package(orocos_kdl REQUIRED)
- find_package(osqp REQUIRED)
- find_package(pluginlib REQUIRED)
- find_package(random_numbers REQUIRED)
- find_package(rclcpp REQUIRED)
-+find_package(rmw_implementation REQUIRED)
- find_package(rsl REQUIRED)
- find_package(ruckig REQUIRED)
- find_package(sensor_msgs REQUIRED)
-@@ -68,8 +69,37 @@ add_subdirectory(transforms)
- add_subdirectory(utils)
- add_subdirectory(version)
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_core::moveit_core to link all moveit_core libraries at once.
-+add_library(moveit_core INTERFACE)
-+target_link_libraries(
-+  moveit_core
-+  INTERFACE moveit_collision_detection
-+            moveit_collision_detection_bullet
-+            moveit_collision_detection_fcl
-+            moveit_collision_distance_field
-+            moveit_constraint_samplers
-+            moveit_distance_field
-+            moveit_dynamics_solver
-+            moveit_exceptions
-+            moveit_kinematic_constraints
-+            moveit_kinematics_base
-+            moveit_kinematics_metrics
-+            moveit_macros
-+            moveit_planning_interface
-+            moveit_planning_scene
-+            moveit_robot_model
-+            moveit_robot_state
-+            moveit_robot_trajectory
-+            moveit_smoothing_base
-+            moveit_test_utils
-+            moveit_trajectory_processing
-+            moveit_transforms
-+            moveit_utils)
-+
- install(
--  TARGETS moveit_collision_detection
-+  TARGETS moveit_core
-+          moveit_collision_detection
-           moveit_collision_detection_bullet
-           moveit_collision_detection_fcl
-           moveit_collision_distance_field
-@@ -119,6 +149,7 @@ ament_export_dependencies(
-   Eigen3
-   eigen3_cmake_module
-   fcl
-+  fmt
-   generate_parameter_library
-   geometric_shapes
-   geometry_msgs
-@@ -126,10 +157,12 @@ ament_export_dependencies(
-   moveit_msgs
-   octomap
-   octomap_msgs
-+  orocos_kdl
-   osqp
-   pluginlib
-   random_numbers
-   rclcpp
-+  rmw_implementation
-   rsl
-   ruckig
-   sensor_msgs
-diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
-index 8475da4..9daa704 100644
---- a/ConfigExtras.cmake
-+++ b/ConfigExtras.cmake
-@@ -10,5 +10,4 @@ find_package(
-   program_options
-   regex
-   serialization
--  system
-   thread)
-diff --git a/collision_detection/CMakeLists.txt b/collision_detection/CMakeLists.txt
-index e3f8fd212..403c2af04 100644
---- a/collision_detection/CMakeLists.txt
-+++ b/collision_detection/CMakeLists.txt
-@@ -16,19 +16,19 @@ target_include_directories(
- include(GenerateExportHeader)
- generate_export_header(moveit_collision_detection)
- 
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_collision_detection
--  eigen_stl_containers
--  pluginlib
--  rclcpp
--  rmw_implementation
--  urdf
--  urdfdom
--  urdfdom_headers
--  srdfdom
--  visualization_msgs
--  tf2_eigen
--  geometric_shapes
-+  eigen_stl_containers::eigen_stl_containers
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rmw_implementation::rmw_implementation
-+  urdf::urdf
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  srdfdom::srdfdom
-+  ${visualization_msgs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  geometric_shapes::geometric_shapes
-   octomap)
- target_include_directories(
-   moveit_collision_detection BEFORE
 diff --git a/collision_detection/include/moveit/collision_detection/collision_common.hpp b/collision_detection/include/moveit/collision_detection/collision_common.hpp
-index 19777a044..af3a89442 100644
+index f12f827..9b886a9 100644
 --- a/collision_detection/include/moveit/collision_detection/collision_common.hpp
 +++ b/collision_detection/include/moveit/collision_detection/collision_common.hpp
 @@ -141,7 +141,33 @@ struct CostSource
@@ -224,168 +90,8 @@ index 19777a044..af3a89442 100644
 -  std::set<CostSource> cost_sources;
 -};
  }  // namespace collision_detection
-diff --git a/collision_detection/src/world.cpp b/collision_detection/src/world.cpp
-index b2262f93d..8fd25b163 100644
---- a/collision_detection/src/world.cpp
-+++ b/collision_detection/src/world.cpp
-@@ -130,7 +130,7 @@ World::ObjectConstPtr World::getObject(const std::string& object_id) const
- 
- void World::ensureUnique(ObjectPtr& obj)
- {
--  if (obj && !obj.unique())
-+  if (obj && obj.use_count() != 1)
-     obj = std::make_shared<Object>(*obj);
- }
- 
-diff --git a/collision_detection_bullet/CMakeLists.txt b/collision_detection_bullet/CMakeLists.txt
-index feadeb653..1ea799949 100644
---- a/collision_detection_bullet/CMakeLists.txt
-+++ b/collision_detection_bullet/CMakeLists.txt
-@@ -18,35 +18,39 @@ target_include_directories(
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
- set_target_properties(moveit_collision_detection_bullet
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_collision_detection_bullet SYSTEM BULLET)
--ament_target_dependencies(
-+target_include_directories(moveit_collision_detection_bullet SYSTEM
-+                           PUBLIC ${BULLET_INCLUDE_DIRS})
-+target_link_libraries(
-   moveit_collision_detection_bullet
--  rclcpp
--  rmw_implementation
--  urdf
--  urdfdom
--  urdfdom_headers
--  visualization_msgs
--  octomap_msgs)
--target_link_libraries(moveit_collision_detection_bullet
--                      moveit_collision_detection moveit_utils)
-+  moveit_collision_detection
-+  moveit_utils
-+  ${BULLET_LIBRARIES}
-+  rclcpp::rclcpp
-+  rmw_implementation::rmw_implementation
-+  urdf::urdf
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  ${visualization_msgs_TARGETS}
-+  ${octomap_msgs_TARGETS})
- 
- add_library(collision_detector_bullet_plugin SHARED
-             src/collision_detector_bullet_plugin_loader.cpp)
- set_target_properties(collision_detector_bullet_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(collision_detector_bullet_plugin SYSTEM BULLET)
--ament_target_dependencies(
--  collision_detector_bullet_plugin
--  rclcpp
--  urdf
--  visualization_msgs
--  pluginlib
--  rmw_implementation
--  octomap_msgs)
-+target_include_directories(collision_detector_bullet_plugin SYSTEM
-+                           PUBLIC ${BULLET_INCLUDE_DIRS})
- target_link_libraries(
--  collision_detector_bullet_plugin moveit_collision_detection_bullet
--  moveit_planning_scene moveit_utils)
-+  collision_detector_bullet_plugin
-+  moveit_collision_detection_bullet
-+  moveit_planning_scene
-+  moveit_utils
-+  ${BULLET_LIBRARIES}
-+  rclcpp::rclcpp
-+  urdf::urdf
-+  ${visualization_msgs_TARGETS}
-+  pluginlib::pluginlib
-+  rmw_implementation::rmw_implementation
-+  ${octomap_msgs_TARGETS})
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- install(
-diff --git a/collision_detection_fcl/CMakeLists.txt b/collision_detection_fcl/CMakeLists.txt
-index ece406480..63922f49e 100644
---- a/collision_detection_fcl/CMakeLists.txt
-+++ b/collision_detection_fcl/CMakeLists.txt
-@@ -11,26 +11,32 @@ target_include_directories(
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
- set_target_properties(moveit_collision_detection_fcl
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_collision_detection_fcl
--  rclcpp
--  rmw_implementation
--  urdf
--  urdfdom
--  urdfdom_headers
--  visualization_msgs)
--target_link_libraries(moveit_collision_detection_fcl moveit_collision_detection
--                      moveit_utils fcl)
-+  moveit_collision_detection
-+  moveit_utils
-+  fcl
-+  rclcpp::rclcpp
-+  rmw_implementation::rmw_implementation
-+  urdf::urdf
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  ${visualization_msgs_TARGETS})
- 
- add_library(collision_detector_fcl_plugin SHARED
-             src/collision_detector_fcl_plugin_loader.cpp)
- set_target_properties(collision_detector_fcl_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(collision_detector_fcl_plugin rclcpp urdf
--                          visualization_msgs pluginlib rmw_implementation)
- target_link_libraries(
--  collision_detector_fcl_plugin moveit_collision_detection_fcl
--  moveit_planning_scene moveit_utils)
-+  collision_detector_fcl_plugin
-+  moveit_collision_detection_fcl
-+  moveit_planning_scene
-+  moveit_utils
-+  rclcpp::rclcpp
-+  urdf::urdf
-+  ${visualization_msgs_TARGETS}
-+  pluginlib::pluginlib
-+  rmw_implementation::rmw_implementation)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- install(
-diff --git a/collision_detection_fcl/src/collision_common.cpp b/collision_detection_fcl/src/collision_common.cpp
-index ca76202d6..34a4e1bd9 100644
---- a/collision_detection_fcl/src/collision_common.cpp
-+++ b/collision_detection_fcl/src/collision_common.cpp
-@@ -782,7 +782,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
-         //        cache_it->second->collision_geometry_data_->getID().c_str());
-         return cache_it->second;
-       }
--      else if (cache_it->second.unique())
-+      else if (cache_it->second.use_count() == 1)
-       {
-         const_cast<FCLGeometry*>(cache_it->second.get())->updateCollisionGeometryData(data, shape_index, false);
-         //          RCLCPP_DEBUG(getLogger(), "Collision data structures for object %s retrieved from
-@@ -806,7 +806,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
-     auto cache_it = othercache.map_.find(wptr);
-     if (cache_it != othercache.map_.end())
-     {
--      if (cache_it->second.unique())
-+      if (cache_it->second.use_count() == 1)
-       {
-         // remove from old cache
-         FCLGeometryConstPtr obj_cache = cache_it->second;
-@@ -839,7 +839,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
-       auto cache_it = othercache.map_.find(wptr);
-       if (cache_it != othercache.map_.end())
-       {
--        if (cache_it->second.unique())
-+        if (cache_it->second.use_count() == 1)
-         {
-           // remove from old cache
-           FCLGeometryConstPtr obj_cache = cache_it->second;
 diff --git a/collision_detection_fcl/src/collision_env_fcl.cpp b/collision_detection_fcl/src/collision_env_fcl.cpp
-index b57e0767e..c655ed069 100644
+index b57e076..c655ed0 100644
 --- a/collision_detection_fcl/src/collision_env_fcl.cpp
 +++ b/collision_detection_fcl/src/collision_env_fcl.cpp
 @@ -290,10 +290,6 @@ void CollisionEnvFCL::checkSelfCollisionHelper(const CollisionRequest& req, Coll
@@ -410,643 +116,3 @@ index b57e0767e..c655ed069 100644
    }
  }
  
-diff --git a/collision_distance_field/CMakeLists.txt b/collision_distance_field/CMakeLists.txt
-index 63b63a013..8bb5e3283 100644
---- a/collision_distance_field/CMakeLists.txt
-+++ b/collision_distance_field/CMakeLists.txt
-@@ -15,12 +15,17 @@ target_include_directories(
- set_target_properties(moveit_collision_distance_field
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- 
--ament_target_dependencies(moveit_collision_distance_field urdf
--                          visualization_msgs tf2_eigen geometric_shapes octomap)
--
- target_link_libraries(
--  moveit_collision_distance_field moveit_planning_scene moveit_distance_field
--  moveit_collision_detection moveit_robot_state)
-+  moveit_collision_distance_field
-+  moveit_planning_scene
-+  moveit_distance_field
-+  moveit_collision_detection
-+  moveit_robot_state
-+  urdf::urdf
-+  ${visualization_msgs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  geometric_shapes::geometric_shapes
-+  octomap)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- install(
-@@ -33,8 +38,6 @@ if(BUILD_TESTING)
- 
-   ament_add_gtest(test_collision_distance_field
-                   test/test_collision_distance_field.cpp)
--  ament_target_dependencies(test_collision_distance_field geometric_shapes
--                            octomap srdfdom resource_retriever)
-   target_link_libraries(
-     test_collision_distance_field
-     moveit_collision_distance_field
-@@ -44,5 +47,9 @@ if(BUILD_TESTING)
-     moveit_robot_state
-     moveit_test_utils
-     moveit_transforms
--    moveit_planning_scene)
-+    moveit_planning_scene
-+    geometric_shapes::geometric_shapes
-+    octomap
-+    srdfdom::srdfdom
-+    resource_retriever::resource_retriever)
- endif()
-diff --git a/constraint_samplers/CMakeLists.txt b/constraint_samplers/CMakeLists.txt
-index 25cda7dc6..2cdbe05df 100644
---- a/constraint_samplers/CMakeLists.txt
-+++ b/constraint_samplers/CMakeLists.txt
-@@ -9,8 +9,6 @@ target_include_directories(
-          $<INSTALL_INTERFACE:include/moveit_core>)
- set_target_properties(moveit_constraint_samplers
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_constraint_samplers urdf urdfdom
--                          urdfdom_headers visualization_msgs)
- target_link_libraries(
-   moveit_constraint_samplers
-   moveit_robot_trajectory
-@@ -18,7 +16,11 @@ target_link_libraries(
-   moveit_kinematic_constraints
-   moveit_kinematics_base
-   moveit_planning_scene
--  moveit_utils)
-+  moveit_utils
-+  urdf::urdf
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  ${visualization_msgs_TARGETS})
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- 
-@@ -43,7 +45,6 @@ if(BUILD_TESTING)
-                   test/pr2_arm_kinematics_plugin.cpp test/pr2_arm_ik.cpp)
-   target_include_directories(test_constraint_samplers
-                              PUBLIC ${geometry_msgs_INCLUDE_DIRS})
--  ament_target_dependencies(test_constraint_samplers kdl_parser)
-   target_link_libraries(test_constraint_samplers moveit_test_utils moveit_utils
--                        moveit_constraint_samplers)
-+                        moveit_constraint_samplers kdl_parser::kdl_parser)
- endif()
-diff --git a/distance_field/CMakeLists.txt b/distance_field/CMakeLists.txt
-index 165d82a7a..5c3723cc8 100644
---- a/distance_field/CMakeLists.txt
-+++ b/distance_field/CMakeLists.txt
-@@ -6,19 +6,21 @@ target_include_directories(
-   moveit_distance_field
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_core>)
--target_link_libraries(moveit_distance_field moveit_macros moveit_utils)
--set_target_properties(moveit_distance_field
--                      PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_distance_field
--  Boost
--  eigen_stl_containers
--  urdfdom
--  urdfdom_headers
--  visualization_msgs
--  geometric_shapes
--  tf2_eigen
-+  moveit_macros
-+  moveit_utils
-+  Boost::headers
-+  Boost::iostreams
-+  eigen_stl_containers::eigen_stl_containers
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  ${visualization_msgs_TARGETS}
-+  geometric_shapes::geometric_shapes
-+  tf2_eigen::tf2_eigen
-   octomap)
-+set_target_properties(moveit_distance_field
-+                      PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- 
-diff --git a/dynamics_solver/CMakeLists.txt b/dynamics_solver/CMakeLists.txt
-index 04afe66ef..c6c5a1d4e 100644
---- a/dynamics_solver/CMakeLists.txt
-+++ b/dynamics_solver/CMakeLists.txt
-@@ -6,8 +6,14 @@ target_include_directories(
- set_target_properties(moveit_dynamics_solver
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- 
--ament_target_dependencies(moveit_dynamics_solver urdf urdfdom_headers
--                          orocos_kdl visualization_msgs kdl_parser)
--target_link_libraries(moveit_dynamics_solver moveit_robot_state moveit_utils)
-+target_link_libraries(
-+  moveit_dynamics_solver
-+  moveit_robot_state
-+  moveit_utils
-+  urdf::urdf
-+  urdfdom_headers::urdfdom_headers
-+  ${orocos_kdl_LIBRARIES}
-+  ${visualization_msgs_TARGETS}
-+  kdl_parser::kdl_parser)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
-diff --git a/exceptions/CMakeLists.txt b/exceptions/CMakeLists.txt
-index 26591d955..04027c2ef 100644
---- a/exceptions/CMakeLists.txt
-+++ b/exceptions/CMakeLists.txt
-@@ -5,8 +5,8 @@ target_include_directories(
-          $<INSTALL_INTERFACE:include/moveit_core>)
- set_target_properties(moveit_exceptions PROPERTIES VERSION
-                                                    "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_exceptions Boost rclcpp urdfdom
--                          urdfdom_headers)
--target_link_libraries(moveit_exceptions moveit_utils)
-+target_link_libraries(
-+  moveit_exceptions moveit_utils Boost::headers rclcpp::rclcpp
-+  urdfdom::urdf_parser urdfdom_headers::urdfdom_headers)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
-diff --git a/kinematic_constraints/CMakeLists.txt b/kinematic_constraints/CMakeLists.txt
-index 51f33e495..534f51179 100644
---- a/kinematic_constraints/CMakeLists.txt
-+++ b/kinematic_constraints/CMakeLists.txt
-@@ -16,19 +16,20 @@ target_include_directories(
- set_target_properties(moveit_kinematic_constraints
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- 
--ament_target_dependencies(
--  moveit_kinematic_constraints
--  urdf
--  urdfdom
--  urdfdom_headers
--  tf2_geometry_msgs
--  geometry_msgs
--  visualization_msgs
--  tf2_eigen)
--
- target_link_libraries(
--  moveit_kinematic_constraints moveit_collision_detection_fcl
--  moveit_kinematics_base moveit_robot_state moveit_robot_model moveit_utils)
-+  moveit_kinematic_constraints
-+  moveit_collision_detection_fcl
-+  moveit_kinematics_base
-+  moveit_robot_state
-+  moveit_robot_model
-+  moveit_utils
-+  urdf::urdf
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  ${tf2_geometry_msgs_TARGETS}
-+  ${geometry_msgs_TARGETS}
-+  ${visualization_msgs_TARGETS}
-+  tf2_eigen::tf2_eigen)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- 
-diff --git a/kinematics_base/CMakeLists.txt b/kinematics_base/CMakeLists.txt
-index 180253900..29ff3953e 100644
---- a/kinematics_base/CMakeLists.txt
-+++ b/kinematics_base/CMakeLists.txt
-@@ -11,16 +11,15 @@ target_include_directories(
-   moveit_kinematics_base PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
- )# for this library
- 
--# This line ensures that messages are built before the library is built
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_kinematics_base
--  rclcpp
--  urdf
--  urdfdom_headers
--  srdfdom
--  moveit_msgs
--  geometric_shapes
--  geometry_msgs)
-+  rclcpp::rclcpp
-+  urdf::urdf
-+  urdfdom_headers::urdfdom_headers
-+  srdfdom::srdfdom
-+  ${moveit_msgs_TARGETS}
-+  geometric_shapes::geometric_shapes
-+  ${geometry_msgs_TARGETS})
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_kinematics_base_export.h
-diff --git a/kinematics_metrics/CMakeLists.txt b/kinematics_metrics/CMakeLists.txt
-index e760b834e..6255198ff 100644
---- a/kinematics_metrics/CMakeLists.txt
-+++ b/kinematics_metrics/CMakeLists.txt
-@@ -6,10 +6,13 @@ target_include_directories(
- set_target_properties(moveit_kinematics_metrics
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- 
--ament_target_dependencies(moveit_kinematics_metrics urdf urdfdom_headers
--                          visualization_msgs)
--
--target_link_libraries(moveit_kinematics_metrics moveit_robot_model
--                      moveit_robot_state moveit_utils)
-+target_link_libraries(
-+  moveit_kinematics_metrics
-+  moveit_robot_model
-+  moveit_robot_state
-+  moveit_utils
-+  urdf::urdf
-+  urdfdom_headers::urdfdom_headers
-+  ${visualization_msgs_TARGETS})
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
-diff --git a/online_signal_smoothing/CMakeLists.txt b/online_signal_smoothing/CMakeLists.txt
-index 1f1912c6d..7d3b6dd01 100644
---- a/online_signal_smoothing/CMakeLists.txt
-+++ b/online_signal_smoothing/CMakeLists.txt
-@@ -5,12 +5,12 @@ target_include_directories(
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-          $<INSTALL_INTERFACE:include/moveit_core>)
--target_link_libraries(moveit_smoothing_base ${Eigen_LIBRARIES} moveit_macros)
-+target_link_libraries(moveit_smoothing_base ${Eigen_LIBRARIES} moveit_macros
-+                      rclcpp::rclcpp tf2_eigen::tf2_eigen)
- include(GenerateExportHeader)
- generate_export_header(moveit_smoothing_base)
- set_target_properties(moveit_smoothing_base
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_smoothing_base rclcpp tf2_eigen)
- 
- # Plugin implementations
- add_library(moveit_acceleration_filter SHARED src/acceleration_filter.cpp)
-@@ -23,12 +23,13 @@ set_target_properties(moveit_acceleration_filter
- generate_parameter_library(moveit_acceleration_filter_parameters
-                            src/acceleration_filter_parameters.yaml)
- target_link_libraries(
--  moveit_acceleration_filter moveit_acceleration_filter_parameters
--  moveit_robot_state moveit_smoothing_base osqp::osqp)
--ament_target_dependencies(
--  moveit_acceleration_filter srdfdom # include dependency from
--                                     # moveit_robot_model
--  pluginlib)
-+  moveit_acceleration_filter
-+  moveit_acceleration_filter_parameters
-+  moveit_robot_state
-+  moveit_smoothing_base
-+  osqp::osqp
-+  srdfdom::srdfdom
-+  pluginlib::pluginlib)
- 
- add_library(moveit_butterworth_filter SHARED src/butterworth_filter.cpp)
- generate_export_header(moveit_butterworth_filter)
-@@ -41,11 +42,8 @@ generate_parameter_library(moveit_butterworth_filter_parameters
-                            src/butterworth_parameters.yaml)
- target_link_libraries(
-   moveit_butterworth_filter moveit_butterworth_filter_parameters
--  moveit_robot_model moveit_smoothing_base)
--ament_target_dependencies(
--  moveit_butterworth_filter
--  srdfdom # include dependency from moveit_robot_model
--  pluginlib)
-+  moveit_robot_model moveit_smoothing_base srdfdom::srdfdom
-+  pluginlib::pluginlib)
- 
- add_library(moveit_ruckig_filter SHARED src/ruckig_filter.cpp)
- generate_export_header(moveit_ruckig_filter)
-@@ -56,11 +54,13 @@ set_target_properties(moveit_ruckig_filter
- generate_parameter_library(moveit_ruckig_filter_parameters
-                            src/ruckig_filter_parameters.yaml)
- target_link_libraries(
--  moveit_ruckig_filter moveit_robot_state moveit_ruckig_filter_parameters
--  moveit_smoothing_base ruckig::ruckig)
--ament_target_dependencies(
--  moveit_ruckig_filter srdfdom # include dependency from moveit_robot_model
--  pluginlib)
-+  moveit_ruckig_filter
-+  moveit_robot_state
-+  moveit_ruckig_filter_parameters
-+  moveit_smoothing_base
-+  ruckig::ruckig
-+  srdfdom::srdfdom
-+  pluginlib::pluginlib)
- 
- # Installation
- install(DIRECTORY include/ DESTINATION include/moveit_core)
-diff --git a/planning_interface/CMakeLists.txt b/planning_interface/CMakeLists.txt
-index 338765e2f..6a79dd7a0 100644
---- a/planning_interface/CMakeLists.txt
-+++ b/planning_interface/CMakeLists.txt
-@@ -6,9 +6,15 @@ target_include_directories(
-          $<INSTALL_INTERFACE:include/moveit_core>)
- set_target_properties(moveit_planning_interface
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_planning_interface moveit_msgs urdf urdfdom
--                          urdfdom_headers)
--target_link_libraries(moveit_planning_interface moveit_robot_trajectory
--                      moveit_robot_state moveit_planning_scene moveit_utils)
-+target_link_libraries(
-+  moveit_planning_interface
-+  moveit_robot_trajectory
-+  moveit_robot_state
-+  moveit_planning_scene
-+  moveit_utils
-+  ${moveit_msgs_TARGETS}
-+  urdf::urdf
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
-diff --git a/planning_scene/CMakeLists.txt b/planning_scene/CMakeLists.txt
-index debb3e5b6..c6eee289b 100644
---- a/planning_scene/CMakeLists.txt
-+++ b/planning_scene/CMakeLists.txt
-@@ -10,15 +10,6 @@ target_include_directories(
- # TODO: Fix the versioning
- set_target_properties(moveit_planning_scene
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
--  moveit_planning_scene
--  Boost
--  rclcpp
--  urdfdom
--  urdfdom_headers
--  octomap_msgs
--  octomap)
--
- target_link_libraries(
-   moveit_planning_scene
-   moveit_robot_model
-@@ -30,7 +21,13 @@ target_link_libraries(
-   moveit_kinematic_constraints
-   moveit_robot_trajectory
-   moveit_trajectory_processing
--  moveit_utils)
-+  moveit_utils
-+  Boost::headers
-+  rclcpp::rclcpp
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  ${octomap_msgs_TARGETS}
-+  octomap)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_planning_scene_export.h
-@@ -47,9 +44,9 @@ if(BUILD_TESTING)
- 
-   ament_add_gtest(test_planning_scene test/test_planning_scene.cpp
-                   APPEND_LIBRARY_DIRS "${APPEND_LIBRARY_DIRS}")
--  ament_target_dependencies(test_planning_scene geometric_shapes srdfdom)
--  target_link_libraries(test_planning_scene moveit_test_utils
--                        moveit_planning_scene)
-+  target_link_libraries(
-+    test_planning_scene moveit_test_utils moveit_planning_scene
-+    geometric_shapes::geometric_shapes srdfdom::srdfdom)
- 
-   ament_add_gtest(test_collision_objects test/test_collision_objects.cpp
-                   APPEND_LIBRARY_DIRS "${APPEND_LIBRARY_DIRS}")
-diff --git a/robot_model/CMakeLists.txt b/robot_model/CMakeLists.txt
-index 2886ed4f0..d6166a13d 100644
---- a/robot_model/CMakeLists.txt
-+++ b/robot_model/CMakeLists.txt
-@@ -28,25 +28,26 @@ target_include_directories(
-     $<INSTALL_INTERFACE:include/moveit_core>)
- set_target_properties(moveit_robot_model
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_robot_model
--  angles
--  moveit_msgs
--  Eigen3
--  eigen_stl_containers
--  geometric_shapes
--  urdf
--  urdfdom_headers
--  srdfdom
--  visualization_msgs)
--target_link_libraries(moveit_robot_model moveit_exceptions moveit_macros
--                      moveit_utils)
-+  moveit_exceptions
-+  moveit_macros
-+  moveit_utils
-+  angles::angles
-+  ${moveit_msgs_TARGETS}
-+  Eigen3::Eigen
-+  eigen_stl_containers::eigen_stl_containers
-+  geometric_shapes::geometric_shapes
-+  urdf::urdf
-+  urdfdom_headers::urdfdom_headers
-+  srdfdom::srdfdom
-+  ${visualization_msgs_TARGETS})
- 
- if(BUILD_TESTING)
-   find_package(ament_cmake_gtest REQUIRED)
-   ament_add_gtest(test_robot_model test/test.cpp)
--  ament_target_dependencies(test_robot_model rclcpp)
--  target_link_libraries(test_robot_model moveit_test_utils moveit_robot_model)
-+  target_link_libraries(test_robot_model moveit_test_utils moveit_robot_model
-+                        rclcpp::rclcpp)
- endif()
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
-diff --git a/robot_state/CMakeLists.txt b/robot_state/CMakeLists.txt
-index a906be706..44ccde09a 100644
---- a/robot_state/CMakeLists.txt
-+++ b/robot_state/CMakeLists.txt
-@@ -7,16 +7,17 @@ target_include_directories(
-          $<INSTALL_INTERFACE:include/moveit_core>)
- set_target_properties(moveit_robot_state PROPERTIES VERSION
-                                                     ${${PROJECT_NAME}_VERSION})
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_robot_state
--  eigen_stl_containers
--  urdf
--  tf2_geometry_msgs
--  geometric_shapes
--  urdfdom_headers
--  Boost)
--target_link_libraries(moveit_robot_state moveit_robot_model
--                      moveit_kinematics_base moveit_transforms)
-+  moveit_robot_model
-+  moveit_kinematics_base
-+  moveit_transforms
-+  eigen_stl_containers::eigen_stl_containers
-+  urdf::urdf
-+  ${tf2_geometry_msgs_TARGETS}
-+  geometric_shapes::geometric_shapes
-+  urdfdom_headers::urdfdom_headers
-+  Boost::headers)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- 
-@@ -58,7 +59,7 @@ if(BUILD_TESTING)
- 
-   ament_add_google_benchmark(robot_state_benchmark
-                              test/robot_state_benchmark.cpp)
--  ament_target_dependencies(robot_state_benchmark kdl_parser)
--  target_link_libraries(robot_state_benchmark moveit_robot_model
--                        moveit_test_utils moveit_robot_state)
-+  target_link_libraries(
-+    robot_state_benchmark moveit_robot_model moveit_test_utils
-+    moveit_robot_state kdl_parser::kdl_parser)
- endif()
-diff --git a/robot_state/src/attached_body.cpp b/robot_state/src/attached_body.cpp
-index 3a606dfe5..04961a849 100644
---- a/robot_state/src/attached_body.cpp
-+++ b/robot_state/src/attached_body.cpp
-@@ -88,7 +88,7 @@ void AttachedBody::setScale(double scale)
-   for (shapes::ShapeConstPtr& shape : shapes_)
-   {
-     // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
--    if (shape.unique())
-+    if (shape.use_count() == 1)
-     {
-       const_cast<shapes::Shape*>(shape.get())->scale(scale);
-     }
-@@ -122,7 +122,7 @@ void AttachedBody::setPadding(double padding)
-   for (shapes::ShapeConstPtr& shape : shapes_)
-   {
-     // if this shape is only owned here (and because this is a non-const function), we can safely const-cast:
--    if (shape.unique())
-+    if (shape.use_count() == 1)
-     {
-       const_cast<shapes::Shape*>(shape.get())->padd(padding);
-     }
-diff --git a/robot_trajectory/CMakeLists.txt b/robot_trajectory/CMakeLists.txt
-index c4b26ebb8..14594034b 100644
---- a/robot_trajectory/CMakeLists.txt
-+++ b/robot_trajectory/CMakeLists.txt
-@@ -5,11 +5,14 @@ target_include_directories(
-          $<INSTALL_INTERFACE:include/moveit_core>)
- set_target_properties(moveit_robot_trajectory
-                       PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
--ament_target_dependencies(moveit_robot_trajectory rclcpp urdfdom
--                          urdfdom_headers)
--
--target_link_libraries(moveit_robot_trajectory moveit_robot_model
--                      moveit_robot_state moveit_utils)
-+target_link_libraries(
-+  moveit_robot_trajectory
-+  moveit_robot_model
-+  moveit_robot_state
-+  moveit_utils
-+  rclcpp::rclcpp
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- 
-diff --git a/trajectory_processing/CMakeLists.txt b/trajectory_processing/CMakeLists.txt
-index bbbe8d1f2..a4e3b128c 100644
---- a/trajectory_processing/CMakeLists.txt
-+++ b/trajectory_processing/CMakeLists.txt
-@@ -8,17 +8,18 @@ target_include_directories(
-          $<INSTALL_INTERFACE:include/moveit_core>)
- set_target_properties(moveit_trajectory_processing
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_trajectory_processing
--  rclcpp
--  rmw_implementation
--  urdf
--  urdfdom
--  urdfdom_headers
--  visualization_msgs
--  Boost)
--target_link_libraries(moveit_trajectory_processing moveit_robot_state
--                      moveit_robot_trajectory ruckig::ruckig)
-+  moveit_robot_state
-+  moveit_robot_trajectory
-+  ruckig::ruckig
-+  rclcpp::rclcpp
-+  rmw_implementation::rmw_implementation
-+  urdf::urdf
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  ${visualization_msgs_TARGETS}
-+  Boost::headers)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- 
-diff --git a/transforms/CMakeLists.txt b/transforms/CMakeLists.txt
-index 5880e5795..26316c2e8 100644
---- a/transforms/CMakeLists.txt
-+++ b/transforms/CMakeLists.txt
-@@ -3,18 +3,19 @@ target_include_directories(
-   moveit_transforms
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_core>)
--target_link_libraries(moveit_transforms moveit_macros moveit_utils)
-+target_link_libraries(
-+  moveit_transforms
-+  moveit_macros
-+  moveit_utils
-+  geometric_shapes::geometric_shapes
-+  tf2_eigen::tf2_eigen
-+  rclcpp::rclcpp
-+  rmw_implementation::rmw_implementation
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  Boost::headers)
- set_target_properties(moveit_transforms PROPERTIES VERSION
-                                                    "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
--  moveit_transforms
--  geometric_shapes
--  tf2_eigen
--  rclcpp
--  rmw_implementation
--  urdfdom
--  urdfdom_headers
--  Boost)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_core)
- 
-diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt
-index ca44183fa..80dab7b2a 100644
---- a/utils/CMakeLists.txt
-+++ b/utils/CMakeLists.txt
-@@ -3,8 +3,8 @@ add_library(moveit_utils SHARED src/lexical_casts.cpp src/message_checks.cpp
- target_include_directories(
-   moveit_utils PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-                       $<INSTALL_INTERFACE:include/moveit_core>)
--ament_target_dependencies(moveit_utils Boost moveit_msgs rclcpp fmt)
--target_link_libraries(moveit_utils rsl::rsl)
-+target_link_libraries(moveit_utils rsl::rsl Boost::headers
-+                      ${moveit_msgs_TARGETS} rclcpp::rclcpp fmt::fmt)
- set_target_properties(moveit_utils PROPERTIES VERSION
-                                               "${${PROJECT_NAME}_VERSION}")
- 
-@@ -16,20 +16,21 @@ target_include_directories(
-   moveit_test_utils
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_core>)
--target_link_libraries(moveit_test_utils moveit_robot_model
--                      moveit_kinematics_base rsl::rsl)
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_test_utils
--  ament_index_cpp
--  Boost
--  geometry_msgs
--  urdf
--  pluginlib
--  srdfdom
--  urdfdom
--  urdfdom_headers
--  rclcpp
--  fmt)
-+  moveit_robot_model
-+  moveit_kinematics_base
-+  rsl::rsl
-+  ament_index_cpp::ament_index_cpp
-+  Boost::headers
-+  ${geometry_msgs_TARGETS}
-+  urdf::urdf
-+  pluginlib::pluginlib
-+  srdfdom::srdfdom
-+  urdfdom::urdf_parser
-+  urdfdom_headers::urdfdom_headers
-+  rclcpp::rclcpp
-+  fmt::fmt)
- set_target_properties(moveit_test_utils PROPERTIES VERSION
-                                                    "${${PROJECT_NAME}_VERSION}")
- 
diff --git a/patch/ros-lyrical-moveit-hybrid-planning.patch b/patch/ros-lyrical-moveit-hybrid-planning.patch
deleted file mode 100644
index 3f457156..00000000
--- a/patch/ros-lyrical-moveit-hybrid-planning.patch
+++ /dev/null
@@ -1,242 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 0f90c56033..0b6bc32c30 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -75,8 +75,13 @@ rclcpp_components_register_nodes(
-   moveit_local_planner_component
-   "moveit::hybrid_planning::LocalPlannerComponent")
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_hybrid_planning::moveit_hybrid_planning to link all libraries at once.
-+add_library(moveit_hybrid_planning INTERFACE)
-+target_link_libraries(moveit_hybrid_planning INTERFACE ${LIBRARIES})
-+
- install(
--  TARGETS ${LIBRARIES}
-+  TARGETS moveit_hybrid_planning ${LIBRARIES}
-   EXPORT moveit_hybrid_planningTargets
-   ARCHIVE DESTINATION lib
-   LIBRARY DESTINATION lib
-diff --git a/global_planner/global_planner_component/CMakeLists.txt b/global_planner/global_planner_component/CMakeLists.txt
-index 8fea54c86a..4cc44c4b0e 100644
---- a/global_planner/global_planner_component/CMakeLists.txt
-+++ b/global_planner/global_planner_component/CMakeLists.txt
-@@ -3,5 +3,17 @@ add_library(moveit_global_planner_component SHARED
-             src/global_planner_component.cpp)
- set_target_properties(moveit_global_planner_component
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_global_planner_component
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_global_planner_component
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  rclcpp_components::component
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS})
-diff --git a/global_planner/global_planner_plugins/CMakeLists.txt b/global_planner/global_planner_plugins/CMakeLists.txt
-index 5537737681..8d2d905c2b 100644
---- a/global_planner/global_planner_plugins/CMakeLists.txt
-+++ b/global_planner/global_planner_plugins/CMakeLists.txt
-@@ -2,5 +2,17 @@ add_library(motion_planning_pipeline_plugin SHARED
-             src/moveit_planning_pipeline.cpp)
- set_target_properties(motion_planning_pipeline_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(motion_planning_pipeline_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  motion_planning_pipeline_plugin
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  rclcpp_components::component
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS})
-diff --git a/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt b/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt
-index 60aa2980b6..99ab113ced 100644
---- a/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt
-+++ b/hybrid_planning_manager/hybrid_planning_manager_component/CMakeLists.txt
-@@ -4,6 +4,18 @@ add_library(moveit_hybrid_planning_manager SHARED
-             src/hybrid_planning_manager.cpp)
- set_target_properties(moveit_hybrid_planning_manager
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--target_link_libraries(moveit_hybrid_planning_manager hp_manager_parameters)
--ament_target_dependencies(moveit_hybrid_planning_manager
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_hybrid_planning_manager
-+  hp_manager_parameters
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  rclcpp_components::component
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS})
-diff --git a/hybrid_planning_manager/planner_logic_plugins/CMakeLists.txt b/hybrid_planning_manager/planner_logic_plugins/CMakeLists.txt
-index 17cb49aa7c..cb70757663 100644
---- a/hybrid_planning_manager/planner_logic_plugins/CMakeLists.txt
-+++ b/hybrid_planning_manager/planner_logic_plugins/CMakeLists.txt
-@@ -1,17 +1,39 @@
- add_library(single_plan_execution_plugin SHARED src/single_plan_execution.cpp)
- set_target_properties(single_plan_execution_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(single_plan_execution_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(single_plan_execution_plugin
--                      moveit_hybrid_planning_manager)
-+target_link_libraries(
-+  single_plan_execution_plugin
-+  moveit_hybrid_planning_manager
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  rclcpp_components::component
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS})
- 
- add_library(replan_invalidated_trajectory_plugin SHARED
-             src/replan_invalidated_trajectory.cpp)
- set_target_properties(replan_invalidated_trajectory_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(replan_invalidated_trajectory_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
- target_link_libraries(
--  replan_invalidated_trajectory_plugin moveit_hybrid_planning_manager
--  single_plan_execution_plugin)
-+  replan_invalidated_trajectory_plugin
-+  moveit_hybrid_planning_manager
-+  single_plan_execution_plugin
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  rclcpp_components::component
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS})
-diff --git a/local_planner/local_constraint_solver_plugins/CMakeLists.txt b/local_planner/local_constraint_solver_plugins/CMakeLists.txt
-index 4c0e0e6c89..9a5deb90d1 100644
---- a/local_planner/local_constraint_solver_plugins/CMakeLists.txt
-+++ b/local_planner/local_constraint_solver_plugins/CMakeLists.txt
-@@ -1,5 +1,17 @@
- add_library(forward_trajectory_plugin SHARED src/forward_trajectory.cpp)
- set_target_properties(forward_trajectory_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(forward_trajectory_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  forward_trajectory_plugin
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  rclcpp_components::component
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS})
-diff --git a/local_planner/local_planner_component/CMakeLists.txt b/local_planner/local_planner_component/CMakeLists.txt
-index a4de092130..141223d37c 100644
---- a/local_planner/local_planner_component/CMakeLists.txt
-+++ b/local_planner/local_planner_component/CMakeLists.txt
-@@ -5,6 +5,18 @@ add_library(moveit_local_planner_component SHARED
-             src/local_planner_component.cpp)
- set_target_properties(moveit_local_planner_component
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--target_link_libraries(moveit_local_planner_component local_planner_parameters)
--ament_target_dependencies(moveit_local_planner_component
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_local_planner_component
-+  local_planner_parameters
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  rclcpp_components::component
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS})
-diff --git a/local_planner/trajectory_operator_plugins/CMakeLists.txt b/local_planner/trajectory_operator_plugins/CMakeLists.txt
-index b9ba389698..06eef59007 100644
---- a/local_planner/trajectory_operator_plugins/CMakeLists.txt
-+++ b/local_planner/trajectory_operator_plugins/CMakeLists.txt
-@@ -1,4 +1,17 @@
- add_library(simple_sampler_plugin SHARED src/simple_sampler.cpp)
- set_target_properties(simple_sampler_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(simple_sampler_plugin ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  simple_sampler_plugin
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  rclcpp_components::component
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS})
-diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
-index 6d62727f0a..1d3e42fedb 100644
---- a/test/CMakeLists.txt
-+++ b/test/CMakeLists.txt
-@@ -1,5 +1,18 @@
- add_executable(cancel_action cancel_action.cpp)
--ament_target_dependencies(cancel_action PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  cancel_action
-+  PUBLIC moveit_core::moveit_core
-+         ${moveit_msgs_TARGETS}
-+         moveit_ros_planning::moveit_ros_planning
-+         moveit_ros_planning_interface::moveit_ros_planning_interface
-+         pluginlib::pluginlib
-+         rclcpp::rclcpp
-+         rclcpp_action::rclcpp_action
-+         rclcpp_components::component
-+         ${std_msgs_TARGETS}
-+         ${std_srvs_TARGETS}
-+         tf2_ros::tf2_ros
-+         ${trajectory_msgs_TARGETS})
- 
- if(BUILD_TESTING)
-   find_package(ament_cmake_gtest REQUIRED)
diff --git a/patch/ros-lyrical-moveit-kinematics.patch b/patch/ros-lyrical-moveit-kinematics.patch
index 603b583f..4b2843ad 100644
--- a/patch/ros-lyrical-moveit-kinematics.patch
+++ b/patch/ros-lyrical-moveit-kinematics.patch
@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 21b03dfb1..5a76c1683 100644
+index 3dd5b2b..bcbea68 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -1,6 +1,8 @@
@@ -12,7 +12,7 @@ index 21b03dfb1..5a76c1683 100644
  find_package(moveit_common REQUIRED)
  moveit_package()
 diff --git a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp
-index 173471c7e..47e47e2db 100644
+index 173471c..47e47e2 100644
 --- a/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp
 +++ b/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/detail/GreedyKCenters.hpp
 @@ -92,7 +92,7 @@ public:
@@ -24,184 +24,3 @@ index 173471c7e..47e47e2db 100644
      // first center is picked randomly
      centers.push_back(std::uniform_int_distribution<size_t>{ 0, data.size() - 1 }(rsl::rng()));
      for (unsigned i = 1; i < k; ++i)
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a453674aba..3dd5b2b379 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -64,8 +64,13 @@ add_subdirectory(kdl_kinematics_plugin)
- add_subdirectory(srv_kinematics_plugin)
- add_subdirectory(test)
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_kinematics::moveit_kinematics to link all libraries at once.
-+add_library(moveit_kinematics INTERFACE)
-+target_link_libraries(moveit_kinematics INTERFACE ${THIS_PACKAGE_LIBRARIES})
-+
- install(
--  TARGETS ${THIS_PACKAGE_LIBRARIES}
-+  TARGETS moveit_kinematics ${THIS_PACKAGE_LIBRARIES}
-   EXPORT ${PROJECT_NAME}Targets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-diff --git a/cached_ik_kinematics_plugin/CMakeLists.txt b/cached_ik_kinematics_plugin/CMakeLists.txt
-index 5ce836e33a..1d4ae9c5ee 100644
---- a/cached_ik_kinematics_plugin/CMakeLists.txt
-+++ b/cached_ik_kinematics_plugin/CMakeLists.txt
-@@ -5,9 +5,6 @@ find_package(ur_kinematics QUIET)
- add_library(moveit_cached_ik_kinematics_base SHARED src/ik_cache.cpp)
- set_target_properties(moveit_cached_ik_kinematics_base
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_cached_ik_kinematics_base PUBLIC rclcpp
--                          moveit_core moveit_msgs)
--
- if(trac_ik_kinematics_plugin_FOUND)
-   include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS})
- endif()
-@@ -20,17 +17,17 @@ generate_parameter_library(
- )
- 
- target_link_libraries(
--  moveit_cached_ik_kinematics_base PUBLIC cached_ik_kinematics_parameters
--                                          kdl_kinematics_parameters)
-+  moveit_cached_ik_kinematics_base
-+  PUBLIC cached_ik_kinematics_parameters kdl_kinematics_parameters
-+         rclcpp::rclcpp moveit_core::moveit_core ${moveit_msgs_TARGETS})
- 
- add_library(moveit_cached_ik_kinematics_plugin SHARED
-             src/cached_ik_kinematics_plugin.cpp)
- set_target_properties(moveit_cached_ik_kinematics_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_cached_ik_kinematics_plugin PUBLIC rclcpp
--                          moveit_core moveit_msgs rsl)
- target_link_libraries(
-   moveit_cached_ik_kinematics_plugin
-+  PUBLIC rclcpp::rclcpp moveit_core::moveit_core ${moveit_msgs_TARGETS} rsl::rsl
-   PRIVATE cached_ik_kinematics_parameters moveit_kdl_kinematics_plugin
-           moveit_srv_kinematics_plugin moveit_cached_ik_kinematics_base)
- if(trac_ik_kinematics_plugin_FOUND)
-diff --git a/ikfast_kinematics_plugin/templates/CMakeLists.txt b/ikfast_kinematics_plugin/templates/CMakeLists.txt
-index 20b14c15c7..6e60b49542 100644
---- a/ikfast_kinematics_plugin/templates/CMakeLists.txt
-+++ b/ikfast_kinematics_plugin/templates/CMakeLists.txt
-@@ -26,20 +26,20 @@ generate_parameter_library(
- set(IKFAST_LIBRARY_NAME _LIBRARY_NAME_)
- add_library(${IKFAST_LIBRARY_NAME} SHARED
-             src/_ROBOT_NAME___GROUP_NAME__ikfast_moveit_plugin.cpp)
--ament_target_dependencies(
--  ${IKFAST_LIBRARY_NAME}
--  rclcpp
--  moveit_core
--  pluginlib
--  tf2_kdl
--  orocos_kdl
--  tf2_eigen
--  LAPACK)
- # suppress warnings about unused variables in OpenRave's solver code
- target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable
-                                                       -Wno-unused-parameter)
- 
--target_link_libraries(${IKFAST_LIBRARY_NAME} ikfast_kinematics_parameters)
-+target_link_libraries(
-+  ${IKFAST_LIBRARY_NAME}
-+  ikfast_kinematics_parameters
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core
-+  pluginlib::pluginlib
-+  tf2_kdl::tf2_kdl
-+  ${orocos_kdl_LIBRARIES}
-+  tf2_eigen::tf2_eigen
-+  ${LAPACK_LIBRARIES})
- 
- install(
-   TARGETS ${IKFAST_LIBRARY_NAME} ikfast_kinematics_parameters
-diff --git a/kdl_kinematics_plugin/CMakeLists.txt b/kdl_kinematics_plugin/CMakeLists.txt
-index edf5b93990..3ed8a52a35 100644
---- a/kdl_kinematics_plugin/CMakeLists.txt
-+++ b/kdl_kinematics_plugin/CMakeLists.txt
-@@ -6,19 +6,18 @@ generate_parameter_library(
- add_library(moveit_kdl_kinematics_plugin SHARED
-             src/kdl_kinematics_plugin.cpp src/chainiksolver_vel_mimic_svd.cpp)
- 
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_kdl_kinematics_plugin
--  rclcpp
--  random_numbers
--  pluginlib
--  moveit_core
--  moveit_msgs
--  orocos_kdl
--  kdl_parser
--  tf2_kdl
--  EIGEN3)
--
--target_link_libraries(moveit_kdl_kinematics_plugin kdl_kinematics_parameters)
-+  kdl_kinematics_parameters
-+  rclcpp::rclcpp
-+  random_numbers::random_numbers
-+  pluginlib::pluginlib
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  ${orocos_kdl_LIBRARIES}
-+  kdl_parser::kdl_parser
-+  tf2_kdl::tf2_kdl
-+  Eigen3::Eigen)
- 
- # prevent pluginlib from using boost
- target_compile_definitions(moveit_kdl_kinematics_plugin
-diff --git a/srv_kinematics_plugin/CMakeLists.txt b/srv_kinematics_plugin/CMakeLists.txt
-index 6614010e33..525f76e28f 100644
---- a/srv_kinematics_plugin/CMakeLists.txt
-+++ b/srv_kinematics_plugin/CMakeLists.txt
-@@ -7,9 +7,8 @@ add_library(moveit_srv_kinematics_plugin SHARED src/srv_kinematics_plugin.cpp)
- set_target_properties(moveit_srv_kinematics_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- 
--ament_target_dependencies(moveit_srv_kinematics_plugin rclcpp moveit_core
--                          moveit_msgs)
--
--target_link_libraries(moveit_srv_kinematics_plugin srv_kinematics_parameters)
-+target_link_libraries(
-+  moveit_srv_kinematics_plugin srv_kinematics_parameters rclcpp::rclcpp
-+  moveit_core::moveit_core ${moveit_msgs_TARGETS})
- 
- install(DIRECTORY include/ DESTINATION include/moveit_kinematics)
-diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
-index 2da6c7aa69..61728310e7 100644
---- a/test/CMakeLists.txt
-+++ b/test/CMakeLists.txt
-@@ -8,9 +8,9 @@ if(BUILD_TESTING)
-   find_package(moveit_ros_planning REQUIRED)
- 
-   ament_add_gtest_executable(test_kinematics_plugin test_kinematics_plugin.cpp)
--  ament_target_dependencies(test_kinematics_plugin moveit_ros_planning
--                            pluginlib)
--  target_link_libraries(test_kinematics_plugin moveit_kdl_kinematics_plugin)
-+  target_link_libraries(
-+    test_kinematics_plugin moveit_kdl_kinematics_plugin
-+    moveit_ros_planning::moveit_ros_planning pluginlib::pluginlib)
- 
-   if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-     target_compile_options(test_kinematics_plugin
-@@ -44,8 +44,10 @@ if(BUILD_TESTING)
- 
-   # Benchmarking program for cached_ik_kinematics
-   add_executable(benchmark_ik benchmark_ik.cpp)
--  ament_target_dependencies(benchmark_ik rclcpp moveit_core moveit_ros_planning
--                            Boost)
-+  target_link_libraries(
-+    benchmark_ik rclcpp::rclcpp moveit_core::moveit_core
-+    moveit_ros_planning::moveit_ros_planning Boost::headers
-+    Boost::program_options)
- 
-   install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
-   install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
-index adca88d..cbe96e2 100644
---- a/ConfigExtras.cmake
-+++ b/ConfigExtras.cmake
-@@ -1,3 +1,3 @@
- # Extras module needed for dependencies to find boost components
- 
--find_package(Boost REQUIRED program_options system)
-+find_package(Boost REQUIRED program_options)
diff --git a/patch/ros-lyrical-moveit-planners-chomp.patch b/patch/ros-lyrical-moveit-planners-chomp.patch
deleted file mode 100644
index 887d62fd..00000000
--- a/patch/ros-lyrical-moveit-planners-chomp.patch
+++ /dev/null
@@ -1,32 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -22,13 +22,23 @@
-                                           src/chomp_planning_context.cpp)
- set_target_properties(moveit_chomp_interface
-                       PROPERTIES VERSION "${moveit_planners_chomp_VERSION}")
--ament_target_dependencies(moveit_chomp_interface
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_chomp_interface
-+  moveit_core::moveit_core
-+  chomp_motion_planner::chomp_motion_planner
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rsl::rsl)
- 
- add_library(moveit_chomp_planner_plugin SHARED src/chomp_plugin.cpp)
--ament_target_dependencies(moveit_chomp_planner_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_chomp_planner_plugin moveit_chomp_interface)
-+target_link_libraries(
-+  moveit_chomp_planner_plugin
-+  moveit_chomp_interface
-+  moveit_core::moveit_core
-+  chomp_motion_planner::chomp_motion_planner
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rsl::rsl)
- 
- install(
-   TARGETS moveit_chomp_interface moveit_chomp_planner_plugin
diff --git a/patch/ros-lyrical-moveit-planners-ompl.patch b/patch/ros-lyrical-moveit-planners-ompl.patch
deleted file mode 100644
index 6f0e8a06..00000000
--- a/patch/ros-lyrical-moveit-planners-ompl.patch
+++ /dev/null
@@ -1,168 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 91329a1e8..5b4c45bc3 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -8,7 +8,6 @@ moveit_package()
- find_package(
-   Boost
-   REQUIRED
--  system
-   filesystem
-   date_time
-   thread
-@@ -31,8 +31,14 @@ include_directories(SYSTEM ${Boost_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS})
- 
- add_subdirectory(ompl_interface)
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_planners_ompl::moveit_planners_ompl to link all libraries at once.
-+add_library(moveit_planners_ompl INTERFACE)
-+target_link_libraries(moveit_planners_ompl INTERFACE moveit_ompl_interface
-+                                                     moveit_ompl_planner_plugin)
-+
- install(
--  TARGETS moveit_ompl_interface moveit_ompl_planner_plugin
-+  TARGETS moveit_planners_ompl moveit_ompl_interface moveit_ompl_planner_plugin
-   EXPORT moveit_planners_omplTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-diff --git a/ompl_interface/CMakeLists.txt b/ompl_interface/CMakeLists.txt
-index 90fe14080..cc1c1017e 100644
---- a/ompl_interface/CMakeLists.txt
-+++ b/ompl_interface/CMakeLists.txt
-@@ -29,17 +29,17 @@ if(APPLE)
-   target_link_directories(moveit_ompl_interface PUBLIC ${OMPL_LIBRARY_DIRS})
- endif()
- 
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_ompl_interface
--  moveit_core
--  moveit_msgs
--  moveit_ros_planning
--  rclcpp
--  pluginlib
--  tf2_eigen
--  tf2_ros
--  OMPL
--  Boost)
-+  PUBLIC ompl::ompl
-+         moveit_core::moveit_core
-+         ${moveit_msgs_TARGETS}
-+         moveit_ros_planning::moveit_ros_planning
-+         rclcpp::rclcpp
-+         pluginlib::pluginlib
-+         tf2_eigen::tf2_eigen
-+         tf2_ros::tf2_ros
-+         Boost::headers)
- set_target_properties(
-   moveit_ompl_interface PROPERTIES COMPILE_FLAGS
-                                    "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-@@ -57,16 +57,16 @@ set_target_properties(moveit_generate_state_database
- add_library(moveit_ompl_planner_plugin SHARED src/ompl_planner_manager.cpp)
- set_target_properties(moveit_ompl_planner_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_ompl_planner_plugin
--  moveit_core
--  moveit_ros_planning
--  rclcpp
--  pluginlib
--  tf2_ros
--  OMPL
--  Boost)
--target_link_libraries(moveit_ompl_planner_plugin moveit_ompl_interface)
-+  moveit_ompl_interface
-+  ompl::ompl
-+  moveit_core::moveit_core
-+  moveit_ros_planning::moveit_ros_planning
-+  rclcpp::rclcpp
-+  pluginlib::pluginlib
-+  tf2_ros::tf2_ros
-+  Boost::headers)
- 
- install(TARGETS moveit_generate_state_database
-         RUNTIME DESTINATION lib/${PROJECT_NAME})
-@@ -77,24 +77,24 @@ if(BUILD_TESTING)
-   find_package(Eigen3 REQUIRED)
- 
-   ament_add_gtest(test_state_space test/test_state_space.cpp)
--  ament_target_dependencies(test_state_space moveit_core OMPL Boost Eigen3)
--  target_link_libraries(test_state_space moveit_ompl_interface)
-+  target_link_libraries(test_state_space moveit_ompl_interface ompl::ompl
-+                        moveit_core::moveit_core Boost::headers Eigen3::Eigen)
-   set_target_properties(test_state_space PROPERTIES LINK_FLAGS
-                                                     "${OpenMP_CXX_FLAGS}")
- 
-   ament_add_gtest(test_state_validity_checker
-                   test/test_state_validity_checker.cpp)
--  ament_target_dependencies(test_state_validity_checker moveit_core OMPL Boost
--                            Eigen3)
--  target_link_libraries(test_state_validity_checker moveit_ompl_interface)
-+  target_link_libraries(
-+    test_state_validity_checker moveit_ompl_interface ompl::ompl
-+    moveit_core::moveit_core Boost::headers Eigen3::Eigen)
-   set_target_properties(test_state_validity_checker
-                         PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
- 
-   ament_add_gtest(test_planning_context_manager
-                   test/test_planning_context_manager.cpp)
--  ament_target_dependencies(test_planning_context_manager moveit_core tf2_eigen
--                            OMPL Boost Eigen3)
--  target_link_libraries(test_planning_context_manager moveit_ompl_interface)
-+  target_link_libraries(
-+    test_planning_context_manager moveit_ompl_interface
-+    moveit_core::moveit_core tf2_eigen::tf2_eigen Boost::headers Eigen3::Eigen)
- 
-   # Disabling flaky test TODO (vatanaksoytezer): Uncomment once this is fixed
-   # ament_add_gtest(test_ompl_constraints test/test_ompl_constraints.cpp)
-@@ -103,27 +103,24 @@ if(BUILD_TESTING)
- 
-   ament_add_gtest(test_constrained_planning_state_space
-                   test/test_constrained_planning_state_space.cpp)
--  ament_target_dependencies(test_constrained_planning_state_space moveit_core
--                            OMPL Boost Eigen3)
--  target_link_libraries(test_constrained_planning_state_space
--                        moveit_ompl_interface)
-+  target_link_libraries(
-+    test_constrained_planning_state_space moveit_ompl_interface ompl::ompl
-+    moveit_core::moveit_core Boost::headers Eigen3::Eigen)
-   set_target_properties(test_constrained_planning_state_space
-                         PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
- 
-   ament_add_gtest(test_constrained_state_validity_checker
-                   test/test_constrained_state_validity_checker.cpp)
--  ament_target_dependencies(test_constrained_state_validity_checker moveit_core
--                            OMPL Boost Eigen3)
--  target_link_libraries(test_constrained_state_validity_checker
--                        moveit_ompl_interface)
-+  target_link_libraries(
-+    test_constrained_state_validity_checker moveit_ompl_interface ompl::ompl
-+    moveit_core::moveit_core Boost::headers Eigen3::Eigen)
-   set_target_properties(test_constrained_state_validity_checker
-                         PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
- 
-   ament_add_gtest(test_threadsafe_state_storage
-                   test/test_threadsafe_state_storage.cpp)
--  ament_target_dependencies(test_threadsafe_state_storage moveit_core OMPL
--                            Boost Eigen3)
--  target_link_libraries(test_threadsafe_state_storage moveit_ompl_interface)
-+  target_link_libraries(test_threadsafe_state_storage moveit_ompl_interface
-+                        moveit_core::moveit_core Boost::headers Eigen3::Eigen)
-   set_target_properties(test_threadsafe_state_storage
-                         PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
- 
-diff --git a/ompl_interface/src/planning_context_manager.cpp b/ompl_interface/src/planning_context_manager.cpp
-index 8da1bb4c7..b90b070b2 100644
---- a/ompl_interface/src/planning_context_manager.cpp
-+++ b/ompl_interface/src/planning_context_manager.cpp
-@@ -353,7 +353,7 @@ PlanningContextManager::getPlanningContext(const planning_interface::PlannerConf
-     {
-       for (const ModelBasedPlanningContextPtr& cached_context : cached_contexts->second)
-       {
--        if (cached_context.unique())
-+        if (cached_context.use_count() == 1)
-         {
-           RCLCPP_DEBUG(getLogger(), "Reusing cached planning context");
-           context = cached_context;
diff --git a/patch/ros-lyrical-moveit-planners-stomp.patch b/patch/ros-lyrical-moveit-planners-stomp.patch
deleted file mode 100644
index 1fd83ae9..00000000
--- a/patch/ros-lyrical-moveit-planners-stomp.patch
+++ /dev/null
@@ -1,41 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 955f227d87..d5d828caf8 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -22,10 +22,15 @@ include_directories(include)
- # Planner Plugin
- add_library(stomp_moveit_plugin SHARED src/stomp_moveit_planner_plugin.cpp
-                                        src/stomp_moveit_planning_context.cpp)
--ament_target_dependencies(stomp_moveit_plugin moveit_core std_msgs tf2_eigen
--                          visualization_msgs)
--target_link_libraries(stomp_moveit_plugin stomp::stomp stomp_moveit_parameters
--                      rsl::rsl)
-+target_link_libraries(
-+  stomp_moveit_plugin
-+  stomp::stomp
-+  stomp_moveit_parameters
-+  rsl::rsl
-+  moveit_core::moveit_core
-+  ${std_msgs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  ${visualization_msgs_TARGETS})
- 
- pluginlib_export_plugin_description_file(moveit_core
-                                          stomp_moveit_plugin_description.xml)
-diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
-index 3f83ea5a76..95b69c2650 100644
---- a/test/CMakeLists.txt
-+++ b/test/CMakeLists.txt
-@@ -1,8 +1,8 @@
- find_package(ament_cmake_gtest REQUIRED)
- ament_add_gtest(test_noise_generator test_noise_generator.cpp)
--ament_target_dependencies(test_noise_generator tf2_eigen)
--target_link_libraries(test_noise_generator stomp::stomp rsl::rsl)
-+target_link_libraries(test_noise_generator stomp::stomp rsl::rsl
-+                      tf2_eigen::tf2_eigen)
- 
- ament_add_gtest(test_cost_functions test_cost_functions.cpp)
--ament_target_dependencies(test_cost_functions moveit_core)
--target_link_libraries(test_cost_functions stomp::stomp rsl::rsl)
-+target_link_libraries(test_cost_functions stomp::stomp rsl::rsl
-+                      moveit_core::moveit_core)
diff --git a/patch/ros-lyrical-moveit-py.patch b/patch/ros-lyrical-moveit-py.patch
deleted file mode 100644
index 1489a6a8..00000000
--- a/patch/ros-lyrical-moveit-py.patch
+++ /dev/null
@@ -1,15 +0,0 @@
-diff --git a/src/moveit/moveit_py_utils/CMakeLists.txt b/src/moveit/moveit_py_utils/CMakeLists.txt
---- a/src/moveit/moveit_py_utils/CMakeLists.txt
-+++ b/src/moveit/moveit_py_utils/CMakeLists.txt
-@@ -6,8 +6,9 @@
- set_target_properties(moveit_py_utils PROPERTIES VERSION
-                                                  "${${PROJECT_NAME}_VERSION}")
- 
--ament_target_dependencies(moveit_py_utils rclcpp moveit_msgs geometry_msgs
--                          pybind11)
-+target_link_libraries(
-+  moveit_py_utils Python3::Module rclcpp::rclcpp ${moveit_msgs_TARGETS}
-+  ${geometry_msgs_TARGETS} pybind11::pybind11)
- 
- install(
-   TARGETS moveit_py_utils
diff --git a/patch/ros-lyrical-moveit-resources-prbt-ikfast-manipulator-plugin.patch b/patch/ros-lyrical-moveit-resources-prbt-ikfast-manipulator-plugin.patch
deleted file mode 100644
index b1829078..00000000
--- a/patch/ros-lyrical-moveit-resources-prbt-ikfast-manipulator-plugin.patch
+++ /dev/null
@@ -1,32 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index cc451f3d65..48665164c7 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -43,18 +43,16 @@ if(NOT WIN32)
-   target_compile_options(prbt_manipulator_moveit_ikfast_plugin
-                          PRIVATE -Wno-unused-variable)
- endif()
--ament_target_dependencies(
-+target_link_libraries(
-   prbt_manipulator_moveit_ikfast_plugin
--  moveit_core
--  pluginlib
--  rclcpp
--  tf2_kdl
--  tf2_eigen
--  tf2_eigen_kdl
--  tf2_geometry_msgs)
--
--target_link_libraries(prbt_manipulator_moveit_ikfast_plugin
--                      prbt_ikfast_kinematics_parameters)
-+  prbt_ikfast_kinematics_parameters
-+  moveit_core::moveit_core
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2_kdl::tf2_kdl
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS})
- 
- pluginlib_export_plugin_description_file(
-   moveit_core prbt_manipulator_moveit_ikfast_plugin_description.xml)
diff --git a/patch/ros-lyrical-moveit-ros-benchmarks.patch b/patch/ros-lyrical-moveit-ros-benchmarks.patch
index 6a9b4018..1ddabab7 100644
--- a/patch/ros-lyrical-moveit-ros-benchmarks.patch
+++ b/patch/ros-lyrical-moveit-ros-benchmarks.patch
@@ -1,35 +1,8 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 58538a70b..3d0a60468 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -34,11 +34,19 @@ set_target_properties(moveit_ros_benchmarks
- if(WIN32)
-   set(EXTRA_LIB ws2_32.lib)
- endif()
--ament_target_dependencies(moveit_ros_benchmarks ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_ros_benchmarks ${EXTRA_LIB})
-+target_link_libraries(
-+  moveit_ros_benchmarks
-+  rclcpp::rclcpp
-+  Boost::filesystem
-+  Boost::headers
-+  tf2_eigen::tf2_eigen
-+  moveit_core::moveit_core
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_warehouse::moveit_ros_warehouse
-+  pluginlib::pluginlib
-+  ${EXTRA_LIB})
- 
- add_executable(moveit_run_benchmark src/RunBenchmark.cpp)
--ament_target_dependencies(moveit_run_benchmark ${THIS_PACKAGE_INCLUDE_DEPENDS})
- target_link_libraries(moveit_run_benchmark moveit_ros_benchmarks)
- 
- install(
 diff --git a/src/BenchmarkExecutor.cpp b/src/BenchmarkExecutor.cpp
-index e43884259..a24d6a2ce 100644
+index 3461971..1c6ebf5 100644
 --- a/src/BenchmarkExecutor.cpp
 +++ b/src/BenchmarkExecutor.cpp
-@@ -62,6 +62,7 @@ using boost_progress_display = boost::progress_display;
+@@ -61,6 +61,7 @@ using boost_progress_display = boost::progress_display;
  #include <math.h>
  #include <limits>
  #include <filesystem>
diff --git a/patch/ros-lyrical-moveit-ros-control-interface.patch b/patch/ros-lyrical-moveit-ros-control-interface.patch
deleted file mode 100644
index 1fc515f1..00000000
--- a/patch/ros-lyrical-moveit-ros-control-interface.patch
+++ /dev/null
@@ -1,101 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 433f968200..a5f8c7ba29 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -18,14 +18,23 @@ moveit_package()
- # Finds Boost Components
- include(ConfigExtras.cmake)
- 
-+set(CONTROL_INTERFACE_LINK_DEPS
-+    rclcpp_action::rclcpp_action
-+    ${controller_manager_msgs_TARGETS}
-+    moveit_core::moveit_core
-+    moveit_simple_controller_manager::moveit_simple_controller_manager
-+    pluginlib::pluginlib
-+    ${trajectory_msgs_TARGETS}
-+    Boost::headers)
-+
- add_library(moveit_ros_control_interface_plugin SHARED
-             src/controller_manager_plugin.cpp)
- set_target_properties(
-   moveit_ros_control_interface_plugin
-   PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
- target_include_directories(moveit_ros_control_interface_plugin PRIVATE include)
--ament_target_dependencies(moveit_ros_control_interface_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
-+target_link_libraries(moveit_ros_control_interface_plugin
-+                      ${CONTROL_INTERFACE_LINK_DEPS})
- 
- add_library(moveit_ros_control_interface_trajectory_plugin SHARED
-             src/joint_trajectory_controller_plugin.cpp)
-@@ -34,8 +43,8 @@ set_target_properties(
-   PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
- target_include_directories(moveit_ros_control_interface_trajectory_plugin
-                            PRIVATE include)
--ament_target_dependencies(moveit_ros_control_interface_trajectory_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
-+target_link_libraries(moveit_ros_control_interface_trajectory_plugin
-+                      ${CONTROL_INTERFACE_LINK_DEPS})
- 
- add_library(moveit_ros_control_interface_gripper_plugin SHARED
-             src/gripper_command_controller_plugin.cpp)
-@@ -44,8 +53,8 @@ set_target_properties(
-   PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
- target_include_directories(moveit_ros_control_interface_gripper_plugin
-                            PRIVATE include)
--ament_target_dependencies(moveit_ros_control_interface_gripper_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
-+target_link_libraries(moveit_ros_control_interface_gripper_plugin
-+                      ${CONTROL_INTERFACE_LINK_DEPS})
- 
- add_library(moveit_ros_control_interface_parallel_gripper_plugin SHARED
-             src/parallel_gripper_command_controller_plugin.cpp)
-@@ -54,8 +63,8 @@ set_target_properties(
-   PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
- target_include_directories(moveit_ros_control_interface_parallel_gripper_plugin
-                            PRIVATE include)
--ament_target_dependencies(moveit_ros_control_interface_parallel_gripper_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
-+target_link_libraries(moveit_ros_control_interface_parallel_gripper_plugin
-+                      ${CONTROL_INTERFACE_LINK_DEPS})
- 
- add_library(moveit_ros_control_interface_empty_plugin SHARED
-             src/empty_controller_plugin.cpp)
-@@ -64,8 +73,8 @@ set_target_properties(
-   PROPERTIES VERSION "${moveit_ros_control_interface_VERSION}")
- target_include_directories(moveit_ros_control_interface_empty_plugin
-                            PRIVATE include)
--ament_target_dependencies(moveit_ros_control_interface_empty_plugin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
-+target_link_libraries(moveit_ros_control_interface_empty_plugin
-+                      ${CONTROL_INTERFACE_LINK_DEPS})
- 
- if(BUILD_TESTING)
-   add_subdirectory(test)
-@@ -82,9 +91,16 @@ set(TARGET_LIBRARIES
-     moveit_ros_control_interface_parallel_gripper_plugin
-     moveit_ros_control_interface_empty_plugin)
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_ros_control_interface::moveit_ros_control_interface to link all
-+# libraries at once.
-+add_library(moveit_ros_control_interface INTERFACE)
-+target_link_libraries(moveit_ros_control_interface
-+                      INTERFACE ${TARGET_LIBRARIES})
-+
- # Mark executables and/or libraries for installation
- install(
--  TARGETS ${TARGET_LIBRARIES}
-+  TARGETS moveit_ros_control_interface ${TARGET_LIBRARIES}
-   EXPORT moveit_ros_control_interfaceTargets
-   ARCHIVE DESTINATION lib
-   LIBRARY DESTINATION lib
-diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
-index 01c3760..53dcf07 100644
---- a/ConfigExtras.cmake
-+++ b/ConfigExtras.cmake
-@@ -1,3 +1,3 @@
- # Extras module needed for dependencies to find boost components
- 
--find_package(Boost REQUIRED COMPONENTS system thread)
-+find_package(Boost REQUIRED COMPONENTS thread)
diff --git a/patch/ros-lyrical-moveit-ros-move-group.patch b/patch/ros-lyrical-moveit-ros-move-group.patch
deleted file mode 100644
index 3a8e3236..00000000
--- a/patch/ros-lyrical-moveit-ros-move-group.patch
+++ /dev/null
@@ -1,116 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 86bca8785d..e29a8aa778 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -34,8 +34,19 @@ target_include_directories(
-          $<INSTALL_INTERFACE:include/moveit_ros_move_group>)
- set_target_properties(moveit_move_group_capabilities_base
-                       PROPERTIES VERSION "${moveit_ros_move_group_VERSION}")
--ament_target_dependencies(moveit_move_group_capabilities_base
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_move_group_capabilities_base
-+  fmt::fmt
-+  moveit_core::moveit_core
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  ${std_srvs_TARGETS}
-+  tf2::tf2
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_ros::tf2_ros)
- 
- add_library(
-   moveit_move_group_default_capabilities SHARED
-@@ -60,27 +71,66 @@ target_include_directories(
-          $<INSTALL_INTERFACE:include/moveit_ros_move_group>)
- set_target_properties(moveit_move_group_default_capabilities
-                       PROPERTIES VERSION "${moveit_ros_move_group_VERSION}")
--ament_target_dependencies(moveit_move_group_default_capabilities
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_move_group_default_capabilities
--                      moveit_move_group_capabilities_base)
-+target_link_libraries(
-+  moveit_move_group_default_capabilities
-+  moveit_move_group_capabilities_base
-+  fmt::fmt
-+  moveit_core::moveit_core
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  ${std_srvs_TARGETS}
-+  tf2::tf2
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_ros::tf2_ros)
- 
- add_executable(move_group src/move_group.cpp)
- target_include_directories(move_group PUBLIC include)
--ament_target_dependencies(move_group ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
--target_link_libraries(move_group moveit_move_group_capabilities_base)
-+target_link_libraries(
-+  move_group
-+  moveit_move_group_capabilities_base
-+  fmt::fmt
-+  moveit_core::moveit_core
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  ${std_srvs_TARGETS}
-+  tf2::tf2
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_ros::tf2_ros
-+  Boost::headers)
- 
- add_executable(list_move_group_capabilities src/list_capabilities.cpp)
--ament_target_dependencies(list_move_group_capabilities
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(list_move_group_capabilities
--                      moveit_move_group_capabilities_base fmt::fmt)
-+target_link_libraries(
-+  list_move_group_capabilities
-+  moveit_move_group_capabilities_base
-+  fmt::fmt
-+  moveit_core::moveit_core
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  ${std_srvs_TARGETS}
-+  tf2::tf2
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_ros::tf2_ros)
- 
- install(TARGETS move_group list_move_group_capabilities
-         RUNTIME DESTINATION lib/moveit_ros_move_group)
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_ros_move_group::moveit_ros_move_group to link all libraries at once.
-+add_library(moveit_ros_move_group INTERFACE)
-+target_link_libraries(moveit_ros_move_group
-+                      INTERFACE moveit_move_group_capabilities_base)
-+
- install(
--  TARGETS moveit_move_group_capabilities_base
-+  TARGETS moveit_ros_move_group moveit_move_group_capabilities_base
-   EXPORT moveit_ros_move_groupTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
-index 30817cf..66d025a 100644
---- a/ConfigExtras.cmake
-+++ b/ConfigExtras.cmake
-@@ -3,7 +3,6 @@ find_package(
- find_package(
-   Boost
-   REQUIRED
--  system
-   filesystem
-   date_time
-   program_options
diff --git a/patch/ros-lyrical-moveit-ros-occupancy-map-monitor.patch b/patch/ros-lyrical-moveit-ros-occupancy-map-monitor.patch
deleted file mode 100644
index a56df0fa..00000000
--- a/patch/ros-lyrical-moveit-ros-occupancy-map-monitor.patch
+++ /dev/null
@@ -1,53 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b8dd549bc..ec355bf1d 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -13,11 +13,11 @@ find_package(moveit_core REQUIRED)
- find_package(moveit_msgs REQUIRED)
- find_package(pluginlib REQUIRED)
- find_package(Eigen3 REQUIRED)
--# Enforce system version liboctomap-dev
--# https://github.com/moveit/moveit2/issues/2862
--find_package(octomap 1.9.7...<1.10.0 REQUIRED)
-+find_package(octomap REQUIRED)
- find_package(geometric_shapes REQUIRED)
- find_package(tf2_ros REQUIRED)
-+find_package(rclcpp REQUIRED)
-+find_package(Boost REQUIRED)
- 
- include_directories(include)
- include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS} ${X11_INCLUDE_DIR})
-@@ -38,14 +38,27 @@ add_library(
- set_target_properties(
-   moveit_ros_occupancy_map_monitor
-   PROPERTIES VERSION "${moveit_ros_occupancy_map_monitor_VERSION}")
--ament_target_dependencies(moveit_ros_occupancy_map_monitor
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_ros_occupancy_map_monitor
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  pluginlib::pluginlib
-+  octomap
-+  geometric_shapes::geometric_shapes
-+  Boost::headers)
- 
- add_executable(moveit_ros_occupancy_map_server src/occupancy_map_server.cpp)
--ament_target_dependencies(moveit_ros_occupancy_map_server PUBLIC
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_ros_occupancy_map_server
--                      PRIVATE moveit_ros_occupancy_map_monitor)
-+target_link_libraries(
-+  moveit_ros_occupancy_map_server
-+  PRIVATE moveit_ros_occupancy_map_monitor
-+          rclcpp::rclcpp
-+          moveit_core::moveit_core
-+          ${moveit_msgs_TARGETS}
-+          pluginlib::pluginlib
-+          octomap
-+          geometric_shapes::geometric_shapes
-+          Boost::headers)
- 
- install(
-   TARGETS moveit_ros_occupancy_map_monitor
diff --git a/patch/ros-lyrical-moveit-ros-perception.osx.patch b/patch/ros-lyrical-moveit-ros-perception.osx.patch
index f3a1e4c6..af29d06a 100644
--- a/patch/ros-lyrical-moveit-ros-perception.osx.patch
+++ b/patch/ros-lyrical-moveit-ros-perception.osx.patch
@@ -1,22 +1,21 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 0452e0485..38b72376a 100644
+index 761d53c..b4b3fc6 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -17,8 +17,10 @@ if(WITH_OPENGL)
+@@ -17,8 +17,9 @@ if(WITH_OPENGL)
  
    set(GL_LIBS ${GL_LIBS} ${OPENGL_LIBRARIES})
    if(APPLE)
 -    find_package(FreeGLUT REQUIRED)
--    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW FreeGLUT::freeglut)
+-    set(SYSTEM_GL_LIBRARIES GLEW::GLEW FreeGLUT::freeglut)
 +    list(INSERT CMAKE_FRAMEWORK_PATH 0 /System/Library/Frameworks)
 +    find_package(GLUT REQUIRED)
-+    # find_package(FreeGLUT REQUIRED)
-+    set(SYSTEM_GL_LIBRARIES ${GLEW_LIBRARIES} GLEW::GLEW GLUT::GLUT)
++    set(SYSTEM_GL_LIBRARIES GLEW::GLEW GLUT::GLUT)
    else()
      find_package(GLUT REQUIRED)
      if(WIN32)
 diff --git a/mesh_filter/src/gl_renderer.cpp b/mesh_filter/src/gl_renderer.cpp
-index e528cb5b5..9d1689cf6 100644
+index e528cb5..81f9f2e 100644
 --- a/mesh_filter/src/gl_renderer.cpp
 +++ b/mesh_filter/src/gl_renderer.cpp
 @@ -37,11 +37,13 @@
@@ -34,18 +33,16 @@ index e528cb5b5..9d1689cf6 100644
  #include <moveit/mesh_filter/gl_renderer.hpp>
  #include <moveit/utils/logger.hpp>
  #include <sstream>
-@@ -405,8 +407,13 @@ void mesh_filter::GLRenderer::createGLContext()
-     glutIconifyWindow();
+@@ -406,7 +408,13 @@ void mesh_filter::GLRenderer::createGLContext()
      glutHideWindow();
  
--    for (int i = 0; i < 10; ++i)
--      glutMainLoopEvent();
-+    for (int i = 0; i < 10; ++i){
-+      #ifdef __APPLE__
-+        glutCheckLoop();
-+      #else
-+        glutMainLoopEvent();
-+      #endif
+     for (int i = 0; i < 10; ++i)
++    {
++#ifdef __APPLE__
++      glutCheckLoop();
++#else
+       glutMainLoopEvent();
++#endif
 +    }
  
      s_context.at(thread_id) = std::pair<unsigned, GLuint>(1, window_id);
diff --git a/patch/ros-lyrical-moveit-ros-perception.patch b/patch/ros-lyrical-moveit-ros-perception.patch
deleted file mode 100644
index 09913869..00000000
--- a/patch/ros-lyrical-moveit-ros-perception.patch
+++ /dev/null
@@ -1,241 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 22751c9219..761d53c841 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -53,6 +53,9 @@ find_package(sensor_msgs REQUIRED)
- find_package(moveit_msgs REQUIRED)
- find_package(moveit_ros_occupancy_map_monitor REQUIRED)
- find_package(Eigen3 REQUIRED)
-+find_package(geometric_shapes REQUIRED)
-+find_package(geometry_msgs REQUIRED)
-+find_package(visualization_msgs REQUIRED)
- find_package(OpenMP REQUIRED)
- find_package(OpenCV)
- 
-@@ -104,8 +107,13 @@ endif()
- 
- add_subdirectory(semantic_world)
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_ros_perception::moveit_ros_perception to link all libraries at once.
-+add_library(moveit_ros_perception INTERFACE)
-+target_link_libraries(moveit_ros_perception INTERFACE ${THIS_PACKAGE_LIBRARIES})
-+
- install(
--  TARGETS ${THIS_PACKAGE_LIBRARIES}
-+  TARGETS moveit_ros_perception ${THIS_PACKAGE_LIBRARIES}
-   EXPORT moveit_ros_perceptionTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-diff --git a/depth_image_octomap_updater/CMakeLists.txt b/depth_image_octomap_updater/CMakeLists.txt
-index 752666a5dc..6500b8aff4 100644
---- a/depth_image_octomap_updater/CMakeLists.txt
-+++ b/depth_image_octomap_updater/CMakeLists.txt
-@@ -2,34 +2,33 @@ add_library(moveit_depth_image_octomap_updater_core SHARED
-             src/depth_image_octomap_updater.cpp)
- set_target_properties(moveit_depth_image_octomap_updater_core
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_depth_image_octomap_updater_core
--  rclcpp
--  moveit_core
--  image_transport
--  sensor_msgs
--  tf2
--  tf2_geometry_msgs
--  geometric_shapes
--  moveit_ros_occupancy_map_monitor)
--target_link_libraries(moveit_depth_image_octomap_updater_core
--                      moveit_lazy_free_space_updater moveit_mesh_filter)
-+  moveit_lazy_free_space_updater
-+  moveit_mesh_filter
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core
-+  image_transport::image_transport
-+  ${sensor_msgs_TARGETS}
-+  tf2::tf2
-+  ${tf2_geometry_msgs_TARGETS}
-+  geometric_shapes::geometric_shapes
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor)
- 
- add_library(moveit_depth_image_octomap_updater SHARED src/updater_plugin.cpp)
- set_target_properties(moveit_depth_image_octomap_updater
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_depth_image_octomap_updater
--  rclcpp
--  moveit_core
--  image_transport
--  sensor_msgs
--  tf2
--  tf2_geometry_msgs
--  geometric_shapes
--  moveit_ros_occupancy_map_monitor
--  pluginlib)
--target_link_libraries(moveit_depth_image_octomap_updater
--                      moveit_depth_image_octomap_updater_core)
-+  moveit_depth_image_octomap_updater_core
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core
-+  image_transport::image_transport
-+  ${sensor_msgs_TARGETS}
-+  tf2::tf2
-+  ${tf2_geometry_msgs_TARGETS}
-+  geometric_shapes::geometric_shapes
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  pluginlib::pluginlib)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
-diff --git a/lazy_free_space_updater/CMakeLists.txt b/lazy_free_space_updater/CMakeLists.txt
-index ce2ce81c29..e7ae903d44 100644
---- a/lazy_free_space_updater/CMakeLists.txt
-+++ b/lazy_free_space_updater/CMakeLists.txt
-@@ -10,7 +10,9 @@ set_target_properties(moveit_lazy_free_space_updater
- if(APPLE)
-   target_link_libraries(moveit_lazy_free_space_updater OpenMP::OpenMP_CXX)
- endif()
--ament_target_dependencies(moveit_lazy_free_space_updater rclcpp
--                          moveit_ros_occupancy_map_monitor sensor_msgs)
-+target_link_libraries(
-+  moveit_lazy_free_space_updater rclcpp::rclcpp
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  ${sensor_msgs_TARGETS})
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
-diff --git a/mesh_filter/CMakeLists.txt b/mesh_filter/CMakeLists.txt
-index ee1844df52..7697be3301 100644
---- a/mesh_filter/CMakeLists.txt
-+++ b/mesh_filter/CMakeLists.txt
-@@ -8,10 +8,14 @@ target_include_directories(
-   moveit_mesh_filter PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
- set_target_properties(moveit_mesh_filter
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_mesh_filter rclcpp moveit_core
--                          geometric_shapes Eigen3)
--
--target_link_libraries(moveit_mesh_filter ${GL_LIBS} ${SYSTEM_GL_LIBRARIES})
-+target_link_libraries(
-+  moveit_mesh_filter
-+  ${GL_LIBS}
-+  ${SYSTEM_GL_LIBRARIES}
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core
-+  geometric_shapes::geometric_shapes
-+  Eigen3::Eigen)
- 
- # TODO: Port to ROS2 add_library(moveit_depth_self_filter SHARED
- # src/depth_self_filter_nodelet.cpp src/transform_provider.cpp )
-diff --git a/point_containment_filter/CMakeLists.txt b/point_containment_filter/CMakeLists.txt
-index f13a319e1e..f3963c148f 100644
---- a/point_containment_filter/CMakeLists.txt
-+++ b/point_containment_filter/CMakeLists.txt
-@@ -6,7 +6,8 @@ set_target_properties(
-   PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
- set_target_properties(moveit_point_containment_filter
-                       PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
--ament_target_dependencies(moveit_point_containment_filter rclcpp sensor_msgs
--                          geometric_shapes moveit_core)
-+target_link_libraries(
-+  moveit_point_containment_filter rclcpp::rclcpp ${sensor_msgs_TARGETS}
-+  geometric_shapes::geometric_shapes moveit_core::moveit_core)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
-diff --git a/pointcloud_octomap_updater/CMakeLists.txt b/pointcloud_octomap_updater/CMakeLists.txt
-index 6b928b506d..83f5309add 100644
---- a/pointcloud_octomap_updater/CMakeLists.txt
-+++ b/pointcloud_octomap_updater/CMakeLists.txt
-@@ -2,18 +2,17 @@ add_library(moveit_pointcloud_octomap_updater_core SHARED
-             src/pointcloud_octomap_updater.cpp)
- set_target_properties(moveit_pointcloud_octomap_updater_core
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_pointcloud_octomap_updater_core
--  rclcpp
--  moveit_core
--  tf2_ros
--  message_filters
--  sensor_msgs
--  moveit_ros_occupancy_map_monitor
--  tf2_geometry_msgs
--  tf2)
--target_link_libraries(moveit_pointcloud_octomap_updater_core
--                      moveit_point_containment_filter)
-+  moveit_point_containment_filter
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core
-+  tf2_ros::tf2_ros
-+  message_filters::message_filters
-+  ${sensor_msgs_TARGETS}
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2::tf2)
- set_target_properties(
-   moveit_pointcloud_octomap_updater_core
-   PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-@@ -24,18 +23,17 @@ set_target_properties(
- add_library(moveit_pointcloud_octomap_updater SHARED src/plugin_init.cpp)
- set_target_properties(moveit_pointcloud_octomap_updater
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_pointcloud_octomap_updater
--  rclcpp
--  moveit_core
--  tf2_ros
--  message_filters
--  sensor_msgs
--  moveit_ros_occupancy_map_monitor
--  tf2_geometry_msgs
--  tf2
--  pluginlib)
--target_link_libraries(moveit_pointcloud_octomap_updater
--                      moveit_pointcloud_octomap_updater_core)
-+  moveit_pointcloud_octomap_updater_core
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core
-+  tf2_ros::tf2_ros
-+  message_filters::message_filters
-+  ${sensor_msgs_TARGETS}
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2::tf2
-+  pluginlib::pluginlib)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
-diff --git a/semantic_world/CMakeLists.txt b/semantic_world/CMakeLists.txt
---- a/semantic_world/CMakeLists.txt
-+++ b/semantic_world/CMakeLists.txt
-@@ -1,18 +1,18 @@
- add_library(moveit_semantic_world SHARED src/semantic_world.cpp)
- set_target_properties(moveit_semantic_world
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_semantic_world
--  PUBLIC
--  rclcpp
--  moveit_core
--  object_recognition_msgs
--  visualization_msgs
--  geometry_msgs
--  geometric_shapes
--  moveit_msgs
--  tf2_eigen
--  Eigen3
--  Boost
-+  PUBLIC rclcpp::rclcpp
-+         moveit_core::moveit_core
-+         ${object_recognition_msgs_TARGETS}
-+         ${visualization_msgs_TARGETS}
-+         ${geometry_msgs_TARGETS}
-+         geometric_shapes::geometric_shapes
-+         ${moveit_msgs_TARGETS}
-+         tf2_eigen::tf2_eigen
-+         Eigen3::Eigen
-+         Boost::headers
-+         ${OpenCV_LIBS})
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_perception)
diff --git a/patch/ros-lyrical-moveit-ros-planning-interface.patch b/patch/ros-lyrical-moveit-ros-planning-interface.patch
deleted file mode 100644
index 070f9452..00000000
--- a/patch/ros-lyrical-moveit-ros-planning-interface.patch
+++ /dev/null
@@ -1,107 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 47470e0a76..352628e9f1 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -11,6 +11,7 @@ find_package(moveit_core REQUIRED)
- find_package(moveit_ros_planning REQUIRED)
- find_package(moveit_ros_warehouse REQUIRED)
- find_package(moveit_ros_move_group REQUIRED)
-+find_package(moveit_ros_occupancy_map_monitor REQUIRED)
- find_package(geometry_msgs REQUIRED)
- find_package(tf2 REQUIRED)
- find_package(tf2_eigen REQUIRED)
-@@ -36,6 +37,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
-     moveit_ros_planning
-     moveit_ros_warehouse
-     moveit_ros_move_group
-+    moveit_ros_occupancy_map_monitor
-     tf2
-     tf2_eigen
-     tf2_geometry_msgs
-@@ -74,8 +76,15 @@ if(BUILD_TESTING)
- 
- endif()
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_ros_planning_interface::moveit_ros_planning_interface to link all
-+# libraries at once.
-+add_library(moveit_ros_planning_interface INTERFACE)
-+target_link_libraries(moveit_ros_planning_interface
-+                      INTERFACE ${THIS_PACKAGE_LIBRARIES})
-+
- install(
--  TARGETS ${THIS_PACKAGE_LIBRARIES}
-+  TARGETS moveit_ros_planning_interface ${THIS_PACKAGE_LIBRARIES}
-   EXPORT moveit_ros_planning_interfaceTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-diff --git a/common_planning_interface_objects/CMakeLists.txt b/common_planning_interface_objects/CMakeLists.txt
-index eb8715926b..8473c56c5b 100644
---- a/common_planning_interface_objects/CMakeLists.txt
-+++ b/common_planning_interface_objects/CMakeLists.txt
-@@ -2,7 +2,7 @@ add_library(moveit_common_planning_interface_objects SHARED
-             src/common_objects.cpp)
- set_target_properties(moveit_common_planning_interface_objects
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_common_planning_interface_objects rclcpp
--                          moveit_ros_planning tf2_ros)
-+target_link_libraries(moveit_common_planning_interface_objects rclcpp::rclcpp
-+                      moveit_ros_planning::moveit_ros_planning tf2_ros::tf2_ros)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_planning_interface)
-diff --git a/move_group_interface/CMakeLists.txt b/move_group_interface/CMakeLists.txt
-index 04367e9a7b..2744c454fc 100644
---- a/move_group_interface/CMakeLists.txt
-+++ b/move_group_interface/CMakeLists.txt
-@@ -7,16 +7,16 @@ target_include_directories(
- set_target_properties(moveit_move_group_interface
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- target_link_libraries(
--  moveit_move_group_interface moveit_common_planning_interface_objects
--  moveit_planning_scene_interface ${Boost_THREAD_LIBRARY})
--ament_target_dependencies(
-   moveit_move_group_interface
--  moveit_core
--  moveit_msgs
--  moveit_ros_move_group
--  moveit_ros_occupancy_map_monitor
--  moveit_ros_planning
--  moveit_ros_warehouse)
-+  moveit_common_planning_interface_objects
-+  moveit_planning_scene_interface
-+  ${Boost_THREAD_LIBRARY}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_warehouse::moveit_ros_warehouse)
- 
- # TODO (ddengster) : port wrap_python_move_group
- # add_library(moveit_move_group_interface_python src/wrap_python_move_group.cpp)
-diff --git a/planning_scene_interface/CMakeLists.txt b/planning_scene_interface/CMakeLists.txt
-index 10264ea6d7..d9662c0da2 100644
---- a/planning_scene_interface/CMakeLists.txt
-+++ b/planning_scene_interface/CMakeLists.txt
-@@ -2,8 +2,9 @@ add_library(moveit_planning_scene_interface SHARED
-             src/planning_scene_interface.cpp)
- set_target_properties(moveit_planning_scene_interface
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_planning_scene_interface moveit_msgs
--                          moveit_core moveit_ros_move_group)
-+target_link_libraries(
-+  moveit_planning_scene_interface ${moveit_msgs_TARGETS}
-+  moveit_core::moveit_core moveit_ros_move_group::moveit_ros_move_group)
- 
- # TODO(JafarAbdi): Support python wrapper
- # add_library(moveit_planning_scene_interface_python
-diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
-index 63a5f42..05ffe2f 100644
---- a/ConfigExtras.cmake
-+++ b/ConfigExtras.cmake
-@@ -8,4 +8,4 @@ find_package(
-   Boost REQUIRED
-   COMPONENTS date_time filesystem program_options
-              # ${BOOST_PYTHON_COMPONENT}
--             system thread)
-+             thread)
diff --git a/patch/ros-lyrical-moveit-ros-planning.patch b/patch/ros-lyrical-moveit-ros-planning.patch
deleted file mode 100644
index 680ccf3c..00000000
--- a/patch/ros-lyrical-moveit-ros-planning.patch
+++ /dev/null
@@ -1,485 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9b4136d01..3c1cfdcd8 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -17,6 +17,7 @@ find_package(moveit_ros_occupancy_map_monitor REQUIRED)
- find_package(pluginlib REQUIRED)
- find_package(rclcpp REQUIRED)
- find_package(rclcpp_components REQUIRED)
-+find_package(sensor_msgs REQUIRED)
- find_package(srdfdom REQUIRED)
- find_package(std_msgs REQUIRED)
- find_package(tf2 REQUIRED)
-@@ -70,6 +71,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
-     pluginlib
-     rclcpp
-     rclcpp_components
-+    sensor_msgs
-     srdfdom
-     std_msgs
-     tf2
-@@ -100,8 +102,13 @@ add_subdirectory(robot_model_loader)
- add_subdirectory(srdf_publisher_node)
- add_subdirectory(trajectory_execution_manager)
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_ros_planning::moveit_ros_planning to link all libraries at once.
-+add_library(moveit_ros_planning INTERFACE)
-+target_link_libraries(moveit_ros_planning INTERFACE ${THIS_PACKAGE_LIBRARIES})
-+
- install(
--  TARGETS ${THIS_PACKAGE_LIBRARIES}
-+  TARGETS moveit_ros_planning ${THIS_PACKAGE_LIBRARIES}
-   EXPORT moveit_ros_planningTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
-index 3a527d9..b101f9b 100644
---- a/ConfigExtras.cmake
-+++ b/ConfigExtras.cmake
-@@ -3,7 +3,6 @@ find_package(
- find_package(
-   Boost
-   REQUIRED
--  system
-   filesystem
-   date_time
-   program_options
-diff --git a/collision_plugin_loader/CMakeLists.txt b/collision_plugin_loader/CMakeLists.txt
-index bc34ed5ec..577f6dcd2 100644
---- a/collision_plugin_loader/CMakeLists.txt
-+++ b/collision_plugin_loader/CMakeLists.txt
-@@ -2,7 +2,7 @@ add_library(moveit_collision_plugin_loader SHARED
-             src/collision_plugin_loader.cpp)
- set_target_properties(moveit_collision_plugin_loader
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_collision_plugin_loader moveit_core rclcpp
--                          pluginlib)
-+target_link_libraries(moveit_collision_plugin_loader moveit_core::moveit_core
-+                      rclcpp::rclcpp pluginlib::pluginlib)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
-diff --git a/constraint_sampler_manager_loader/CMakeLists.txt b/constraint_sampler_manager_loader/CMakeLists.txt
-index 222a564a7..0b457167f 100644
---- a/constraint_sampler_manager_loader/CMakeLists.txt
-+++ b/constraint_sampler_manager_loader/CMakeLists.txt
-@@ -3,9 +3,8 @@ add_library(moveit_constraint_sampler_manager_loader SHARED
- 
- set_target_properties(moveit_constraint_sampler_manager_loader
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_constraint_sampler_manager_loader moveit_core
--                          rclcpp Boost pluginlib)
--target_link_libraries(moveit_constraint_sampler_manager_loader
--                      moveit_rdf_loader)
-+target_link_libraries(
-+  moveit_constraint_sampler_manager_loader moveit_rdf_loader
-+  moveit_core::moveit_core rclcpp::rclcpp Boost::headers pluginlib::pluginlib)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
-diff --git a/kinematics_plugin_loader/CMakeLists.txt b/kinematics_plugin_loader/CMakeLists.txt
-index cbc9d6d0f..61f9c3897 100644
---- a/kinematics_plugin_loader/CMakeLists.txt
-+++ b/kinematics_plugin_loader/CMakeLists.txt
-@@ -2,16 +2,20 @@ add_library(moveit_kinematics_plugin_loader SHARED
-             src/kinematics_plugin_loader.cpp)
- set_target_properties(moveit_kinematics_plugin_loader
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_kinematics_plugin_loader rclcpp urdf pluginlib
--                          class_loader moveit_core)
--
- generate_parameter_library(
-   kinematics_parameters # cmake target name for the parameter library
-   src/kinematics_parameters.yaml # path to input yaml file
- )
- 
--target_link_libraries(moveit_kinematics_plugin_loader moveit_rdf_loader
--                      kinematics_parameters)
-+target_link_libraries(
-+  moveit_kinematics_plugin_loader
-+  moveit_rdf_loader
-+  kinematics_parameters
-+  rclcpp::rclcpp
-+  urdf::urdf
-+  pluginlib::pluginlib
-+  class_loader::class_loader
-+  moveit_core::moveit_core)
- 
- install(
-   TARGETS kinematics_parameters
-diff --git a/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp b/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
-index ead7aa044..464d6fbf0 100644
---- a/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
-+++ b/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp
-@@ -197,7 +197,7 @@ public:
-   {
-     std::scoped_lock slock(cache_lock_);
-     kinematics::KinematicsBasePtr& cached = instances_[jmg];
--    if (cached.unique())
-+    if (cached.use_count() == 1)
-       return std::move(cached);  // pass on unique instance
- 
-     // create a new instance and store in instances_
-diff --git a/moveit_cpp/CMakeLists.txt b/moveit_cpp/CMakeLists.txt
-index 59850df90..a6e6f6350 100644
---- a/moveit_cpp/CMakeLists.txt
-+++ b/moveit_cpp/CMakeLists.txt
-@@ -1,10 +1,14 @@
- add_library(moveit_cpp SHARED src/moveit_cpp.cpp src/planning_component.cpp)
- set_target_properties(moveit_cpp PROPERTIES VERSION
-                                             "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_cpp rclcpp moveit_core)
- target_link_libraries(
--  moveit_cpp moveit_planning_scene_monitor moveit_planning_pipeline
--  moveit_planning_pipeline_interfaces moveit_trajectory_execution_manager)
-+  moveit_cpp
-+  moveit_planning_scene_monitor
-+  moveit_planning_pipeline
-+  moveit_planning_pipeline_interfaces
-+  moveit_trajectory_execution_manager
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
- 
-diff --git a/plan_execution/CMakeLists.txt b/plan_execution/CMakeLists.txt
-index 95c11fd8e..1a9cda295 100644
---- a/plan_execution/CMakeLists.txt
-+++ b/plan_execution/CMakeLists.txt
-@@ -2,9 +2,14 @@ add_library(moveit_plan_execution SHARED src/plan_execution.cpp)
- set_target_properties(moveit_plan_execution
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- target_link_libraries(
--  moveit_plan_execution moveit_planning_pipeline moveit_planning_scene_monitor
--  moveit_trajectory_execution_manager)
--ament_target_dependencies(moveit_plan_execution moveit_core rclcpp Boost
--                          class_loader pluginlib)
-+  moveit_plan_execution
-+  moveit_planning_pipeline
-+  moveit_planning_scene_monitor
-+  moveit_trajectory_execution_manager
-+  moveit_core::moveit_core
-+  rclcpp::rclcpp
-+  Boost::headers
-+  class_loader::class_loader
-+  pluginlib::pluginlib)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
-diff --git a/planning_components_tools/CMakeLists.txt b/planning_components_tools/CMakeLists.txt
-index 0eb2bd3fa..d38479aa7 100644
---- a/planning_components_tools/CMakeLists.txt
-+++ b/planning_components_tools/CMakeLists.txt
-@@ -5,31 +5,29 @@
- add_executable(moveit_print_planning_model_info
-                src/print_planning_model_info.cpp)
- target_link_libraries(moveit_print_planning_model_info
--                      moveit_robot_model_loader)
--ament_target_dependencies(moveit_print_planning_model_info rclcpp)
-+                      moveit_robot_model_loader rclcpp::rclcpp)
- 
- add_executable(moveit_print_planning_scene_info
-                src/print_planning_scene_info.cpp)
- target_link_libraries(moveit_print_planning_scene_info
--                      moveit_planning_scene_monitor)
--ament_target_dependencies(moveit_print_planning_scene_info rclcpp)
-+                      moveit_planning_scene_monitor rclcpp::rclcpp)
- 
- add_executable(moveit_display_random_state src/display_random_state.cpp)
--target_link_libraries(moveit_display_random_state moveit_planning_scene_monitor)
--ament_target_dependencies(moveit_display_random_state rclcpp)
-+target_link_libraries(moveit_display_random_state moveit_planning_scene_monitor
-+                      rclcpp::rclcpp)
- 
- add_executable(moveit_visualize_robot_collision_volume
-                src/visualize_robot_collision_volume.cpp)
--target_link_libraries(moveit_visualize_robot_collision_volume
--                      PRIVATE moveit_planning_scene_monitor)
--ament_target_dependencies(moveit_visualize_robot_collision_volume PUBLIC rclcpp
--                          tf2_ros)
-+target_link_libraries(
-+  moveit_visualize_robot_collision_volume
-+  PRIVATE moveit_planning_scene_monitor
-+  PUBLIC rclcpp::rclcpp tf2_ros::tf2_ros)
- 
- add_executable(moveit_evaluate_collision_checking_speed
-                src/evaluate_collision_checking_speed.cpp)
--target_link_libraries(moveit_evaluate_collision_checking_speed
--                      moveit_planning_scene_monitor)
--ament_target_dependencies(moveit_evaluate_collision_checking_speed rclcpp Boost)
-+target_link_libraries(
-+  moveit_evaluate_collision_checking_speed moveit_planning_scene_monitor
-+  rclcpp::rclcpp Boost::headers Boost::program_options)
- 
- if("${catkin_LIBRARIES}" MATCHES "moveit_collision_detection_bullet")
-   add_executable(moveit_compare_collision_checking_speed_fcl_bullet
-@@ -41,9 +39,9 @@ endif()
- 
- add_executable(moveit_publish_scene_from_text src/publish_scene_from_text.cpp)
- target_link_libraries(
--  moveit_publish_scene_from_text PRIVATE moveit_planning_scene_monitor
--                                         moveit_robot_model_loader)
--ament_target_dependencies(moveit_publish_scene_from_text PUBLIC rclcpp)
-+  moveit_publish_scene_from_text
-+  PRIVATE moveit_planning_scene_monitor moveit_robot_model_loader
-+  PUBLIC rclcpp::rclcpp)
- 
- install(
-   TARGETS moveit_print_planning_model_info
-diff --git a/planning_pipeline/CMakeLists.txt b/planning_pipeline/CMakeLists.txt
-index d3e9c7579..836d1f0d4 100644
---- a/planning_pipeline/CMakeLists.txt
-+++ b/planning_pipeline/CMakeLists.txt
-@@ -2,7 +2,10 @@ generate_parameter_library(planning_pipeline_parameters
-                            res/planning_pipeline_parameters.yaml)
- 
- add_library(moveit_planning_pipeline SHARED src/planning_pipeline.cpp)
--target_link_libraries(moveit_planning_pipeline planning_pipeline_parameters)
-+target_link_libraries(
-+  moveit_planning_pipeline planning_pipeline_parameters
-+  moveit_core::moveit_core ${moveit_msgs_TARGETS} rclcpp::rclcpp
-+  pluginlib::pluginlib)
- include(GenerateExportHeader)
- generate_export_header(moveit_planning_pipeline)
- target_include_directories(
-@@ -11,9 +14,6 @@ target_include_directories(
- set_target_properties(moveit_planning_pipeline
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- 
--ament_target_dependencies(moveit_planning_pipeline moveit_core moveit_msgs
--                          rclcpp pluginlib)
--
- if(BUILD_TESTING)
-   find_package(ament_cmake_gtest REQUIRED)
- 
-@@ -22,8 +22,8 @@ if(BUILD_TESTING)
-   target_include_directories(
-     moveit_pipeline_test_plugins
-     PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
--  ament_target_dependencies(moveit_pipeline_test_plugins moveit_core rclcpp
--                            pluginlib)
-+  target_link_libraries(moveit_pipeline_test_plugins moveit_core::moveit_core
-+                        rclcpp::rclcpp pluginlib::pluginlib)
-   set_target_properties(moveit_pipeline_test_plugins
-                         PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- 
-@@ -33,9 +33,10 @@ if(BUILD_TESTING)
-   target_include_directories(
-     moveit_planning_pipeline_test
-     PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
--  ament_target_dependencies(moveit_planning_pipeline_test moveit_core
--                            moveit_msgs rclcpp pluginlib)
--  target_link_libraries(moveit_planning_pipeline_test moveit_planning_pipeline)
-+  target_link_libraries(
-+    moveit_planning_pipeline_test moveit_planning_pipeline
-+    moveit_core::moveit_core ${moveit_msgs_TARGETS} rclcpp::rclcpp
-+    pluginlib::pluginlib)
- 
-   install(
-     TARGETS moveit_pipeline_test_plugins
-diff --git a/planning_pipeline_interfaces/CMakeLists.txt b/planning_pipeline_interfaces/CMakeLists.txt
-index a6ccb228c..34105f391 100644
---- a/planning_pipeline_interfaces/CMakeLists.txt
-+++ b/planning_pipeline_interfaces/CMakeLists.txt
-@@ -10,11 +10,9 @@ target_include_directories(
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
- set_target_properties(moveit_planning_pipeline_interfaces
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--target_link_libraries(moveit_planning_pipeline_interfaces
--                      moveit_planning_pipeline)
--
--ament_target_dependencies(moveit_planning_pipeline_interfaces moveit_core
--                          moveit_msgs rclcpp)
-+target_link_libraries(
-+  moveit_planning_pipeline_interfaces moveit_planning_pipeline
-+  moveit_core::moveit_core ${moveit_msgs_TARGETS} rclcpp::rclcpp)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
- install(
-diff --git a/planning_request_adapter_plugins/CMakeLists.txt b/planning_request_adapter_plugins/CMakeLists.txt
-index 54cb62da1..fe0d43ef2 100644
---- a/planning_request_adapter_plugins/CMakeLists.txt
-+++ b/planning_request_adapter_plugins/CMakeLists.txt
-@@ -7,13 +7,12 @@ add_library(
-   src/check_start_state_collision.cpp src/validate_workspace_bounds.cpp
-   src/resolve_constraint_frames.cpp)
- 
--target_link_libraries(moveit_default_planning_request_adapter_plugins
--                      default_request_adapter_parameters)
--
- set_target_properties(moveit_default_planning_request_adapter_plugins
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_default_planning_request_adapter_plugins
--                          moveit_core rclcpp pluginlib)
-+target_link_libraries(
-+  moveit_default_planning_request_adapter_plugins
-+  default_request_adapter_parameters moveit_core::moveit_core rclcpp::rclcpp
-+  pluginlib::pluginlib)
- 
- if(BUILD_TESTING)
-   find_package(ament_cmake_gtest REQUIRED)
-diff --git a/planning_response_adapter_plugins/CMakeLists.txt b/planning_response_adapter_plugins/CMakeLists.txt
-index 7471eefa3..59edb807c 100644
---- a/planning_response_adapter_plugins/CMakeLists.txt
-+++ b/planning_response_adapter_plugins/CMakeLists.txt
-@@ -6,10 +6,9 @@ add_library(
-   src/add_ruckig_traj_smoothing.cpp src/add_time_optimal_parameterization.cpp
-   src/display_motion_path.cpp src/validate_path.cpp)
- 
--target_link_libraries(moveit_default_planning_response_adapter_plugins
--                      default_response_adapter_parameters)
--
- set_target_properties(moveit_default_planning_response_adapter_plugins
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_default_planning_response_adapter_plugins
--                          Boost moveit_core rclcpp pluginlib)
-+target_link_libraries(
-+  moveit_default_planning_response_adapter_plugins
-+  default_response_adapter_parameters Boost::headers moveit_core::moveit_core
-+  rclcpp::rclcpp pluginlib::pluginlib)
-diff --git a/planning_scene_monitor/CMakeLists.txt b/planning_scene_monitor/CMakeLists.txt
-index 03eab4077..32feb33e0 100644
---- a/planning_scene_monitor/CMakeLists.txt
-+++ b/planning_scene_monitor/CMakeLists.txt
-@@ -10,29 +10,24 @@ target_include_directories(
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
- set_target_properties(moveit_planning_scene_monitor
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_planning_scene_monitor
--  moveit_ros_occupancy_map_monitor
--  message_filters
--  urdf
--  pluginlib
--  rclcpp
--  fmt
--  moveit_msgs)
--target_link_libraries(moveit_planning_scene_monitor moveit_robot_model_loader
--                      moveit_collision_plugin_loader)
-+  moveit_robot_model_loader
-+  moveit_collision_plugin_loader
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  message_filters::message_filters
-+  urdf::urdf
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  fmt::fmt
-+  ${moveit_msgs_TARGETS})
- 
- add_executable(demo_scene demos/demo_scene.cpp)
--ament_target_dependencies(
-+target_link_libraries(
-   demo_scene
--  PUBLIC
--  rclcpp
--  fmt
--  moveit_msgs
--  urdf
--  message_filters
--  pluginlib)
--target_link_libraries(demo_scene PRIVATE moveit_planning_scene_monitor)
-+  PRIVATE moveit_planning_scene_monitor
-+  PUBLIC rclcpp::rclcpp fmt::fmt ${moveit_msgs_TARGETS} urdf::urdf
-+         message_filters::message_filters pluginlib::pluginlib)
- 
- install(TARGETS demo_scene DESTINATION lib/${PROJECT_NAME})
- 
-@@ -55,10 +50,9 @@ if(BUILD_TESTING)
- 
-   ament_add_gtest_executable(planning_scene_monitor_test
-                              test/planning_scene_monitor_test.cpp)
--  target_link_libraries(planning_scene_monitor_test
--                        moveit_planning_scene_monitor)
--  ament_target_dependencies(planning_scene_monitor_test moveit_core rclcpp
--                            moveit_msgs)
-+  target_link_libraries(
-+    planning_scene_monitor_test moveit_planning_scene_monitor
-+    moveit_core::moveit_core rclcpp::rclcpp ${moveit_msgs_TARGETS})
- 
-   add_ros_test(test/launch/planning_scene_monitor.test.py TIMEOUT 30 ARGS
-                "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
-diff --git a/rdf_loader/CMakeLists.txt b/rdf_loader/CMakeLists.txt
-index 70b73b8b5..6c3a08d3f 100644
---- a/rdf_loader/CMakeLists.txt
-+++ b/rdf_loader/CMakeLists.txt
-@@ -2,8 +2,9 @@ add_library(moveit_rdf_loader SHARED src/rdf_loader.cpp
-                                      src/synchronized_string_parameter.cpp)
- set_target_properties(moveit_rdf_loader PROPERTIES VERSION
-                                                    "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_rdf_loader rclcpp ament_index_cpp urdf srdfdom
--                          moveit_core)
-+target_link_libraries(
-+  moveit_rdf_loader rclcpp::rclcpp ament_index_cpp::ament_index_cpp urdf::urdf
-+  srdfdom::srdfdom moveit_core::moveit_core)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
- install(DIRECTORY test/data test/launch
-diff --git a/robot_model_loader/CMakeLists.txt b/robot_model_loader/CMakeLists.txt
-index 284ea4a36..ce7baa5d7 100644
---- a/robot_model_loader/CMakeLists.txt
-+++ b/robot_model_loader/CMakeLists.txt
-@@ -5,9 +5,14 @@ endif()
- add_library(moveit_robot_model_loader SHARED src/robot_model_loader.cpp)
- set_target_properties(moveit_robot_model_loader
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(moveit_robot_model_loader rclcpp urdf Boost
--                          moveit_core moveit_msgs)
--target_link_libraries(moveit_robot_model_loader moveit_rdf_loader
--                      moveit_kinematics_plugin_loader)
-+target_link_libraries(
-+  moveit_robot_model_loader
-+  moveit_rdf_loader
-+  moveit_kinematics_plugin_loader
-+  rclcpp::rclcpp
-+  urdf::urdf
-+  Boost::headers
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS})
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
-diff --git a/srdf_publisher_node/CMakeLists.txt b/srdf_publisher_node/CMakeLists.txt
-index d548d2f1e..e858e7f53 100644
---- a/srdf_publisher_node/CMakeLists.txt
-+++ b/srdf_publisher_node/CMakeLists.txt
-@@ -1,6 +1,7 @@
- add_library(srdf_publisher_node SHARED src/srdf_publisher_node.cpp)
--ament_target_dependencies(srdf_publisher_node PUBLIC std_msgs rclcpp
--                          rclcpp_components)
-+target_link_libraries(
-+  srdf_publisher_node PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp
-+                             rclcpp_components::component)
- 
- if(BUILD_TESTING)
-   find_package(launch_testing_ament_cmake REQUIRED)
-diff --git a/trajectory_execution_manager/CMakeLists.txt b/trajectory_execution_manager/CMakeLists.txt
-index 929e8c88f..0d2f81c0c 100644
---- a/trajectory_execution_manager/CMakeLists.txt
-+++ b/trajectory_execution_manager/CMakeLists.txt
-@@ -7,18 +7,17 @@ target_include_directories(
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
- set_target_properties(moveit_trajectory_execution_manager
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_trajectory_execution_manager
--  moveit_core
--  moveit_ros_occupancy_map_monitor
--  rclcpp
--  pluginlib
--  std_msgs
--  sensor_msgs
--  moveit_msgs
--  tf2_eigen)
--target_link_libraries(moveit_trajectory_execution_manager
--                      moveit_planning_scene_monitor)
-+  moveit_planning_scene_monitor
-+  moveit_core::moveit_core
-+  moveit_ros_occupancy_map_monitor::moveit_ros_occupancy_map_monitor
-+  rclcpp::rclcpp
-+  pluginlib::pluginlib
-+  ${std_msgs_TARGETS}
-+  ${sensor_msgs_TARGETS}
-+  ${moveit_msgs_TARGETS}
-+  tf2_eigen::tf2_eigen)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_ros_planning)
- install(
diff --git a/patch/ros-lyrical-moveit-ros-robot-interaction.patch b/patch/ros-lyrical-moveit-ros-robot-interaction.patch
index efa0251f..d9289018 100644
--- a/patch/ros-lyrical-moveit-ros-robot-interaction.patch
+++ b/patch/ros-lyrical-moveit-ros-robot-interaction.patch
@@ -1,39 +1,5 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index c9140d2a4..043925338 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -32,8 +32,10 @@ target_include_directories(
- set_target_properties(
-   moveit_robot_interaction PROPERTIES VERSION
-                                       "${moveit_ros_robot_interaction_VERSION}")
--ament_target_dependencies(moveit_robot_interaction
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_robot_interaction moveit_core::moveit_core
-+  moveit_ros_planning::moveit_ros_planning
-+  interactive_markers::interactive_markers ${tf2_geometry_msgs_TARGETS})
- 
- if(BUILD_TESTING)
-   find_package(ament_cmake_gtest REQUIRED)
-@@ -41,8 +43,15 @@ if(BUILD_TESTING)
-   target_link_libraries(locked_robot_state_test moveit_robot_interaction)
- endif()
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_ros_robot_interaction::moveit_ros_robot_interaction to link all
-+# libraries at once.
-+add_library(moveit_ros_robot_interaction INTERFACE)
-+target_link_libraries(moveit_ros_robot_interaction
-+                      INTERFACE moveit_robot_interaction)
-+
- install(
--  TARGETS moveit_robot_interaction
-+  TARGETS moveit_ros_robot_interaction moveit_robot_interaction
-   EXPORT moveit_ros_robot_interactionTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
 diff --git a/src/locked_robot_state.cpp b/src/locked_robot_state.cpp
-index 15b8d0c84..35c859bda 100644
+index 15b8d0c..35c859b 100644
 --- a/src/locked_robot_state.cpp
 +++ b/src/locked_robot_state.cpp
 @@ -66,7 +66,7 @@ void robot_interaction::LockedRobotState::setState(const moveit::core::RobotStat
diff --git a/patch/ros-lyrical-moveit-ros-trajectory-cache.patch b/patch/ros-lyrical-moveit-ros-trajectory-cache.patch
deleted file mode 100644
index 31468d30..00000000
--- a/patch/ros-lyrical-moveit-ros-trajectory-cache.patch
+++ /dev/null
@@ -1,147 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 2b5459a6dc..9a9ba4f1f6 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -41,8 +41,16 @@ target_include_directories(
-   moveit_ros_trajectory_cache_utils_lib
-   PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_ros_trajectory_cache>)
--ament_target_dependencies(moveit_ros_trajectory_cache_utils_lib
--                          ${TRAJECTORY_CACHE_DEPENDENCIES})
-+target_link_libraries(
-+  moveit_ros_trajectory_cache_utils_lib
-+  ${geometry_msgs_TARGETS}
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  moveit_ros_warehouse::moveit_ros_warehouse
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS}
-+  warehouse_ros::warehouse_ros)
- 
- # Features library
- add_library(
-@@ -50,14 +58,21 @@ add_library(
-   src/features/motion_plan_request_features.cpp
-   src/features/get_cartesian_path_request_features.cpp)
- generate_export_header(moveit_ros_trajectory_cache_features_lib)
--target_link_libraries(moveit_ros_trajectory_cache_features_lib
--                      moveit_ros_trajectory_cache_utils_lib)
-+target_link_libraries(
-+  moveit_ros_trajectory_cache_features_lib
-+  moveit_ros_trajectory_cache_utils_lib
-+  ${geometry_msgs_TARGETS}
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  moveit_ros_warehouse::moveit_ros_warehouse
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS}
-+  warehouse_ros::warehouse_ros)
- target_include_directories(
-   moveit_ros_trajectory_cache_features_lib
-   PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_ros_trajectory_cache>)
--ament_target_dependencies(moveit_ros_trajectory_cache_features_lib
--                          ${TRAJECTORY_CACHE_DEPENDENCIES})
- 
- # Cache insert policies library
- add_library(
-@@ -68,13 +83,19 @@ generate_export_header(moveit_ros_trajectory_cache_cache_insert_policies_lib)
- target_link_libraries(
-   moveit_ros_trajectory_cache_cache_insert_policies_lib
-   moveit_ros_trajectory_cache_features_lib
--  moveit_ros_trajectory_cache_utils_lib)
-+  moveit_ros_trajectory_cache_utils_lib
-+  ${geometry_msgs_TARGETS}
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  moveit_ros_warehouse::moveit_ros_warehouse
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS}
-+  warehouse_ros::warehouse_ros)
- target_include_directories(
-   moveit_ros_trajectory_cache_cache_insert_policies_lib
-   PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_ros_trajectory_cache>)
--ament_target_dependencies(moveit_ros_trajectory_cache_cache_insert_policies_lib
--                          ${TRAJECTORY_CACHE_DEPENDENCIES})
- 
- # Trajectory cache library
- add_library(moveit_ros_trajectory_cache_lib SHARED src/trajectory_cache.cpp)
-@@ -83,16 +104,29 @@ target_link_libraries(
-   moveit_ros_trajectory_cache_lib
-   moveit_ros_trajectory_cache_cache_insert_policies_lib
-   moveit_ros_trajectory_cache_features_lib
--  moveit_ros_trajectory_cache_utils_lib)
-+  moveit_ros_trajectory_cache_utils_lib
-+  ${geometry_msgs_TARGETS}
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  moveit_ros_warehouse::moveit_ros_warehouse
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS}
-+  warehouse_ros::warehouse_ros)
- target_include_directories(
-   moveit_ros_trajectory_cache_lib
-   PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_ros_trajectory_cache>)
--ament_target_dependencies(moveit_ros_trajectory_cache_lib
--                          ${TRAJECTORY_CACHE_DEPENDENCIES})
-+
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_ros_trajectory_cache::moveit_ros_trajectory_cache to link all libraries
-+# at once.
-+add_library(moveit_ros_trajectory_cache INTERFACE)
-+target_link_libraries(moveit_ros_trajectory_cache
-+                      INTERFACE ${TRAJECTORY_CACHE_LIBRARIES})
- 
- install(
--  TARGETS ${TRAJECTORY_CACHE_LIBRARIES}
-+  TARGETS moveit_ros_trajectory_cache ${TRAJECTORY_CACHE_LIBRARIES}
-   EXPORT moveit_ros_trajectory_cacheTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
-index ae39a79c46..c259b6bf16 100644
---- a/test/CMakeLists.txt
-+++ b/test/CMakeLists.txt
-@@ -9,14 +9,32 @@ if(BUILD_TESTING)
-   add_library(warehouse_fixture SHARED fixtures/warehouse_fixture.cpp)
-   target_include_directories(
-     warehouse_fixture PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
--  ament_target_dependencies(warehouse_fixture ${TRAJECTORY_CACHE_DEPENDENCIES}
--                            ament_cmake_gtest warehouse_ros_sqlite)
-+  target_link_libraries(
-+    warehouse_fixture
-+    ${geometry_msgs_TARGETS}
-+    moveit_ros_planning_interface::moveit_ros_planning_interface
-+    moveit_ros_warehouse::moveit_ros_warehouse
-+    rclcpp::rclcpp
-+    tf2::tf2
-+    tf2_ros::tf2_ros
-+    ${trajectory_msgs_TARGETS}
-+    warehouse_ros::warehouse_ros
-+    warehouse_ros_sqlite::warehouse_ros_sqlite)
- 
-   add_library(move_group_fixture SHARED fixtures/move_group_fixture.cpp)
-   target_include_directories(
-     move_group_fixture PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
--  ament_target_dependencies(move_group_fixture ${TRAJECTORY_CACHE_DEPENDENCIES}
--                            ament_cmake_gtest warehouse_ros_sqlite)
-+  target_link_libraries(
-+    move_group_fixture
-+    ${geometry_msgs_TARGETS}
-+    moveit_ros_planning_interface::moveit_ros_planning_interface
-+    moveit_ros_warehouse::moveit_ros_warehouse
-+    rclcpp::rclcpp
-+    tf2::tf2
-+    tf2_ros::tf2_ros
-+    ${trajectory_msgs_TARGETS}
-+    warehouse_ros::warehouse_ros
-+    warehouse_ros_sqlite::warehouse_ros_sqlite)
- 
-   # Test utils library.
-   ament_add_gtest(test_utils utils/test_utils.cpp)
diff --git a/patch/ros-lyrical-moveit-ros-visualization.patch b/patch/ros-lyrical-moveit-ros-visualization.patch
deleted file mode 100644
index 504bf43d..00000000
--- a/patch/ros-lyrical-moveit-ros-visualization.patch
+++ /dev/null
@@ -1,291 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 27855877a..5a3d37053 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -27,7 +27,6 @@ find_package(pluginlib REQUIRED)
- find_package(rclcpp REQUIRED)
- find_package(rclcpp_action REQUIRED)
- find_package(rclpy REQUIRED)
--find_package(rviz2 REQUIRED)
- find_package(tf2_eigen REQUIRED)
- find_package(Eigen3 REQUIRED)
- find_package(rviz_common REQUIRED)
-@@ -38,11 +37,11 @@ find_package(rviz_ogre_vendor REQUIRED)
- include(ConfigExtras.cmake)
- 
- # Qt Stuff
--find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
--set(QT_LIBRARIES Qt5::Widgets)
--# Delegate to QT5 macro
-+find_package(Qt6 ${rviz_QT_VERSION} REQUIRED Core Widgets)
-+set(QT_LIBRARIES Qt6::Widgets)
-+# Delegate to QT6 macro
- macro(QT_WRAP_UI)
--  qt5_wrap_ui(${ARGN})
-+  qt6_wrap_ui(${ARGN})
- endmacro()
- 
- set(CMAKE_INCLUDE_CURRENT_DIR ON)
-@@ -106,8 +105,15 @@ pluginlib_export_plugin_description_file(
- pluginlib_export_plugin_description_file(
-   rviz_common robot_state_rviz_plugin_description.xml)
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_ros_visualization::moveit_ros_visualization to link all libraries at
-+# once.
-+add_library(moveit_ros_visualization INTERFACE)
-+target_link_libraries(moveit_ros_visualization
-+                      INTERFACE ${THIS_PACKAGE_LIBRARIES})
-+
- install(
--  TARGETS ${THIS_PACKAGE_LIBRARIES}
-+  TARGETS moveit_ros_visualization ${THIS_PACKAGE_LIBRARIES}
-   EXPORT moveit_ros_visualizationTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-diff --git a/motion_planning_rviz_plugin/CMakeLists.txt b/motion_planning_rviz_plugin/CMakeLists.txt
-index 711211c89..ff18e73ef 100644
---- a/motion_planning_rviz_plugin/CMakeLists.txt
-+++ b/motion_planning_rviz_plugin/CMakeLists.txt
-@@ -4,7 +4,7 @@ set(HEADERS
-     include/moveit/motion_planning_rviz_plugin/motion_planning_frame_joints_widget.hpp
-     include/moveit/motion_planning_rviz_plugin/motion_planning_param_widget.hpp
-     include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp)
--qt5_wrap_ui(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui
-+QT_WRAP_UI(UIC_FILES src/ui/motion_planning_rviz_plugin_frame.ui
-             src/ui/motion_planning_rviz_plugin_frame_joints.ui)
- 
- include_directories(${CMAKE_CURRENT_BINARY_DIR})
-@@ -29,28 +29,30 @@ add_library(moveit_motion_planning_rviz_plugin_core SHARED
- set_target_properties(moveit_motion_planning_rviz_plugin_core
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- target_link_libraries(
--  moveit_motion_planning_rviz_plugin_core moveit_rviz_plugin_render_tools
--  moveit_planning_scene_rviz_plugin)
--ament_target_dependencies(
-   moveit_motion_planning_rviz_plugin_core
--  moveit_ros_robot_interaction
--  moveit_ros_planning_interface
--  moveit_ros_warehouse
--  rviz2
--  rviz_ogre_vendor
--  Qt5
--  pluginlib)
-+  moveit_rviz_plugin_render_tools
-+  moveit_planning_scene_rviz_plugin
-+  moveit_ros_robot_interaction::moveit_ros_robot_interaction
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  moveit_ros_warehouse::moveit_ros_warehouse
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay
-+  ${QT_LIBRARIES}
-+  pluginlib::pluginlib)
- target_include_directories(moveit_motion_planning_rviz_plugin_core
-                            PRIVATE "${OGRE_PREFIX_DIR}/include")
- 
- add_library(moveit_motion_planning_rviz_plugin SHARED src/plugin_init.cpp)
- set_target_properties(moveit_motion_planning_rviz_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--target_link_libraries(moveit_motion_planning_rviz_plugin
--                      moveit_motion_planning_rviz_plugin_core)
--ament_target_dependencies(
--  moveit_motion_planning_rviz_plugin moveit_ros_robot_interaction
--  moveit_ros_warehouse pluginlib rviz_ogre_vendor)
-+target_link_libraries(
-+  moveit_motion_planning_rviz_plugin
-+  moveit_motion_planning_rviz_plugin_core
-+  moveit_ros_robot_interaction::moveit_ros_robot_interaction
-+  moveit_ros_warehouse::moveit_ros_warehouse
-+  pluginlib::pluginlib
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay)
- target_include_directories(moveit_motion_planning_rviz_plugin
-                            PRIVATE "${OGRE_PREFIX_DIR}/include")
- 
-diff --git a/planning_scene_rviz_plugin/CMakeLists.txt b/planning_scene_rviz_plugin/CMakeLists.txt
-index efe2dc41f..71012ff83 100644
---- a/planning_scene_rviz_plugin/CMakeLists.txt
-+++ b/planning_scene_rviz_plugin/CMakeLists.txt
-@@ -9,27 +9,29 @@ target_include_directories(
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
- set_target_properties(moveit_planning_scene_rviz_plugin_core
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--target_link_libraries(moveit_planning_scene_rviz_plugin_core
--                      moveit_rviz_plugin_render_tools)
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_planning_scene_rviz_plugin_core
--  rclcpp
--  rviz2
--  moveit_ros_planning_interface
--  moveit_ros_planning
--  moveit_msgs
--  pluginlib
--  rviz_ogre_vendor)
-+  moveit_rviz_plugin_render_tools
-+  rclcpp::rclcpp
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  moveit_ros_planning::moveit_ros_planning
-+  ${moveit_msgs_TARGETS}
-+  pluginlib::pluginlib
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay)
- target_include_directories(moveit_planning_scene_rviz_plugin_core
-                            PRIVATE "${OGRE_PREFIX_DIR}/include")
- 
- add_library(moveit_planning_scene_rviz_plugin SHARED src/plugin_init.cpp)
- set_target_properties(moveit_planning_scene_rviz_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--target_link_libraries(moveit_planning_scene_rviz_plugin
--                      moveit_planning_scene_rviz_plugin_core Qt5::Widgets)
--ament_target_dependencies(moveit_planning_scene_rviz_plugin pluginlib
--                          rviz_ogre_vendor)
-+target_link_libraries(
-+  moveit_planning_scene_rviz_plugin
-+  moveit_planning_scene_rviz_plugin_core
-+  ${QT_LIBRARIES}
-+  pluginlib::pluginlib
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay)
- target_include_directories(moveit_planning_scene_rviz_plugin
-                            PRIVATE "${OGRE_PREFIX_DIR}/include")
- 
-diff --git a/robot_state_rviz_plugin/CMakeLists.txt b/robot_state_rviz_plugin/CMakeLists.txt
-index f9bd7f4c8..98d5ae1d6 100644
---- a/robot_state_rviz_plugin/CMakeLists.txt
-+++ b/robot_state_rviz_plugin/CMakeLists.txt
-@@ -4,27 +4,30 @@ add_library(
-   include/moveit/robot_state_rviz_plugin/robot_state_display.hpp)
- set_target_properties(moveit_robot_state_rviz_plugin_core
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--target_link_libraries(moveit_robot_state_rviz_plugin_core
--                      moveit_rviz_plugin_render_tools)
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_robot_state_rviz_plugin_core
--  rclcpp
--  rviz2
--  moveit_ros_planning
--  moveit_msgs
--  pluginlib
--  Boost
--  rviz_ogre_vendor)
-+  moveit_rviz_plugin_render_tools
-+  rclcpp::rclcpp
-+  moveit_ros_planning::moveit_ros_planning
-+  ${moveit_msgs_TARGETS}
-+  pluginlib::pluginlib
-+  Boost::headers
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay)
- target_include_directories(moveit_robot_state_rviz_plugin_core
-                            PRIVATE "${OGRE_PREFIX_DIR}/include")
- 
- add_library(moveit_robot_state_rviz_plugin SHARED src/plugin_init.cpp)
- set_target_properties(moveit_robot_state_rviz_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--target_link_libraries(moveit_robot_state_rviz_plugin
--                      moveit_robot_state_rviz_plugin_core)
--ament_target_dependencies(moveit_robot_state_rviz_plugin rclcpp pluginlib Boost
--                          rviz_ogre_vendor)
-+target_link_libraries(
-+  moveit_robot_state_rviz_plugin
-+  moveit_robot_state_rviz_plugin_core
-+  rclcpp::rclcpp
-+  pluginlib::pluginlib
-+  Boost::headers
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay)
- target_include_directories(moveit_robot_state_rviz_plugin
-                            PRIVATE "${OGRE_PREFIX_DIR}/include")
- 
-diff --git a/rviz_plugin_render_tools/CMakeLists.txt b/rviz_plugin_render_tools/CMakeLists.txt
-index 2a8c81a4d..e3b7b8bd7 100644
---- a/rviz_plugin_render_tools/CMakeLists.txt
-+++ b/rviz_plugin_render_tools/CMakeLists.txt
-@@ -26,15 +26,17 @@ set_target_properties(moveit_rviz_plugin_render_tools
- 
--target_link_libraries(moveit_rviz_plugin_render_tools Qt5::Widgets)
-+target_link_libraries(moveit_rviz_plugin_render_tools ${QT_LIBRARIES})
- 
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_rviz_plugin_render_tools
--  rclcpp
--  moveit_core
--  Boost
--  octomap_msgs
--  rviz_ogre_vendor
--  rviz_common
--  rviz_default_plugins)
-+  ${QT_LIBRARIES}
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core
-+  Boost::headers
-+  ${octomap_msgs_TARGETS}
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay
-+  rviz_common::rviz_common
-+  rviz_default_plugins::rviz_default_plugins)
- target_include_directories(moveit_rviz_plugin_render_tools
-                            PRIVATE "${OGRE_PREFIX_DIR}/include")
- 
-diff --git a/trajectory_rviz_plugin/CMakeLists.txt b/trajectory_rviz_plugin/CMakeLists.txt
-index 8a58e56eb..711637fa3 100644
---- a/trajectory_rviz_plugin/CMakeLists.txt
-+++ b/trajectory_rviz_plugin/CMakeLists.txt
-@@ -9,17 +9,16 @@ add_library(moveit_trajectory_rviz_plugin_core SHARED src/trajectory_display.cpp
- set_target_properties(moveit_trajectory_rviz_plugin_core
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
- target_link_libraries(
--  moveit_trajectory_rviz_plugin_core moveit_rviz_plugin_render_tools
--  moveit_planning_scene_rviz_plugin_core rviz_ogre_vendor::OgreMain)
--
--ament_target_dependencies(
-   moveit_trajectory_rviz_plugin_core
--  rclcpp
--  rviz2
--  moveit_msgs
--  pluginlib
--  Boost
--  rviz_ogre_vendor)
-+  moveit_rviz_plugin_render_tools
-+  moveit_planning_scene_rviz_plugin_core
-+  rviz_ogre_vendor::OgreMain
-+  rclcpp::rclcpp
-+  ${moveit_msgs_TARGETS}
-+  pluginlib::pluginlib
-+  Boost::headers
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay)
- target_include_directories(moveit_trajectory_rviz_plugin_core
-                            PRIVATE "${OGRE_PREFIX_DIR}/include")
- 
-@@ -27,10 +26,14 @@ target_include_directories(moveit_trajectory_rviz_plugin_core
- add_library(moveit_trajectory_rviz_plugin SHARED src/plugin_init.cpp)
- set_target_properties(moveit_trajectory_rviz_plugin
-                       PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
--target_link_libraries(moveit_trajectory_rviz_plugin
--                      moveit_trajectory_rviz_plugin_core)
--ament_target_dependencies(moveit_trajectory_rviz_plugin rclcpp pluginlib Boost
--                          rviz_ogre_vendor)
-+target_link_libraries(
-+  moveit_trajectory_rviz_plugin
-+  moveit_trajectory_rviz_plugin_core
-+  rclcpp::rclcpp
-+  pluginlib::pluginlib
-+  Boost::headers
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay)
- target_include_directories(moveit_trajectory_rviz_plugin
-                            PRIVATE "${OGRE_PREFIX_DIR}/include")
- 
-diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
-index ddda760..3b7b969 100644
---- a/ConfigExtras.cmake
-+++ b/ConfigExtras.cmake
-@@ -1,3 +1,3 @@
- # Extras module needed for dependencies to find boost components
- 
--find_package(Boost REQUIRED thread date_time system filesystem)
-+find_package(Boost REQUIRED thread date_time filesystem)
diff --git a/patch/ros-lyrical-moveit-ros-warehouse.patch b/patch/ros-lyrical-moveit-ros-warehouse.patch
deleted file mode 100644
index 05e451b6..00000000
--- a/patch/ros-lyrical-moveit-ros-warehouse.patch
+++ /dev/null
@@ -1,89 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e68e1d866b..ccec47e0bf 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -45,37 +45,39 @@ target_include_directories(
-   moveit_warehouse PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
- set_target_properties(moveit_warehouse
-                       PROPERTIES VERSION "${moveit_ros_warehouse_VERSION}")
--ament_target_dependencies(moveit_warehouse ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_warehouse
-+  fmt::fmt
-+  Boost::headers
-+  moveit_core::moveit_core
-+  rclcpp::rclcpp
-+  warehouse_ros::warehouse_ros
-+  moveit_ros_planning::moveit_ros_planning
-+  tf2_eigen::tf2_eigen
-+  tf2_ros::tf2_ros)
- 
- # Executables
- add_executable(moveit_warehouse_broadcast src/broadcast.cpp)
--ament_target_dependencies(moveit_warehouse_broadcast
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_warehouse_broadcast moveit_warehouse)
-+target_link_libraries(moveit_warehouse_broadcast moveit_warehouse
-+                      Boost::program_options)
- 
- add_executable(moveit_save_to_warehouse src/save_to_warehouse.cpp)
--ament_target_dependencies(moveit_save_to_warehouse
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_save_to_warehouse moveit_warehouse fmt::fmt)
-+target_link_libraries(moveit_save_to_warehouse moveit_warehouse fmt::fmt
-+                      Boost::program_options)
- 
- add_executable(moveit_warehouse_import_from_text src/import_from_text.cpp)
--ament_target_dependencies(moveit_warehouse_import_from_text
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_warehouse_import_from_text moveit_warehouse)
-+target_link_libraries(moveit_warehouse_import_from_text moveit_warehouse
-+                      Boost::program_options)
- 
- add_executable(moveit_warehouse_save_as_text src/save_as_text.cpp)
--ament_target_dependencies(moveit_warehouse_save_as_text
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_warehouse_save_as_text moveit_warehouse)
-+target_link_libraries(moveit_warehouse_save_as_text moveit_warehouse
-+                      Boost::program_options)
- 
- add_executable(moveit_init_demo_warehouse src/initialize_demo_db.cpp)
--ament_target_dependencies(moveit_init_demo_warehouse
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_init_demo_warehouse moveit_warehouse)
-+target_link_libraries(moveit_init_demo_warehouse moveit_warehouse
-+                      Boost::program_options)
- 
- add_executable(moveit_warehouse_services src/warehouse_services.cpp)
--ament_target_dependencies(moveit_warehouse_services
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
- target_link_libraries(moveit_warehouse_services moveit_warehouse)
- 
- install(
-@@ -87,8 +89,13 @@ install(DIRECTORY include/ DESTINATION include/moveit_ros_warehouse)
- install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_warehouse_export.h
-         DESTINATION include/moveit_ros_warehouse)
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_ros_warehouse::moveit_ros_warehouse to link all libraries at once.
-+add_library(moveit_ros_warehouse INTERFACE)
-+target_link_libraries(moveit_ros_warehouse INTERFACE moveit_warehouse)
-+
- install(
--  TARGETS moveit_warehouse
-+  TARGETS moveit_ros_warehouse moveit_warehouse
-   EXPORT moveit_ros_warehouseTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
-index 22f3754..aafdf62 100644
---- a/ConfigExtras.cmake
-+++ b/ConfigExtras.cmake
-@@ -4,7 +4,6 @@ find_package(
-   Boost
-   REQUIRED
-   thread
--  system
-   filesystem
-   regex
-   date_time
diff --git a/patch/ros-lyrical-moveit-servo.patch b/patch/ros-lyrical-moveit-servo.patch
deleted file mode 100644
index 39af23d6..00000000
--- a/patch/ros-lyrical-moveit-servo.patch
+++ /dev/null
@@ -1,247 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6ec080d195..3f771f3dd4 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -45,14 +45,46 @@ add_library(
-                               src/utils/common.cpp src/utils/command.cpp)
- set_target_properties(moveit_servo_lib_cpp PROPERTIES VERSION
-                                                       "${moveit_servo_VERSION}")
--target_link_libraries(moveit_servo_lib_cpp moveit_servo_lib_parameters)
--ament_target_dependencies(moveit_servo_lib_cpp ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_servo_lib_cpp
-+  moveit_servo_lib_parameters
-+  ${control_msgs_TARGETS}
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_components::component
-+  realtime_tools::realtime_tools
-+  ${sensor_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  ${trajectory_msgs_TARGETS})
- 
- add_library(moveit_servo_lib_ros SHARED src/servo_node.cpp)
- set_target_properties(moveit_servo_lib_ros PROPERTIES VERSION
-                                                       "${moveit_servo_VERSION}")
--target_link_libraries(moveit_servo_lib_ros moveit_servo_lib_cpp)
--ament_target_dependencies(moveit_servo_lib_ros ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_servo_lib_ros
-+  moveit_servo_lib_cpp
-+  ${control_msgs_TARGETS}
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_components::component
-+  realtime_tools::realtime_tools
-+  ${sensor_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  ${trajectory_msgs_TARGETS})
- 
- # ##############################################################################
- # Components ##
-@@ -67,31 +99,103 @@ rclcpp_components_register_node(moveit_servo_lib_ros PLUGIN
- 
- # Executable node for the joint jog demo
- add_executable(demo_joint_jog demos/cpp_interface/demo_joint_jog.cpp)
--target_link_libraries(demo_joint_jog moveit_servo_lib_cpp)
--ament_target_dependencies(demo_joint_jog ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  demo_joint_jog
-+  moveit_servo_lib_cpp
-+  ${control_msgs_TARGETS}
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_components::component
-+  realtime_tools::realtime_tools
-+  ${sensor_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  ${trajectory_msgs_TARGETS})
- 
- # Executable node for the twist demo
- add_executable(demo_twist demos/cpp_interface/demo_twist.cpp)
--target_link_libraries(demo_twist moveit_servo_lib_cpp)
--ament_target_dependencies(demo_twist ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  demo_twist
-+  moveit_servo_lib_cpp
-+  ${control_msgs_TARGETS}
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_components::component
-+  realtime_tools::realtime_tools
-+  ${sensor_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  ${trajectory_msgs_TARGETS})
- 
- # Executable node for the pose demo
- add_executable(demo_pose demos/cpp_interface/demo_pose.cpp)
--target_link_libraries(demo_pose moveit_servo_lib_cpp)
--ament_target_dependencies(demo_pose ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  demo_pose
-+  moveit_servo_lib_cpp
-+  ${control_msgs_TARGETS}
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_components::component
-+  realtime_tools::realtime_tools
-+  ${sensor_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  ${trajectory_msgs_TARGETS})
- 
- # Keyboard control example for servo
- add_executable(servo_keyboard_input demos/servo_keyboard_input.cpp)
- target_include_directories(servo_keyboard_input PUBLIC include)
--ament_target_dependencies(servo_keyboard_input ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  servo_keyboard_input
-+  ${control_msgs_TARGETS}
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_planning::moveit_ros_planning
-+  moveit_ros_planning_interface::moveit_ros_planning_interface
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  rclcpp_components::component
-+  realtime_tools::realtime_tools
-+  ${sensor_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  ${trajectory_msgs_TARGETS})
- 
- # ##############################################################################
- # Install ##
- # ##############################################################################
- 
-+# Create an umbrella INTERFACE target so downstream packages can use
-+# moveit_servo::moveit_servo to link all libraries at once.
-+add_library(moveit_servo INTERFACE)
-+target_link_libraries(
-+  moveit_servo INTERFACE moveit_servo_lib_cpp moveit_servo_lib_ros
-+                         moveit_servo_lib_parameters)
-+
- # Install Libraries
- install(
--  TARGETS moveit_servo_lib_cpp moveit_servo_lib_ros moveit_servo_lib_parameters
-+  TARGETS moveit_servo moveit_servo_lib_cpp moveit_servo_lib_ros
-+          moveit_servo_lib_parameters
-   EXPORT moveit_servoTargets
-   LIBRARY DESTINATION lib
-   ARCHIVE DESTINATION lib
-@@ -120,26 +224,71 @@ if(BUILD_TESTING)
-   find_package(ros_testing REQUIRED)
- 
-   ament_add_gtest_executable(moveit_servo_utils_test tests/test_utils.cpp)
--  target_link_libraries(moveit_servo_utils_test moveit_servo_lib_cpp)
--  ament_target_dependencies(moveit_servo_utils_test
--                            ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+  target_link_libraries(
-+    moveit_servo_utils_test
-+    moveit_servo_lib_cpp
-+    ${control_msgs_TARGETS}
-+    ${geometry_msgs_TARGETS}
-+    moveit_core::moveit_core
-+    ${moveit_msgs_TARGETS}
-+    moveit_ros_planning::moveit_ros_planning
-+    moveit_ros_planning_interface::moveit_ros_planning_interface
-+    pluginlib::pluginlib
-+    rclcpp::rclcpp
-+    rclcpp_components::component
-+    realtime_tools::realtime_tools
-+    ${sensor_msgs_TARGETS}
-+    ${std_msgs_TARGETS}
-+    ${std_srvs_TARGETS}
-+    tf2_eigen::tf2_eigen
-+    ${trajectory_msgs_TARGETS})
-   add_ros_test(tests/launch/servo_utils.test.py TIMEOUT 30 ARGS
-                "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
- 
-   ament_add_gtest_executable(
-     moveit_servo_cpp_integration_test tests/test_integration.cpp
-     tests/servo_cpp_fixture.hpp)
--  target_link_libraries(moveit_servo_cpp_integration_test moveit_servo_lib_cpp)
--  ament_target_dependencies(moveit_servo_cpp_integration_test
--                            ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+  target_link_libraries(
-+    moveit_servo_cpp_integration_test
-+    moveit_servo_lib_cpp
-+    ${control_msgs_TARGETS}
-+    ${geometry_msgs_TARGETS}
-+    moveit_core::moveit_core
-+    ${moveit_msgs_TARGETS}
-+    moveit_ros_planning::moveit_ros_planning
-+    moveit_ros_planning_interface::moveit_ros_planning_interface
-+    pluginlib::pluginlib
-+    rclcpp::rclcpp
-+    rclcpp_components::component
-+    realtime_tools::realtime_tools
-+    ${sensor_msgs_TARGETS}
-+    ${std_msgs_TARGETS}
-+    ${std_srvs_TARGETS}
-+    tf2_eigen::tf2_eigen
-+    ${trajectory_msgs_TARGETS})
-   add_ros_test(tests/launch/servo_cpp_integration.test.py TIMEOUT 30 ARGS
-                "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
- 
-   ament_add_gtest_executable(
-     moveit_servo_ros_integration_test tests/test_ros_integration.cpp
-     tests/servo_ros_fixture.hpp)
--  ament_target_dependencies(moveit_servo_ros_integration_test
--                            ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+  target_link_libraries(
-+    moveit_servo_ros_integration_test
-+    ${control_msgs_TARGETS}
-+    ${geometry_msgs_TARGETS}
-+    moveit_core::moveit_core
-+    ${moveit_msgs_TARGETS}
-+    moveit_ros_planning::moveit_ros_planning
-+    moveit_ros_planning_interface::moveit_ros_planning_interface
-+    pluginlib::pluginlib
-+    rclcpp::rclcpp
-+    rclcpp_components::component
-+    realtime_tools::realtime_tools
-+    ${sensor_msgs_TARGETS}
-+    ${std_msgs_TARGETS}
-+    ${std_srvs_TARGETS}
-+    tf2_eigen::tf2_eigen
-+    ${trajectory_msgs_TARGETS})
-   add_ros_test(tests/launch/servo_ros_integration.test.py TIMEOUT 120 ARGS
-                "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
- 
diff --git a/patch/ros-lyrical-moveit-setup-app-plugins.patch b/patch/ros-lyrical-moveit-setup-app-plugins.patch
deleted file mode 100644
index e195a99e..00000000
--- a/patch/ros-lyrical-moveit-setup-app-plugins.patch
+++ /dev/null
@@ -1,30 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index fb10aca60..7a3bcb819 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -17,7 +17,7 @@ find_package(rclcpp REQUIRED)
- set(CMAKE_AUTOMOC ON)
- add_definitions(-DQT_NO_KEYWORDS)
- 
--qt5_wrap_cpp(MOC_FILES include/moveit_setup_app_plugins/launches_widget.hpp
-+qt6_wrap_cpp(MOC_FILES include/moveit_setup_app_plugins/launches_widget.hpp
-              include/moveit_setup_app_plugins/perception_widget.hpp)
- 
- add_library(
-@@ -33,9 +33,13 @@ target_include_directories(
-   moveit_setup_app_plugins
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_setup_app_plugins>)
--ament_target_dependencies(
--  moveit_setup_app_plugins ament_index_cpp moveit_ros_visualization
--  moveit_setup_framework pluginlib rclcpp)
-+target_link_libraries(
-+  moveit_setup_app_plugins
-+  ament_index_cpp::ament_index_cpp
-+  moveit_ros_visualization::moveit_ros_visualization
-+  moveit_setup_framework::moveit_setup_framework
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp)
- 
- if(BUILD_TESTING)
-   find_package(ament_cmake_gtest REQUIRED)
diff --git a/patch/ros-lyrical-moveit-setup-assistant.patch b/patch/ros-lyrical-moveit-setup-assistant.patch
deleted file mode 100644
index 5a54a45c..00000000
--- a/patch/ros-lyrical-moveit-setup-assistant.patch
+++ /dev/null
@@ -1,73 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6dc113eab..8c8e58b76 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -12,8 +12,7 @@ find_package(Boost REQUIRED program_options)
- find_package(moveit_setup_framework REQUIRED)
- find_package(moveit_setup_srdf_plugins REQUIRED)
- find_package(pluginlib REQUIRED)
--find_package(Qt5Core REQUIRED)
--find_package(Qt5Widgets REQUIRED)
-+find_package(Qt6 COMPONENTS Core Widgets)
- find_package(rclcpp REQUIRED)
- 
- set(THIS_PACKAGE_INCLUDE_DEPENDS
-@@ -21,8 +20,8 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
-     moveit_setup_framework
-     moveit_setup_srdf_plugins
-     pluginlib
--    Qt5Core
--    Qt5Widgets
-+    Qt6Core
-+    Qt6Widgets
-     rclcpp)
- 
- # Header files that need Qt Moc pre-processing for use with Qt signals, etc:
-@@ -32,7 +31,7 @@ set(HEADERS include/moveit_setup_assistant/navigation_widget.hpp
- set(CMAKE_AUTOMOC ON)
- add_definitions(-DQT_NO_KEYWORDS)
- 
--qt5_wrap_cpp(MOC_FILES ${HEADERS})
-+qt6_wrap_cpp(MOC_FILES ${HEADERS})
- 
- add_executable(
-   moveit_setup_assistant src/main.cpp src/setup_assistant_widget.cpp
-@@ -41,9 +40,16 @@ target_include_directories(
-   moveit_setup_assistant
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_setup_assistant>)
--ament_target_dependencies(moveit_setup_assistant
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(moveit_setup_assistant ${Boost_LIBRARIES})
-+target_link_libraries(
-+  moveit_setup_assistant
-+  ${Boost_LIBRARIES}
-+  ament_index_cpp::ament_index_cpp
-+  moveit_setup_framework::moveit_setup_framework
-+  moveit_setup_srdf_plugins::moveit_setup_srdf_plugins
-+  pluginlib::pluginlib
-+  Qt6::Core
-+  Qt6::Widgets
-+  rclcpp::rclcpp)
- 
- add_executable(moveit_setup_assistant_updater src/collisions_updater.cpp)
- target_include_directories(
-@@ -51,8 +57,16 @@ target_include_directories(
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_setup_assistant>)
- 
--ament_target_dependencies(moveit_setup_assistant_updater
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  moveit_setup_assistant_updater
-+  ${Boost_LIBRARIES}
-+  ament_index_cpp::ament_index_cpp
-+  moveit_setup_framework::moveit_setup_framework
-+  moveit_setup_srdf_plugins::moveit_setup_srdf_plugins
-+  pluginlib::pluginlib
-+  Qt6::Core
-+  Qt6::Widgets
-+  rclcpp::rclcpp)
- 
- set_target_properties(moveit_setup_assistant_updater
-                       PROPERTIES OUTPUT_NAME collisions_updater PREFIX "")
diff --git a/patch/ros-lyrical-moveit-setup-controllers.patch b/patch/ros-lyrical-moveit-setup-controllers.patch
deleted file mode 100644
index 6ff1c0c9..00000000
--- a/patch/ros-lyrical-moveit-setup-controllers.patch
+++ /dev/null
@@ -1,26 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 3e661098b..cff065637 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -16,7 +16,7 @@ find_package(rclcpp REQUIRED)
- set(CMAKE_AUTOMOC ON)
- add_definitions(-DQT_NO_KEYWORDS)
- 
--qt5_wrap_cpp(
-+qt6_wrap_cpp(
-   MOC_FILES include/moveit_setup_controllers/controller_edit_widget.hpp
-   include/moveit_setup_controllers/controllers_widget.hpp
-   include/moveit_setup_controllers/urdf_modifications_widget.hpp)
-@@ -40,8 +40,10 @@ target_include_directories(
-   moveit_setup_controllers
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_setup_controllers>)
--ament_target_dependencies(moveit_setup_controllers ament_index_cpp
--                          moveit_setup_framework pluginlib rclcpp)
-+target_link_libraries(
-+  moveit_setup_controllers ament_index_cpp::ament_index_cpp
-+  moveit_setup_framework::moveit_setup_framework pluginlib::pluginlib
-+  rclcpp::rclcpp)
- 
- if(BUILD_TESTING)
-   find_package(ament_cmake_gtest REQUIRED)
diff --git a/patch/ros-lyrical-moveit-setup-core-plugins.patch b/patch/ros-lyrical-moveit-setup-core-plugins.patch
deleted file mode 100644
index 9530f752..00000000
--- a/patch/ros-lyrical-moveit-setup-core-plugins.patch
+++ /dev/null
@@ -1,49 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 2610a37ea..3d3515754 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -19,7 +19,7 @@ find_package(urdf REQUIRED)
- set(CMAKE_AUTOMOC ON)
- add_definitions(-DQT_NO_KEYWORDS)
- 
--qt5_wrap_cpp(
-+qt6_wrap_cpp(
-   MOC_FILES include/moveit_setup_core_plugins/start_screen_widget.hpp
-   include/moveit_setup_core_plugins/configuration_files_widget.hpp
-   include/moveit_setup_core_plugins/author_information_widget.hpp)
-@@ -36,15 +36,15 @@ add_library(
- target_include_directories(
-   ${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-                          $<INSTALL_INTERFACE:include/moveit_setup_core_plugins>)
--ament_target_dependencies(
-+target_link_libraries(
-   ${PROJECT_NAME}
--  ament_index_cpp
--  moveit_ros_visualization
--  moveit_setup_framework
--  pluginlib
--  rclcpp
--  srdfdom
--  urdf)
-+  ament_index_cpp::ament_index_cpp
-+  moveit_ros_visualization::moveit_ros_visualization
-+  moveit_setup_framework::moveit_setup_framework
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  srdfdom::srdfdom
-+  urdf::urdf)
- 
- install(
-   TARGETS moveit_setup_core_plugins
-diff --git a/src/configuration_files_widget.cpp b/src/configuration_files_widget.cpp
-index 9e4c3484a..36d2ca8b3 100644
---- a/src/configuration_files_widget.cpp
-+++ b/src/configuration_files_widget.cpp
-@@ -44,7 +44,6 @@
- #include <QProgressBar>
- #include <QPushButton>
- #include <QPushButton>
--#include <QRegExp>
- #include <QSplitter>
- #include <QVBoxLayout>
- 
diff --git a/patch/ros-lyrical-moveit-setup-framework.patch b/patch/ros-lyrical-moveit-setup-framework.patch
index c302ff7b..66d71503 100644
--- a/patch/ros-lyrical-moveit-setup-framework.patch
+++ b/patch/ros-lyrical-moveit-setup-framework.patch
@@ -1,9 +1,9 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 3e3d417fb..fc6d922c4 100644
+index f6b1ea7..eccc707 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -11,9 +11,17 @@ find_package(ament_index_cpp REQUIRED)
- find_package(fmt REQUIRED)
+@@ -25,6 +25,16 @@ else()
+ endif()
  find_package(moveit_core REQUIRED)
  find_package(moveit_ros_planning REQUIRED)
 +# Find Qt before packages that transitively depend on it (rviz, visualization)
@@ -17,81 +17,18 @@ index 3e3d417fb..fc6d922c4 100644
 +  set(QT_WIDGETS Qt6::Widgets)
 +endif()
  find_package(moveit_ros_visualization REQUIRED)
--find_package(Qt5Core REQUIRED)
--find_package(Qt5Widgets REQUIRED)
  find_package(pluginlib REQUIRED)
  find_package(rclcpp REQUIRED)
- find_package(rviz_common REQUIRED)
-@@ -23,12 +31,21 @@ find_package(urdf REQUIRED)
- 
- set(CMAKE_INCLUDE_CURRENT_DIR ON)
- 
--qt5_wrap_cpp(
--  MOC_FILES
--  include/moveit_setup_framework/qt/helper_widgets.hpp
--  include/moveit_setup_framework/qt/setup_step_widget.hpp
--  include/moveit_setup_framework/qt/rviz_panel.hpp
--  include/moveit_setup_framework/qt/double_list_widget.hpp)
-+if(NOT Qt6_FOUND)
-+  qt5_wrap_cpp(
-+    MOC_FILES
-+    include/moveit_setup_framework/qt/helper_widgets.hpp
-+    include/moveit_setup_framework/qt/setup_step_widget.hpp
-+    include/moveit_setup_framework/qt/rviz_panel.hpp
-+    include/moveit_setup_framework/qt/double_list_widget.hpp)
-+else()
-+  qt6_wrap_cpp(
-+    MOC_FILES
-+    include/moveit_setup_framework/qt/helper_widgets.hpp
-+    include/moveit_setup_framework/qt/setup_step_widget.hpp
-+    include/moveit_setup_framework/qt/rviz_panel.hpp
-+    include/moveit_setup_framework/qt/double_list_widget.hpp)
-+endif()
- 
- add_library(
-   moveit_setup_framework
-@@ -43,30 +60,35 @@ add_library(
-   src/utilities.cpp
-   src/xml_syntax_highlighter.cpp
-   ${MOC_FILES})
-+
+@@ -52,6 +62,8 @@ add_library(
+   include/moveit_setup_framework/qt/setup_step_widget.hpp
+   include/moveit_setup_framework/qt/rviz_panel.hpp
+   include/moveit_setup_framework/qt/double_list_widget.hpp)
 +include(GenerateExportHeader)
 +generate_export_header(${PROJECT_NAME})
  target_include_directories(
    moveit_setup_framework
    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_setup_framework>)
--ament_target_dependencies(
-+target_link_libraries(
-   moveit_setup_framework
--  ament_index_cpp
--  moveit_core
--  moveit_ros_planning
--  moveit_ros_visualization
--  pluginlib
--  Qt5Core
--  Qt5Widgets
--  rclcpp
--  rviz_common
--  rviz_rendering
--  srdfdom
--  urdf)
-+  PUBLIC ament_index_cpp::ament_index_cpp
-+         fmt::fmt
-+         moveit_core::moveit_core
-+         moveit_ros_planning::moveit_ros_planning
-+         moveit_ros_visualization::moveit_ros_visualization
-+         pluginlib::pluginlib
-+         ${QT_CORE}
-+         ${QT_WIDGETS}
-+         rclcpp::rclcpp
-+         rviz_common::rviz_common
-+         rviz_rendering::rviz_rendering
-+         srdfdom::srdfdom
-+         urdf::urdf)
- 
- install(DIRECTORY include/ DESTINATION include/moveit_setup_framework)
- install(FILES moveit_setup_framework_plugins.xml
+@@ -77,6 +89,7 @@ install(FILES moveit_setup_framework_plugins.xml
          DESTINATION share/moveit_setup_framework)
  
  install(DIRECTORY templates DESTINATION share/moveit_setup_framework)
@@ -100,7 +37,7 @@ index 3e3d417fb..fc6d922c4 100644
  ament_export_targets(moveit_setup_frameworkTargets HAS_LIBRARY_TARGET)
  install(
 diff --git a/include/moveit_setup_framework/qt/setup_step_widget.hpp b/include/moveit_setup_framework/qt/setup_step_widget.hpp
-index f32e7b5ad..c6f472682 100644
+index f32e7b5..c6f4726 100644
 --- a/include/moveit_setup_framework/qt/setup_step_widget.hpp
 +++ b/include/moveit_setup_framework/qt/setup_step_widget.hpp
 @@ -40,12 +40,14 @@
@@ -119,29 +56,8 @@ index f32e7b5ad..c6f472682 100644
  {
    Q_OBJECT
  public:
-diff --git a/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp b/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp
-index 5a5fbdd29..aea5aa8cc 100644
---- a/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp
-+++ b/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp
-@@ -38,6 +38,7 @@
- 
- #include <QtGui/QSyntaxHighlighter>
- #include <QRegularExpression>
-+#include <QStringView>
- #include <map>
- 
- namespace moveit_setup
-@@ -63,7 +64,7 @@ private:
-   using Rules = std::map<int, Rule>;
-   Rules rules_;
- 
--  Rules::const_iterator highlight(Rules::const_iterator active, QStringRef text, int start, bool search_end, int& end);
-+  Rules::const_iterator highlight(Rules::const_iterator active, QStringView text, int start, bool search_end, int& end);
- };
- 
- }  // namespace moveit_setup
 diff --git a/include/moveit_setup_framework/templates.hpp b/include/moveit_setup_framework/templates.hpp
-index 1555eee16..b02d52024 100644
+index 1555eee..b02d520 100644
 --- a/include/moveit_setup_framework/templates.hpp
 +++ b/include/moveit_setup_framework/templates.hpp
 @@ -38,6 +38,8 @@
@@ -162,59 +78,3 @@ index 1555eee16..b02d52024 100644
  };
  
  }  // namespace moveit_setup
-diff --git a/include/moveit_setup_framework/utilities.hpp b/include/moveit_setup_framework/utilities.hpp
-index ace3237c6..b7ba031fd 100644
---- a/include/moveit_setup_framework/utilities.hpp
-+++ b/include/moveit_setup_framework/utilities.hpp
-@@ -37,7 +37,7 @@
- #pragma once
- 
- #include <ament_index_cpp/get_package_prefix.hpp>
--#include <ament_index_cpp/get_package_share_directory.hpp>
-+#include <ament_index_cpp/get_package_share_path.hpp>
- #include <filesystem>
- #include <string>
- #include <tinyxml2.h>
-@@ -52,7 +52,7 @@ inline std::filesystem::path getSharePath(const std::string& package_name)
- {
-   try
-   {
--    return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name));
-+    return ament_index_cpp::get_package_share_path(package_name);
-   }
-   catch (const std::runtime_error& e)
-   {
-diff --git a/src/urdf_config.cpp b/src/urdf_config.cpp
-index eab682326..5d17cec95 100644
---- a/src/urdf_config.cpp
-+++ b/src/urdf_config.cpp
-@@ -36,6 +36,7 @@
- #include <moveit_setup_framework/utilities.hpp>
- #include <moveit/rdf_loader/rdf_loader.hpp>
- #include <fmt/format.h>
-+#include <fmt/ranges.h>
- 
- namespace moveit_setup
- {
-diff --git a/src/xml_syntax_highlighter.cpp b/src/xml_syntax_highlighter.cpp
-index 1733943ce..53203b1ef 100644
---- a/src/xml_syntax_highlighter.cpp
-+++ b/src/xml_syntax_highlighter.cpp
-@@ -64,7 +64,7 @@ void XmlSyntaxHighlighter::addTag(const QString& tag, const QTextCharFormat& for
- }
- 
- XmlSyntaxHighlighter::Rules::const_iterator
--XmlSyntaxHighlighter::highlight(Rules::const_iterator active, QStringRef text, int start, bool search_end, int& end)
-+XmlSyntaxHighlighter::highlight(Rules::const_iterator active, QStringView text, int start, bool search_end, int& end)
- {
-   int offset = end;    // when passed, end indicates the end of the opening expression
-   auto next = active;  // return value: active rule at end of text
-@@ -121,7 +121,7 @@ void XmlSyntaxHighlighter::highlightBlock(const QString& text)
- {
-   Rules::const_iterator active = previousBlockState() < 0 ? rules_.end() : rules_.find(previousBlockState());
-   int unused = 0;
--  active = highlight(active, QStringRef(&text, 0, text.size()), 0, active != rules_.cend(), unused);
-+  active = highlight(active, QStringView{ text }, 0, active != rules_.cend(), unused);
-   setCurrentBlockState(active != rules_.cend() ? active->first : -1);
- }
- 
diff --git a/patch/ros-lyrical-moveit-setup-srdf-plugins.patch b/patch/ros-lyrical-moveit-setup-srdf-plugins.patch
deleted file mode 100644
index cb780f61..00000000
--- a/patch/ros-lyrical-moveit-setup-srdf-plugins.patch
+++ /dev/null
@@ -1,100 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6e34b6346..2820d3390 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -10,7 +10,7 @@ find_package(ament_cmake_ros REQUIRED)
- find_package(moveit_setup_framework REQUIRED)
- find_package(pluginlib REQUIRED)
- 
--qt5_wrap_cpp(
-+qt6_wrap_cpp(
-   MOC_FILES
-   include/moveit_setup_srdf_plugins/collision_linear_model.hpp
-   include/moveit_setup_srdf_plugins/collision_matrix_model.hpp
-@@ -50,8 +50,9 @@ target_include_directories(
-   moveit_setup_srdf_plugins
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-          $<INSTALL_INTERFACE:include/moveit_setup_srdf_plugins>)
--ament_target_dependencies(moveit_setup_srdf_plugins moveit_setup_framework
--                          pluginlib)
-+target_link_libraries(
-+  moveit_setup_srdf_plugins moveit_setup_framework::moveit_setup_framework
-+  pluginlib::pluginlib)
- 
- if(BUILD_TESTING)
-   find_package(ament_cmake_gtest REQUIRED)
-diff --git a/include/moveit_setup_srdf_plugins/collision_matrix_model.hpp b/include/moveit_setup_srdf_plugins/collision_matrix_model.hpp
-index 57e34ef04..296a6d8eb 100644
---- a/include/moveit_setup_srdf_plugins/collision_matrix_model.hpp
-+++ b/include/moveit_setup_srdf_plugins/collision_matrix_model.hpp
-@@ -65,7 +65,7 @@ public:
-   void setEnabled(const QModelIndexList& indexes, bool value);
- 
- public Q_SLOTS:
--  void setFilterRegExp(const QString& filter);
-+  void setFilterRegularExpression(const QString& filter);
- 
- private:
-   LinkPairMap::iterator item(const QModelIndex& index);
-diff --git a/src/collision_linear_model.cpp b/src/collision_linear_model.cpp
-index 9fb5b65d1..cca8a6aeb 100644
---- a/src/collision_linear_model.cpp
-+++ b/src/collision_linear_model.cpp
-@@ -39,6 +39,7 @@
- 
- #include <QItemSelection>
- #include <QPainter>
-+#include <QRegularExpression>
- #include <cmath>
- namespace moveit_setup
- {
-@@ -264,7 +265,7 @@ bool SortFilterProxyModel::filterAcceptsRow(int source_row, const QModelIndex& s
-       m->data(m->index(source_row, 2), Qt::CheckStateRole) != Qt::Checked)
-     return false;  // not accepted due to check state
- 
--  const QRegExp regexp = filterRegExp();
-+  const QRegularExpression regexp = filterRegularExpression();
--  if (regexp.isEmpty())
-+  if (regexp.pattern().isEmpty())
-   return true;
- 
-diff --git a/src/collision_matrix_model.cpp b/src/collision_matrix_model.cpp
-index f8de45156..6f06ee2f2 100644
---- a/src/collision_matrix_model.cpp
-+++ b/src/collision_matrix_model.cpp
-@@ -42,6 +42,7 @@
- #include <QPalette>
- #include <QApplication>
- #include <QItemSelection>
-+#include <QRegularExpression>
- #include <unordered_map>
- 
- namespace moveit_setup
-@@ -194,10 +195,10 @@ void CollisionMatrixModel::setEnabled(const QModelIndexList& indexes, bool value
-     setData(idx, value ? Qt::Checked : Qt::Unchecked, Qt::CheckStateRole);
- }
- 
--void CollisionMatrixModel::setFilterRegExp(const QString& filter)
-+void CollisionMatrixModel::setFilterRegularExpression(const QString& filter)
- {
-   beginResetModel();
--  QRegExp regexp(filter);
-+  const QRegularExpression regexp(filter);
-   visual_to_index_.clear();
-   for (int idx = 0, end = q_names_.size(); idx != end; ++idx)
-   {
-diff --git a/src/default_collisions_widget.cpp b/src/default_collisions_widget.cpp
-index 687378912..b09814513 100644
---- a/src/default_collisions_widget.cpp
-+++ b/src/default_collisions_widget.cpp
-@@ -275,8 +275,8 @@ void DefaultCollisionsWidget::loadCollisionTable()
-     linear_model->setParent(sorted_model);
-     matrix_model->setParent(linear_model);
-   }
--  connect(link_name_filter_, SIGNAL(textChanged(QString)), model, SLOT(setFilterRegExp(QString)));
--  QMetaObject::invokeMethod(model, "setFilterRegExp", Q_ARG(QString, link_name_filter_->text()));
-+  connect(link_name_filter_, SIGNAL(textChanged(QString)), model, SLOT(setFilterRegularExpression(QString)));
-+  QMetaObject::invokeMethod(model, "setFilterRegularExpression", Q_ARG(QString, link_name_filter_->text()));
- 
-   collision_table_->setModel(model);
-   // delete old and remember new model
diff --git a/patch/ros-lyrical-moveit-simple-controller-manager.patch b/patch/ros-lyrical-moveit-simple-controller-manager.patch
deleted file mode 100644
index 8a3835c6..00000000
--- a/patch/ros-lyrical-moveit-simple-controller-manager.patch
+++ /dev/null
@@ -1,21 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9905ae3238..2de874f227 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -29,8 +29,14 @@ set_target_properties(
-   moveit_simple_controller_manager
-   PROPERTIES VERSION "${moveit_simple_controller_manager_VERSION}")
- 
--ament_target_dependencies(moveit_simple_controller_manager
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
-+target_link_libraries(
-+  moveit_simple_controller_manager
-+  ${control_msgs_TARGETS}
-+  rclcpp::rclcpp
-+  rclcpp_action::rclcpp_action
-+  moveit_core::moveit_core
-+  pluginlib::pluginlib
-+  Boost::headers)
- 
- install(
-   TARGETS moveit_simple_controller_manager
diff --git a/patch/ros-lyrical-moveit-task-constructor-capabilities.patch b/patch/ros-lyrical-moveit-task-constructor-capabilities.patch
index 2367f359..3a8aa2e1 100644
--- a/patch/ros-lyrical-moveit-task-constructor-capabilities.patch
+++ b/patch/ros-lyrical-moveit-task-constructor-capabilities.patch
@@ -1,4 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7600319..c8d7adf 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -20,7 +20,7 @@ add_library(${PROJECT_NAME} SHARED
diff --git a/patch/ros-lyrical-moveit-task-constructor-core.patch b/patch/ros-lyrical-moveit-task-constructor-core.patch
index ce07cc46..192656f8 100644
--- a/patch/ros-lyrical-moveit-task-constructor-core.patch
+++ b/patch/ros-lyrical-moveit-task-constructor-core.patch
@@ -24,6 +24,34 @@ index e217ad6..708a2fb 100644
  	/// function callback used to initialize property value from another PropertyMap
  	using InitializerFunction = std::function<boost::any(const PropertyMap&)>;
  
+diff --git a/python/bindings/CMakeLists.txt b/python/bindings/CMakeLists.txt
+index 26c86ac..22bf5e1 100644
+--- a/python/bindings/CMakeLists.txt
++++ b/python/bindings/CMakeLists.txt
+@@ -17,6 +17,10 @@ pybind11_add_module(pymoveit_mtc
+ )
+ target_include_directories(pymoveit_mtc PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
+ target_link_libraries(pymoveit_mtc PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_stages ${PROJECT_NAME}_python_tools)
++# CMake's C++20 module dependency scanner misparses pybind11::module-typed
++# locals in headers pulled in transitively (py_binding_tools) as module
++# control-lines; this target doesn't use C++20 modules, so just disable it.
++set_target_properties(pymoveit_mtc PROPERTIES CXX_SCAN_FOR_MODULES OFF)
+ 
+ # install libs
+ install(TARGETS ${PROJECT_NAME}_python_tools
+diff --git a/python/bindings/src/solvers.cpp b/python/bindings/src/solvers.cpp
+index eebfa2e..35acc77 100644
+--- a/python/bindings/src/solvers.cpp
++++ b/python/bindings/src/solvers.cpp
+@@ -67,7 +67,7 @@ void export_solvers(py::module& m) {
+ 				pipelinePlanner = core.PipelinePlanner(node, 'ompl', 'PRMkConfigDefault')
+ 				pipelinePlanner.num_planning_attempts = 10
+ 			)")
+-	    .property<uint>("num_planning_attempts", "int: Number of planning attempts")
++	    .property<uint32_t>("num_planning_attempts", "int: Number of planning attempts")
+ 	    .property<moveit_msgs::msg::WorkspaceParameters>(
+ 	        "workspace_parameters",
+ 	        ":moveit_msgs:`WorkspaceParameters`: Specifies workspace box to be used for Cartesian sampling")
 diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
 index 82e9875..147aa7b 100644
 --- a/src/CMakeLists.txt
@@ -37,78 +65,24 @@ index 82e9875..147aa7b 100644
  	${moveit_core_TARGETS}
  	${moveit_ros_planning_TARGETS}
  	${moveit_ros_planning_interface_TARGETS}
++@@ -49,0 +50,4 @@ target_link_libraries(${PROJECT_NAME}
+++if(WIN32)
+++	target_link_libraries(${PROJECT_NAME} PRIVATE ws2_32)
+++endif()
+++
 diff --git a/src/container.cpp b/src/container.cpp
-index febc00f..fded044 100644
+index 5bf4648..5f1ec0b 100644
 --- a/src/container.cpp
 +++ b/src/container.cpp
-@@ -57,8 +57,7 @@ namespace moveit {
- namespace task_constructor {
- 
- // for debugging of how children interfaces evolve over time
+@@ -60,2 +60 @@ namespace task_constructor {
 -__attribute__((unused))  // silent unused-function warning
--static void
-+[[maybe_unused]] static void
- printChildrenInterfaces(const ContainerBasePrivate& container, bool success, const Stage& creator,
-                         std::ostream& os = std::cerr) {
- 	static unsigned int id = 0;
-diff --git a/src/cost_terms.cpp b/src/cost_terms.cpp
-index 9ddb94f..9896d36 100644
---- a/src/cost_terms.cpp
-+++ b/src/cost_terms.cpp
-@@ -298,8 +298,8 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
- 	} };
- 
- 	auto collision_comment = [=](const auto& distance) {
--		return fmt::format(PREFIX + "allegedly valid solution collides between '{}' and '{}'", distance.link_names[0],
--		                   distance.link_names[1]);
-+		return fmt::format(fmt::runtime(PREFIX + "allegedly valid solution collides between '{}' and '{}'"),
-+		                   distance.link_names[0], distance.link_names[1]);
- 	};
- 
- 	double distance{ 0.0 };
-@@ -313,10 +313,10 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
- 		}
- 		distance = distance_data.distance;
- 		if (!cumulative)
--			comment = fmt::format(PREFIX + "distance {} between '{}' and '{}'", distance, distance_data.link_names[0],
--			                      distance_data.link_names[1]);
-+			comment = fmt::format(fmt::runtime(PREFIX + "distance {} between '{}' and '{}'"), distance,
-+			                      distance_data.link_names[0], distance_data.link_names[1]);
- 		else
--			comment = fmt::format(PREFIX + "cumulative distance {}", distance);
-+			comment = fmt::format(fmt::runtime(PREFIX + "cumulative distance {}"), distance);
- 	} else {  // check trajectory
- 		for (size_t i = 0; i < s.trajectory()->getWayPointCount(); ++i) {
- 			auto distance_data = check_distance(state, s.trajectory()->getWayPoint(i));
-@@ -327,7 +327,7 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
- 			distance += distance_data.distance;
- 		}
- 		distance /= s.trajectory()->getWayPointCount();
--		comment = fmt::format(PREFIX + "average{} distance: {}", (cumulative ? " cumulative" : ""), distance);
-+		comment = fmt::format(fmt::runtime(PREFIX + "average{} distance: {}"), (cumulative ? " cumulative" : ""), distance);
- 	}
- 
- 	return distance_to_cost(distance);
+-static void printChildrenInterfaces(const ContainerBasePrivate& container, bool success, const Stage& creator,
++[[maybe_unused]] static void printChildrenInterfaces(const ContainerBasePrivate& container, bool success, const Stage& creator,
 diff --git a/src/introspection.cpp b/src/introspection.cpp
-index d938f95..35d502a 100644
+index c045a6c..e6990e4 100644
 --- a/src/introspection.cpp
 +++ b/src/introspection.cpp
-@@ -50,6 +50,14 @@
- #include <boost/bimap.hpp>
- #include <rcutils/isalnum_no_locale.h>
- 
-+#ifdef _WIN32
-+	#include <winsock2.h>
-+	#include <process.h>
-+	#pragma comment(lib, "ws2_32.lib")
-+#else
-+	#include <unistd.h>
-+#endif
-+
- static auto LOGGER = rclcpp::get_logger("introspection");
- 
- namespace moveit {
-@@ -60,12 +68,26 @@ std::string getTaskId(const TaskPrivate* task) {
+@@ -64,12 +64,26 @@ std::string getTaskId(const TaskPrivate* task) {
  	static const std::string ALLOWED = "_/";
  	std::ostringstream oss;
  	char our_hostname[256] = { 0 };
@@ -136,8 +110,8 @@ index d938f95..35d502a 100644
  	return oss.str();
  }
  }  // namespace
-@@ -214,7 +236,7 @@ void Introspection::publishAllSolutions(bool wait) {
- 	};
+@@ -220,7 +234,7 @@ void Introspection::publishAllSolutions(bool wait) {
+ 	// NOLINTEND(clang-analyzer-unix.BlockInCriticalSection)
  }
  
 -const SolutionBase* Introspection::solutionFromId(uint id) const {
@@ -145,20 +119,8 @@ index d938f95..35d502a 100644
  	auto it = impl->id_solution_bimap_.left.find(id);
  	if (it == impl->id_solution_bimap_.left.end())
  		return nullptr;
-diff --git a/src/properties.cpp b/src/properties.cpp
-index 8c001de..6fd0217 100644
---- a/src/properties.cpp
-+++ b/src/properties.cpp
-@@ -38,6 +38,7 @@
- 
- #include <moveit/task_constructor/properties.h>
- #include <moveit/task_constructor/fmt_p.h>
-+#include <boost/core/demangle.hpp>
- #include <functional>
- #include <rclcpp/logging.hpp>
- #include <rclcpp/clock.hpp>
 diff --git a/src/solvers/pipeline_planner.cpp b/src/solvers/pipeline_planner.cpp
-index 9e30131..18e6fb9 100644
+index e4d1ab2..b712e04 100644
 --- a/src/solvers/pipeline_planner.cpp
 +++ b/src/solvers/pipeline_planner.cpp
 @@ -59,7 +59,7 @@ PipelinePlanner::PipelinePlanner(
@@ -179,22 +141,6 @@ index 9e30131..18e6fb9 100644
  		request.max_velocity_scaling_factor = properties().get<double>("max_velocity_scaling_factor");
  		request.max_acceleration_scaling_factor = properties().get<double>("max_acceleration_scaling_factor");
  		request.workspace_parameters = properties().get<moveit_msgs::msg::WorkspaceParameters>("workspace_parameters");
-diff --git a/src/stage.cpp b/src/stage.cpp
-index b64ce0a..a9eb8a0 100644
---- a/src/stage.cpp
-+++ b/src/stage.cpp
-@@ -909,8 +909,9 @@ bool Connecting::compatible(const InterfaceState& from_state, const InterfaceSta
- 	const planning_scene::PlanningSceneConstPtr& from = from_state.scene();
- 	const planning_scene::PlanningSceneConstPtr& to = to_state.scene();
- 
--	auto false_with_debug = [](auto... args) {
--		RCLCPP_DEBUG_STREAM(rclcpp::get_logger("Connecting"), fmt::format(args...));
-+	auto false_with_debug = [](fmt::string_view format_str, auto&&... args) {
-+		RCLCPP_DEBUG_STREAM(rclcpp::get_logger("Connecting"),
-+		                    fmt::vformat(format_str, fmt::make_format_args(args...)));
- 		return false;
- 	};
- 
 diff --git a/src/stages/generate_place_pose.cpp b/src/stages/generate_place_pose.cpp
 index 76b9559..042882d 100644
 --- a/src/stages/generate_place_pose.cpp
@@ -236,234 +182,3 @@ index 1c0553c..39bfa92 100644
  	auto cb = [&called](const SolutionBase& /* s */) {
  		++called;
  		return true;
-diff --git a/python/bindings/CMakeLists.txt b/python/bindings/CMakeLists.txt
-index 26c86ac..22bf5e1 100644
---- a/python/bindings/CMakeLists.txt
-+++ b/python/bindings/CMakeLists.txt
-@@ -17,6 +17,10 @@ pybind11_add_module(pymoveit_mtc
- )
- target_include_directories(pymoveit_mtc PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
- target_link_libraries(pymoveit_mtc PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_stages ${PROJECT_NAME}_python_tools)
-+# CMake's C++20 module dependency scanner misparses pybind11::module-typed
-+# locals in headers pulled in transitively (py_binding_tools) as module
-+# control-lines; this target doesn't use C++20 modules, so just disable it.
-+set_target_properties(pymoveit_mtc PROPERTIES CXX_SCAN_FOR_MODULES OFF)
- 
- # install libs
- install(TARGETS ${PROJECT_NAME}_python_tools
-diff --git a/python/bindings/src/properties.cpp b/python/bindings/src/properties.cpp
---- a/python/bindings/src/properties.cpp
-+++ b/python/bindings/src/properties.cpp
-@@ -158,6 +158,8 @@
- 	return REGISTRY_SINGLETON.insert(type_index, ros_msg_name, to, from);
- }
- 
-+#if !defined(_MSC_VER)
- __attribute__((visibility("default"))) // export this symbol as visible in the shared library
-+#endif
- void export_properties(py::module& m) {
- 	// clang-format off
-diff --git a/python/bindings/src/solvers.cpp b/python/bindings/src/solvers.cpp
---- a/python/bindings/src/solvers.cpp
-+++ b/python/bindings/src/solvers.cpp
-@@ -73,7 +73,7 @@
- 				pipelinePlanner = core.PipelinePlanner(node, 'ompl', 'PRMkConfigDefault')
- 				pipelinePlanner.num_planning_attempts = 10
- 			)")
--	    .property<uint>("num_planning_attempts", "int: Number of planning attempts")
-+	    .property<uint32_t>("num_planning_attempts", "int: Number of planning attempts")
- 	    .property<moveit_msgs::msg::WorkspaceParameters>(
- 	        "workspace_parameters",
- 	        ":moveit_msgs:`WorkspaceParameters`: Specifies workspace box to be used for Cartesian sampling")
-diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
-index 181e1a4..fcb7315 100644
---- a/python/CMakeLists.txt
-+++ b/python/CMakeLists.txt
-@@ -1,28 +1,12 @@
--# We rely on pybind11's smart_holder branch imported pybind11 via git submodule
--
-+# Use the pybind11 provided by the environment (with upstream smart_holder support since 3.0),
-+# rather than vendoring our own fork, so we share a single pybind11 with py_binding_tools.
- find_package(ament_cmake_python REQUIRED)
- find_package(Python3 COMPONENTS Interpreter Development)
--# pybind11 must use the ROS python version
--set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION})
-+find_package(pybind11 REQUIRED)
- 
- # Use minimum-size optimization for pybind11 bindings
- add_compile_options("-Os")
- 
--# configure pybind11 install for use by downstream packages in install space
--set(PYBIND11_INSTALL ON CACHE INTERNAL "Install pybind11")
--set(CMAKE_INSTALL_INCLUDEDIR include/moveit/python)
--set(PYBIND11_CMAKECONFIG_INSTALL_DIR share/${PROJECT_NAME}/cmake
--    CACHE INTERNAL "install path for pybind11 cmake files")
--
--# source pybind11 folder, which exposes its targets and installs them
--if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/pybind11/CMakeLists.txt")
--	message("Missing content of submodule pybind11: Use 'git clone --recurse-submodule' in future.\n"
--	        "Checking out content automatically")
--	execute_process(COMMAND git submodule init WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
--	execute_process(COMMAND git submodule update WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
--endif()
--add_subdirectory(pybind11)
--
- # C++ wrapper code
- add_subdirectory(bindings)
- 
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 1b8d21a..1d9f5d7 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -12,6 +12,8 @@ find_package(moveit_core REQUIRED)
- find_package(moveit_ros_planning REQUIRED)
- find_package(moveit_ros_planning_interface REQUIRED)
- find_package(moveit_task_constructor_msgs REQUIRED)
-+find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
-+find_package(pybind11 REQUIRED)
- find_package(py_binding_tools REQUIRED)
- find_package(rclcpp REQUIRED)
- find_package(rviz_marker_tools REQUIRED)
-diff --git a/include/moveit/python/task_constructor/properties.h b/include/moveit/python/task_constructor/properties.h
-index 46c0e97..70bf30e 100644
---- a/include/moveit/python/task_constructor/properties.h
-+++ b/include/moveit/python/task_constructor/properties.h
-@@ -1,14 +1,10 @@
- #pragma once
- 
--#include <pybind11/smart_holder.h>
- #include <py_binding_tools/ros_msg_typecasters.h>
- #include <moveit/task_constructor/properties.h>
- #include <boost/any.hpp>
- #include <typeindex>
- 
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Property)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropertyMap)
--
- namespace moveit {
- namespace python {
- 
-diff --git a/python/bindings/src/core.h b/python/bindings/src/core.h
-index 7ab1437..b9bdc2c 100644
---- a/python/bindings/src/core.h
-+++ b/python/bindings/src/core.h
-@@ -34,12 +34,12 @@
- 
- #pragma once
- 
-+#include <pybind11/pybind11.h>
- #include <moveit/task_constructor/stage.h>
- #include <moveit/task_constructor/container.h>
- #include <moveit/task_constructor/cost_queue.h>
- #include <moveit/task_constructor/cost_terms.h>
- #include <moveit/utils/moveit_error_code.hpp>
--#include <pybind11/smart_holder.h>
- 
- /** Trampoline classes to allow inheritance in Python (overriding virtual functions) */
- 
-@@ -109,36 +109,3 @@ public:
- }  // namespace task_constructor
- }  // namespace moveit
- 
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::solvers::PlannerInterface)
--
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::SolutionBase)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::SubTrajectory)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(ordered<moveit::task_constructor::SolutionBaseConstPtr>)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::InterfaceState)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::core::MoveItErrorCode)
--
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::CostTerm)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::TrajectoryCostTerm)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::PathLength)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::DistanceToReference)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::TrajectoryDuration)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::LinkMotion)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::LinkRotation)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::Clearance)
--
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Stage)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropagatingEitherWay)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropagatingForward)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropagatingBackward)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Generator)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::MonitoringGenerator)
--
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::ContainerBase)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::SerialContainer)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::ParallelContainerBase)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Alternatives)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Fallbacks)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Merger)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::WrapperBase)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Task)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Introspection)
-diff --git a/python/bindings/src/module.cpp b/python/bindings/src/module.cpp
-index a797711..cd66917 100644
---- a/python/bindings/src/module.cpp
-+++ b/python/bindings/src/module.cpp
-@@ -32,7 +32,7 @@
-  *  POSSIBILITY OF SUCH DAMAGE.
-  *********************************************************************/
- 
--#include <pybind11/smart_holder.h>
-+#include <pybind11/pybind11.h>
- 
- namespace moveit {
- namespace python {
-diff --git a/python/bindings/src/solvers.cpp b/python/bindings/src/solvers.cpp
-index 7c6a12f..eebfa2e 100644
---- a/python/bindings/src/solvers.cpp
-+++ b/python/bindings/src/solvers.cpp
-@@ -46,12 +46,6 @@ using namespace py::literals;
- using namespace moveit::task_constructor;
- using namespace moveit::task_constructor::solvers;
- 
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(PlannerInterface)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(PipelinePlanner)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(JointInterpolationPlanner)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(CartesianPath)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(MultiPlanner)
--
- namespace moveit {
- namespace python {
- 
-diff --git a/python/bindings/src/stages.cpp b/python/bindings/src/stages.cpp
-index 1dead16..f51308f 100644
---- a/python/bindings/src/stages.cpp
-+++ b/python/bindings/src/stages.cpp
-@@ -48,26 +48,6 @@ using namespace py::literals;
- using namespace moveit::task_constructor;
- using namespace moveit::task_constructor::stages;
- 
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(ModifyPlanningScene)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(CurrentState)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(FixedState)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(ComputeIK)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(MoveTo)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(MoveRelative)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(Connect)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(FixCollisionObjects)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(GenerateGraspPose)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(GeneratePlacePose)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(GenerateRandomPose)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(GeneratePose)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(Pick)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(Place)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(SimpleGraspBase)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(SimpleGrasp)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(SimpleUnGrasp)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(PassThrough)
--PYBIND11_SMART_HOLDER_TYPE_CASTERS(LimitSolutions)
--
- namespace moveit {
- namespace python {
- 
-@@ -369,7 +349,6 @@ void export_stages(pybind11::module& m) {
- 		)")
- 		.def(py::init<const std::string&>(), "name"_a = std::string("Generate Place Pose"));
- 
--
- 	properties::class_<GenerateGraspPose, MonitoringGenerator>(m, "GenerateGraspPose", R"(
- 			GenerateGraspPose stage derives from monitoring generator and can
- 			be used to generate poses for grasping. Set the desired attributes
diff --git a/patch/ros-lyrical-moveit-task-constructor-visualization.patch b/patch/ros-lyrical-moveit-task-constructor-visualization.patch
index baacb0a4..8eeab4fd 100644
--- a/patch/ros-lyrical-moveit-task-constructor-visualization.patch
+++ b/patch/ros-lyrical-moveit-task-constructor-visualization.patch
@@ -1,54 +1,8 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a220b3a..ae44a55 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -19,10 +19,10 @@ find_package(rviz_ogre_vendor REQUIRED)
- add_definitions(-DBOOST_MATH_DISABLE_FLOAT128)
- 
- # Qt Stuff
--find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
--set(QT_LIBRARIES Qt5::Widgets)
-+find_package(Qt6 REQUIRED COMPONENTS Core Widgets)
-+set(QT_LIBRARIES Qt6::Widgets)
- macro(qt_wrap_ui)
--	qt5_wrap_ui(${ARGN})
-+	qt6_wrap_ui(${ARGN})
- endmacro()
- 
- set(CMAKE_INCLUDE_CURRENT_DIR ON)
-diff --git a/motion_planning_tasks/src/remote_task_model.cpp b/motion_planning_tasks/src/remote_task_model.cpp
-index d28cfd6..8926cba 100644
---- a/motion_planning_tasks/src/remote_task_model.cpp
-+++ b/motion_planning_tasks/src/remote_task_model.cpp
-@@ -526,7 +526,7 @@ QVariant RemoteSolutionModel::data(const QModelIndex& index, int role) const {
- 					return item.creation_rank;
- 				case 1:
- 					if (std::isinf(item.cost))
--						return tr(u8"∞");
-+						return tr("∞");
- 					if (std::isnan(item.cost))
- 						return QVariant();
- 					return QLocale().toString(item.cost, 'f', 4);
-diff --git a/motion_planning_tasks/src/task_list_model.cpp b/motion_planning_tasks/src/task_list_model.cpp
-index 3cd6466..7c471d5 100644
---- a/motion_planning_tasks/src/task_list_model.cpp
-+++ b/motion_planning_tasks/src/task_list_model.cpp
-@@ -61,9 +61,9 @@ QVariant TaskListModel::horizontalHeader(int column, int role) {
- 				case 0:
- 					return tr("name");
- 				case 1:
--					return tr(u8"✓");
-+					return tr("✓");
- 				case 2:
--					return tr(u8"✗");
-+					return tr("✗");
- 				case 3:
- 					return tr("time");
- 			}
 diff --git a/motion_planning_tasks/src/CMakeLists.txt b/motion_planning_tasks/src/CMakeLists.txt
+index a46edd0..a2d9e3c 100644
 --- a/motion_planning_tasks/src/CMakeLists.txt
 +++ b/motion_planning_tasks/src/CMakeLists.txt
-@@ -6,6 +6,8 @@
+@@ -6,6 +6,8 @@ qt_wrap_ui(UIC_FILES
  	global_settings.ui
  )
  
@@ -57,7 +11,7 @@ diff --git a/motion_planning_tasks/src/CMakeLists.txt b/motion_planning_tasks/sr
  add_library(${MOVEIT_LIB_NAME} SHARED
  	factory_model.cpp
  	icons.cpp
-@@ -22,7 +24,7 @@
+@@ -22,7 +24,7 @@ add_library(${MOVEIT_LIB_NAME} SHARED
  
  	${UIC_FILES}
  
@@ -67,6 +21,7 @@ diff --git a/motion_planning_tasks/src/CMakeLists.txt b/motion_planning_tasks/sr
  
  set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 diff --git a/motion_planning_tasks/utils/flat_merge_proxy_model.h b/motion_planning_tasks/utils/flat_merge_proxy_model.h
+index feced7e..57f53a6 100644
 --- a/motion_planning_tasks/utils/flat_merge_proxy_model.h
 +++ b/motion_planning_tasks/utils/flat_merge_proxy_model.h
 @@ -38,6 +38,16 @@
@@ -86,7 +41,7 @@ diff --git a/motion_planning_tasks/utils/flat_merge_proxy_model.h b/motion_plann
  
  namespace moveit_rviz_plugin {
  namespace utils {
-@@ -49,7 +59,7 @@
+@@ -49,7 +59,7 @@ class FlatMergeProxyModelPrivate;
   *  Removing top-level items will remove the whole embedded model if all top-level items from
   *  this model are to be removed. Otherwise, removal is forwarded to the embedded model.
   */
@@ -96,6 +51,7 @@ diff --git a/motion_planning_tasks/utils/flat_merge_proxy_model.h b/motion_plann
  	Q_OBJECT
  	Q_DECLARE_PRIVATE(FlatMergeProxyModel)
 diff --git a/motion_planning_tasks/utils/tree_merge_proxy_model.h b/motion_planning_tasks/utils/tree_merge_proxy_model.h
+index df43128..848c5bc 100644
 --- a/motion_planning_tasks/utils/tree_merge_proxy_model.h
 +++ b/motion_planning_tasks/utils/tree_merge_proxy_model.h
 @@ -38,6 +38,16 @@
@@ -115,7 +71,7 @@ diff --git a/motion_planning_tasks/utils/tree_merge_proxy_model.h b/motion_plann
  
  namespace moveit_rviz_plugin {
  namespace utils {
-@@ -48,7 +58,7 @@
+@@ -48,7 +58,7 @@ class TreeMergeProxyModelPrivate;
   *  Each embedded model becomes a top-level item (with a given name)
   *  and all the model's top-level items will appear as its children.
   */
diff --git a/patch/ros-lyrical-moveit-visual-tools.patch b/patch/ros-lyrical-moveit-visual-tools.patch
deleted file mode 100644
index 036a5ddb..00000000
--- a/patch/ros-lyrical-moveit-visual-tools.patch
+++ /dev/null
@@ -1,55 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 2e08aa6..49bdf1e 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -5,7 +5,7 @@ find_package(moveit_common REQUIRED)
- moveit_package()
- 
- # Load  all dependencies required for this package
--find_package(Boost REQUIRED system)
-+find_package(Boost REQUIRED COMPONENTS filesystem)
- find_package(Eigen3 REQUIRED)
- find_package(geometry_msgs REQUIRED)
- find_package(graph_msgs REQUIRED)
-@@ -33,6 +33,23 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
-   tf2_ros
-   trajectory_msgs
-   visualization_msgs
-+  interactive_markers
-+)
-+
-+set(THIS_PACKAGE_INCLUDE_TARGET_DEPENDS
-+  Boost::filesystem
-+  ${geometry_msgs_TARGETS}
-+  ${graph_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  moveit_ros_planning::moveit_ros_planning
-+  rclcpp::rclcpp
-+  rviz_visual_tools::rviz_visual_tools
-+  ${std_msgs_TARGETS}
-+  tf2_eigen::tf2_eigen
-+  tf2_ros::tf2_ros
-+  ${trajectory_msgs_TARGETS}
-+  ${visualization_msgs_TARGETS}
-+  interactive_markers::interactive_markers
- )
- 
- # Visualization Tools Library
-@@ -46,7 +63,7 @@ target_include_directories(${PROJECT_NAME}
-   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-   PUBLIC $<INSTALL_INTERFACE:include>
- )
--ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_TARGET_DEPENDS})
- 
- # Demo executable
- add_executable(${PROJECT_NAME}_demo
-@@ -55,7 +72,7 @@ add_executable(${PROJECT_NAME}_demo
- target_link_libraries(${PROJECT_NAME}_demo
-   ${PROJECT_NAME}
- )
--ament_target_dependencies(${PROJECT_NAME}_demo ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(${PROJECT_NAME}_demo ${THIS_PACKAGE_INCLUDE_TARGET_DEPENDS})
- 
- 
- # Exports
diff --git a/patch/ros-lyrical-nav2-behavior-tree.patch b/patch/ros-lyrical-nav2-behavior-tree.patch
deleted file mode 100644
index f36146ca..00000000
--- a/patch/ros-lyrical-nav2-behavior-tree.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/include/nav2_behavior_tree/utils/loop_rate.hpp b/include/nav2_behavior_tree/utils/loop_rate.hpp
-index d7ebd5b4a..265771427 100644
---- a/include/nav2_behavior_tree/utils/loop_rate.hpp
-+++ b/include/nav2_behavior_tree/utils/loop_rate.hpp
-@@ -61,7 +61,7 @@ public:
-     auto time_to_sleep = next_interval - now;
-     std::chrono::nanoseconds time_to_sleep_ns(time_to_sleep.nanoseconds());
-     // Sleep (can get interrupted by emitWakeUpSignal())
--    tree_->sleep(time_to_sleep_ns);
-+    tree_->sleep(std::chrono::duration_cast<std::chrono::system_clock::duration>(time_to_sleep_ns));
-     return true;
-   }
- 
diff --git a/patch/ros-lyrical-nav2-common.patch b/patch/ros-lyrical-nav2-common.patch
index f22d44e4..d875afa5 100644
--- a/patch/ros-lyrical-nav2-common.patch
+++ b/patch/ros-lyrical-nav2-common.patch
@@ -1,7 +1,7 @@
-diff --git a/nav2_common/cmake/nav2_package.cmake b/nav2_common/cmake/nav2_package.cmake
+diff --git a/cmake/nav2_package.cmake b/cmake/nav2_package.cmake
 index 3f4977193c..01ca1c3ed2 100644
---- a/nav2_common/cmake/nav2_package.cmake
-+++ b/nav2_common/cmake/nav2_package.cmake
+--- a/cmake/nav2_package.cmake
++++ b/cmake/nav2_package.cmake
 @@ -37,7 +37,7 @@ macro(nav2_package)
    endif()
  
diff --git a/patch/ros-lyrical-nav2-costmap-2d.patch b/patch/ros-lyrical-nav2-costmap-2d.patch
index 974334df..8191f856 100644
--- a/patch/ros-lyrical-nav2-costmap-2d.patch
+++ b/patch/ros-lyrical-nav2-costmap-2d.patch
@@ -1,56 +1,82 @@
-diff --git a/include/nav2_costmap_2d/plugin_container_layer.hpp b/include/nav2_costmap_2d/plugin_container_layer.hpp
-index e98c7b813..fb1d23e2e 100644
---- a/include/nav2_costmap_2d/plugin_container_layer.hpp
-+++ b/include/nav2_costmap_2d/plugin_container_layer.hpp
-@@ -46,7 +46,7 @@ public:
-   /**
-    * @brief Initialization process of layer on startup
-    */
--  virtual void onInitialize();
-+  virtual void onInitialize() override;
-   /**
-    * @brief Update the bounds of the master costmap by this layer's update
-    *dimensions
-@@ -65,7 +65,7 @@ public:
-     double * min_x,
-     double * min_y,
-     double * max_x,
--    double * max_y);
-+    double * max_y) override;
-   /**
-    * @brief Update the costs in the master costmap in the window
-    * @param master_grid The master costmap grid to update
-@@ -79,26 +79,26 @@ public:
-     int min_i,
-     int min_j,
-     int max_i,
--    int max_j);
--  virtual void onFootprintChanged();
-+    int max_j) override;
-+  virtual void onFootprintChanged() override;
-   /** @brief Update the footprint to match size of the parent costmap. */
--  virtual void matchSize();
-+  virtual void matchSize() override;
-   /**
-    * @brief Deactivate the layer
-    */
--  virtual void deactivate();
-+  virtual void deactivate() override;
-   /**
-    * @brief Activate the layer
-    */
--  virtual void activate();
-+  virtual void activate() override;
-   /**
-    * @brief Reset this costmap
-    */
--  virtual void reset();
-+  virtual void reset() override;
-   /**
-    * @brief If clearing operations should be processed on this layer or not
-    */
--  virtual bool isClearable();
-+  virtual bool isClearable() override;
-   /**
-    * @brief Clear an area in the constituent costmaps with the given dimension
-    * if invert, then clear everything except these dimensions
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8b836ce..42f7ba8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -107,7 +107,9 @@ if(ENABLE_OPENMP)
+   message(STATUS "OpenMP ENABLED for nav2_costmap_2d layers (${OpenMP_CXX_VERSION})")
+   target_link_libraries(layers PRIVATE OpenMP::OpenMP_CXX)
+   target_compile_options(layers PRIVATE -fopenmp)
+ else()
+   message(STATUS "OpenMP DISABLED for nav2_costmap_2d layers")
+-  target_compile_options(layers PRIVATE -Wno-unknown-pragmas)
++  if(NOT MSVC)
++    target_compile_options(layers PRIVATE -Wno-unknown-pragmas)
++  endif()
+ endif()
+
+diff --git a/include/nav2_costmap_2d/footprint_subscriber.hpp b/include/nav2_costmap_2d/footprint_subscriber.hpp
+index ef14eb6..f5e000d 100644
+--- a/include/nav2_costmap_2d/footprint_subscriber.hpp
++++ b/include/nav2_costmap_2d/footprint_subscriber.hpp
+@@ -95,3 +95,7 @@ protected:
+   std::atomic_bool footprint_received_{false};
++#ifdef __cpp_lib_atomic_shared_ptr
+   std::atomic<geometry_msgs::msg::PolygonStamped::ConstSharedPtr> footprint_;
++#else
++  geometry_msgs::msg::PolygonStamped::ConstSharedPtr footprint_;
++#endif
+   nav2::Subscription<geometry_msgs::msg::PolygonStamped>::SharedPtr footprint_sub_;
+diff --git a/include/nav2_costmap_2d/layered_costmap.hpp b/include/nav2_costmap_2d/layered_costmap.hpp
+index 6c59c16..65515ad 100644
+--- a/include/nav2_costmap_2d/layered_costmap.hpp
++++ b/include/nav2_costmap_2d/layered_costmap.hpp
+@@ -192,3 +192,7 @@ public:
+   {
++#ifdef __cpp_lib_atomic_shared_ptr
+     return *footprint_.load();
++#else
++    return *std::atomic_load(&footprint_);
++#endif
+   }
+@@ -233,3 +237,7 @@ private:
+   std::atomic<double> circumscribed_radius_, inscribed_radius_;
++#ifdef __cpp_lib_atomic_shared_ptr
+   std::atomic<std::shared_ptr<std::vector<geometry_msgs::msg::Point>>> footprint_;
++#else
++  std::shared_ptr<std::vector<geometry_msgs::msg::Point>> footprint_;
++#endif
+ };
+diff --git a/src/footprint_subscriber.cpp b/src/footprint_subscriber.cpp
+index d1eedef..1168cc9 100644
+--- a/src/footprint_subscriber.cpp
++++ b/src/footprint_subscriber.cpp
+@@ -33,3 +33,7 @@ FootprintSubscriber::getFootprintRaw(
+ 
++#ifdef __cpp_lib_atomic_shared_ptr
+   auto current_footprint = footprint_.load();
++#else
++  auto current_footprint = std::atomic_load(&footprint_);
++#endif
+   if (!current_footprint) {
+@@ -79,3 +83,7 @@ FootprintSubscriber::footprint_callback(
+ {
++#ifdef __cpp_lib_atomic_shared_ptr
+   footprint_.store(msg);
++#else
++  std::atomic_store(&footprint_, msg);
++#endif
+   if (!footprint_received_.load()) {
+diff --git a/src/layered_costmap.cpp b/src/layered_costmap.cpp
+index cd42f85..99248ae 100644
+--- a/src/layered_costmap.cpp
++++ b/src/layered_costmap.cpp
+@@ -303,4 +303,8 @@ void LayeredCostmap::setFootprint(const std::vector<geometry_msgs::msg::Point> &
+   // and not otherwise locked
+-  footprint_.store(
++#ifdef __cpp_lib_atomic_shared_ptr
++  footprint_.store(std::make_shared<std::vector<geometry_msgs::msg::Point>>(footprint_spec));
++#else
++  std::atomic_store(&footprint_,
+     std::make_shared<std::vector<geometry_msgs::msg::Point>>(footprint_spec));
++#endif
+   inscribed_radius_.store(std::get<0>(inside_outside));
diff --git a/patch/ros-lyrical-nav2-map-server.patch b/patch/ros-lyrical-nav2-map-server.patch
new file mode 100644
index 00000000..908c16a7
--- /dev/null
+++ b/patch/ros-lyrical-nav2-map-server.patch
@@ -0,0 +1,291 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4f199df51..b367da68c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -12,7 +12,6 @@ find_package(nav_msgs REQUIRED)
+ find_package(nav2_common REQUIRED)
+ find_package(nav2_msgs REQUIRED)
+ find_package(nav2_util REQUIRED)
+-find_package(PkgConfig REQUIRED)
+ find_package(rclcpp REQUIRED)
+ find_package(rclcpp_components REQUIRED)
+ find_package(rclcpp_lifecycle REQUIRED)
+@@ -24,7 +23,12 @@ find_package(yaml_cpp_vendor REQUIRED)
+ find_package(yaml-cpp REQUIRED)
+ find_package(Eigen3 REQUIRED)
+ 
+-pkg_search_module(UUID REQUIRED uuid)
++if(WIN32)
++  set(UUID_LIBRARIES Rpcrt4.lib)
++else()
++  find_package(PkgConfig REQUIRED)
++  pkg_search_module(UUID REQUIRED uuid)
++endif()
+ 
+ nav2_package()
+ 
+@@ -94,5 +98,8 @@ add_library(${vo_library_name} SHARED
+   src/vo_server/vector_object_shapes.cpp
+   src/vo_server/vector_object_server.cpp)
++if(WIN32)
++  target_compile_definitions(${vo_library_name} PRIVATE NOMINMAX)
++endif()
+ target_include_directories(${vo_library_name}
+   PUBLIC
+   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+diff --git a/include/nav2_map_server/uuid.hpp b/include/nav2_map_server/uuid.hpp
+new file mode 100644
+index 000000000..8f67f9f6b
+--- /dev/null
++++ b/include/nav2_map_server/uuid.hpp
+@@ -0,0 +1,125 @@
++// Copyright (c) 2023 Samsung R&D Institute Russia
++//
++// Licensed under the Apache License, Version 2.0 (the "License");
++// you may not use this file except in compliance with the License.
++// You may obtain a copy of the License at
++//
++//     http://www.apache.org/licenses/LICENSE-2.0
++//
++// Unless required by applicable law or agreed to in writing, software
++// distributed under the License is distributed on an "AS IS" BASIS,
++// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++// See the License for the specific language governing permissions and
++// limitations under the License.
++
++#ifndef NAV2_MAP_SERVER__UUID_HPP_
++#define NAV2_MAP_SERVER__UUID_HPP_
++
++#ifdef _WIN32
++#include <Rpc.h>
++#else
++#include <uuid/uuid.h>
++#endif
++
++#include <algorithm>
++#include <stdexcept>
++#include <string>
++
++namespace nav2_map_server
++{
++
++#ifdef _WIN32
++
++inline UUID toWindowsUUID(const unsigned char * uuid)
++{
++  UUID result{};
++  result.Data1 =
++    (static_cast<unsigned long>(uuid[0]) << 24) |
++    (static_cast<unsigned long>(uuid[1]) << 16) |
++    (static_cast<unsigned long>(uuid[2]) << 8) |
++    static_cast<unsigned long>(uuid[3]);
++  result.Data2 = static_cast<unsigned short>(
++    (static_cast<unsigned short>(uuid[4]) << 8) |
++    static_cast<unsigned short>(uuid[5]));
++  result.Data3 = static_cast<unsigned short>(
++    (static_cast<unsigned short>(uuid[6]) << 8) |
++    static_cast<unsigned short>(uuid[7]));
++  std::copy(uuid + 8, uuid + 16, result.Data4);
++  return result;
++}
++
++inline void fromWindowsUUID(const UUID & windows_uuid, unsigned char * uuid)
++{
++  uuid[0] = static_cast<unsigned char>((windows_uuid.Data1 >> 24) & 0xff);
++  uuid[1] = static_cast<unsigned char>((windows_uuid.Data1 >> 16) & 0xff);
++  uuid[2] = static_cast<unsigned char>((windows_uuid.Data1 >> 8) & 0xff);
++  uuid[3] = static_cast<unsigned char>(windows_uuid.Data1 & 0xff);
++  uuid[4] = static_cast<unsigned char>((windows_uuid.Data2 >> 8) & 0xff);
++  uuid[5] = static_cast<unsigned char>(windows_uuid.Data2 & 0xff);
++  uuid[6] = static_cast<unsigned char>((windows_uuid.Data3 >> 8) & 0xff);
++  uuid[7] = static_cast<unsigned char>(windows_uuid.Data3 & 0xff);
++  std::copy(windows_uuid.Data4, windows_uuid.Data4 + 8, uuid + 8);
++}
++
++#endif
++
++inline bool parseUUID(const std::string & uuid_string, unsigned char * uuid)
++{
++#ifdef _WIN32
++  UUID windows_uuid{};
++  auto input = reinterpret_cast<RPC_CSTR>(const_cast<char *>(uuid_string.c_str()));
++  if (UuidFromStringA(input, &windows_uuid) != RPC_S_OK) {
++    return false;
++  }
++  fromWindowsUUID(windows_uuid, uuid);
++  return true;
++#else
++  return uuid_parse(uuid_string.c_str(), uuid) == 0;
++#endif
++}
++
++inline void generateUUID(unsigned char * uuid)
++{
++#ifdef _WIN32
++  UUID windows_uuid{};
++  const RPC_STATUS status = UuidCreate(&windows_uuid);
++  if (status != RPC_S_OK && status != RPC_S_UUID_LOCAL_ONLY) {
++    throw std::runtime_error{"Failed to generate UUID"};
++  }
++  fromWindowsUUID(windows_uuid, uuid);
++#else
++  uuid_generate(uuid);
++#endif
++}
++
++inline std::string unparseUUID(const unsigned char * uuid)
++{
++#ifdef _WIN32
++  UUID windows_uuid = toWindowsUUID(uuid);
++  RPC_CSTR uuid_string = nullptr;
++  if (UuidToStringA(&windows_uuid, &uuid_string) != RPC_S_OK) {
++    throw std::runtime_error{"Failed to convert UUID to string"};
++  }
++  std::string result{reinterpret_cast<char *>(uuid_string)};
++  RpcStringFreeA(&uuid_string);
++  return result;
++#else
++  char uuid_string[37];
++  uuid_unparse(uuid, uuid_string);
++  return std::string{uuid_string};
++#endif
++}
++
++inline bool equalUUID(const unsigned char * lhs, const unsigned char * rhs)
++{
++  return std::equal(lhs, lhs + 16, rhs);
++}
++
++inline bool isNullUUID(const unsigned char * uuid)
++{
++  return std::all_of(uuid, uuid + 16, [](unsigned char value) {return value == 0;});
++}
++
++}  // namespace nav2_map_server
++
++#endif  // NAV2_MAP_SERVER__UUID_HPP_
+diff --git a/include/nav2_map_server/vector_object_utils.hpp b/include/nav2_map_server/vector_object_utils.hpp
+index f478f71b3..06f23ce24 100644
+--- a/include/nav2_map_server/vector_object_utils.hpp
++++ b/include/nav2_map_server/vector_object_utils.hpp
+@@ -15,7 +15,6 @@
+ #ifndef NAV2_MAP_SERVER__VECTOR_OBJECT_UTILS_HPP_
+ #define NAV2_MAP_SERVER__VECTOR_OBJECT_UTILS_HPP_
+ 
+-#include <uuid/uuid.h>
+ #include <stdexcept>
+ #include <string>
+ 
+@@ -25,24 +24,11 @@
+ #include "nav2_ros_common/lifecycle_node.hpp"
+ #include "nav2_ros_common/node_utils.hpp"
+ #include "nav2_util/occ_grid_values.hpp"
++#include "nav2_map_server/uuid.hpp"
+ 
+ namespace nav2_map_server
+ {
+ 
+-// ---------- Working with UUID-s ----------
+-
+-/**
+- * @brief Converts UUID from input array to unparsed string
+- * @param uuid Input UUID in array format
+- * @return Unparsed UUID string
+- */
+-inline std::string unparseUUID(const unsigned char * uuid)
+-{
+-  char uuid_str[37];
+-  uuid_unparse(uuid, uuid_str);
+-  return std::string(uuid_str);
+-}
+-
+ // ---------- Working with shapes' overlays ----------
+ 
+ /// @brief Type of overlay between different vector objects and map
+diff --git a/src/vo_server/vector_object_shapes.cpp b/src/vo_server/vector_object_shapes.cpp
+index af85a4265..19c9e8a71 100644
+--- a/src/vo_server/vector_object_shapes.cpp
++++ b/src/vo_server/vector_object_shapes.cpp
+@@ -14,7 +14,6 @@
+ 
+ #include "nav2_map_server/vector_object_shapes.hpp"
+ 
+-#include <uuid/uuid.h>
+ #include <cmath>
+ #include <exception>
+ #include <limits>
+@@ -29,6 +28,7 @@
+ #include "nav2_util/raytrace_line_2d.hpp"
+ #include "nav2_util/robot_utils.hpp"
+ #include "nav2_ros_common/tf2_factories.hpp"
++#include "nav2_map_server/uuid.hpp"
+ 
+ namespace nav2_map_server
+ {
+@@ -58,7 +58,7 @@ bool Shape::obtainShapeUUID(const std::string & shape_name, unsigned char * out_
+     // Try to get shape UUID from ROS-parameters
+     std::string uuid_str = nav2::declare_or_get_parameter<std::string>(
+       node, shape_name + ".uuid");
+-    if (uuid_parse(uuid_str.c_str(), out_uuid) != 0) {
++    if (!parseUUID(uuid_str, out_uuid)) {
+       RCLCPP_ERROR(
+         node->get_logger(),
+         "[%s] Can not parse UUID string for shape: %s",
+@@ -67,14 +67,13 @@ bool Shape::obtainShapeUUID(const std::string & shape_name, unsigned char * out_
+     }
+   } catch (const std::exception &) {
+     // If no UUID was specified, generate a new one
+-    uuid_generate(out_uuid);
++    generateUUID(out_uuid);
+ 
+-    char uuid_str[37];
+-    uuid_unparse(out_uuid, uuid_str);
++    const std::string uuid_str = unparseUUID(out_uuid);
+     RCLCPP_INFO(
+       node->get_logger(),
+       "[%s] No UUID is specified for shape. Generating a new one: %s",
+-      shape_name.c_str(), uuid_str);
++      shape_name.c_str(), uuid_str.c_str());
+   }
+ 
+   return true;
+@@ -106,7 +105,7 @@ std::string Polygon::getUUID() const
+ 
+ bool Polygon::isUUID(const unsigned char * uuid) const
+ {
+-  return uuid_compare(params_->uuid.uuid.data(), uuid) == 0;
++  return equalUUID(params_->uuid.uuid.data(), uuid);
+ }
+ 
+ bool Polygon::isFill() const
+@@ -190,8 +189,8 @@ bool Polygon::setParams(const nav2_msgs::msg::PolygonObject::SharedPtr params)
+   polygon_->points = params_->points;
+ 
+   // If no UUID was specified, generate a new one
+-  if (uuid_is_null(params_->uuid.uuid.data())) {
+-    uuid_generate(params_->uuid.uuid.data());
++  if (isNullUUID(params_->uuid.uuid.data())) {
++    generateUUID(params_->uuid.uuid.data());
+   }
+ 
+   return checkConsistency();
+@@ -320,7 +319,7 @@ std::string Circle::getUUID() const
+ 
+ bool Circle::isUUID(const unsigned char * uuid) const
+ {
+-  return uuid_compare(params_->uuid.uuid.data(), uuid) == 0;
++  return equalUUID(params_->uuid.uuid.data(), uuid);
+ }
+ 
+ bool Circle::isFill() const
+@@ -403,8 +402,8 @@ bool Circle::setParams(const nav2_msgs::msg::CircleObject::SharedPtr params)
+   *center_ = params_->center;
+ 
+   // If no UUID was specified, generate a new one
+-  if (uuid_is_null(params_->uuid.uuid.data())) {
+-    uuid_generate(params_->uuid.uuid.data());
++  if (isNullUUID(params_->uuid.uuid.data())) {
++    generateUUID(params_->uuid.uuid.data());
+   }
+ 
+   return checkConsistency();
diff --git a/patch/ros-lyrical-nav2-map-server.win.patch b/patch/ros-lyrical-nav2-map-server.win.patch
deleted file mode 100644
index c6e1b2b5..00000000
--- a/patch/ros-lyrical-nav2-map-server.win.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/src/map_io.cpp b/src/map_io.cpp
-index b26b09be38..251985f487 100644
---- a/src/map_io.cpp
-+++ b/src/map_io.cpp
-@@ -86,7 +86,7 @@ char * dirname(char * path)
-     /* This assignment is ill-designed but the XPG specs require to
-        return a string containing "." in any case no directory part is
-        found and so a static and constant string is required.  */
--    path = reinterpret_cast<char *>(dot);
-+    path = (char *)dot;
-   }
- 
-   return path;
diff --git a/patch/ros-lyrical-nav2-mppi-controller.osx.patch b/patch/ros-lyrical-nav2-mppi-controller.osx.patch
deleted file mode 100644
index 1cfe6e79..00000000
--- a/patch/ros-lyrical-nav2-mppi-controller.osx.patch
+++ /dev/null
@@ -1,16 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 3f2b40688..fe7df25ce 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -80,7 +80,10 @@ add_library(mppi_critics SHARED
-   src/critics/twirling_critic.cpp
-   src/critics/velocity_deadband_critic.cpp
- )
--target_compile_options(mppi_critics PUBLIC -fconcepts -O3)
-+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-+  target_compile_options(mppi_critics PUBLIC -fconcepts)
-+endif()
-+target_compile_options(mppi_critics PUBLIC -O3)
- target_include_directories(mppi_critics
-   PUBLIC
-     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
diff --git a/patch/ros-lyrical-nav2-ros-common.patch b/patch/ros-lyrical-nav2-ros-common.patch
new file mode 100644
index 00000000..cd898e9a
--- /dev/null
+++ b/patch/ros-lyrical-nav2-ros-common.patch
@@ -0,0 +1,36 @@
+diff --git a/include/nav2_ros_common/node_utils.hpp b/include/nav2_ros_common/node_utils.hpp
+index 333c598..b029d52 100644
+--- a/include/nav2_ros_common/node_utils.hpp
++++ b/include/nav2_ros_common/node_utils.hpp
+@@ -38 +38 @@
+-#else
++#elif !defined(_WIN32)
+@@ -379,0 +380,2 @@ inline void setSoftRealTimePriority()
++#elif defined(_WIN32)
++  throw std::runtime_error("Soft real-time prioritization is not supported on Windows");
+diff --git a/include/nav2_ros_common/validate_messages.hpp b/include/nav2_ros_common/validate_messages.hpp
+index 7fd21e3..8fb8b66 100644
+--- a/include/nav2_ros_common/validate_messages.hpp
++++ b/include/nav2_ros_common/validate_messages.hpp
+@@ -21,0 +22 @@
++#include <limits>
+@@ -85 +86 @@ bool validateMsg(const std::array<double, N> & msg)
+-const int NSEC_PER_SEC = 1e9;  // 1 second = 1e9 nanosecond
++constexpr int NANOSECONDS_PER_SECOND = 1e9;
+@@ -88 +89 @@ bool validateMsg(const builtin_interfaces::msg::Time & msg)
+-  if (msg.nanosec >= NSEC_PER_SEC) {
++  if (msg.nanosec >= NANOSECONDS_PER_SECOND) {
+@@ -189,2 +190,3 @@ bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg)
+-  uint32_t num_cells;
+-  if (__builtin_mul_overflow(msg.info.width, msg.info.height, &num_cells)) {
++  if (msg.info.width != 0 &&
++    msg.info.height > std::numeric_limits<uint32_t>::max() / msg.info.width)
++  {
+@@ -193,0 +196 @@ bool validateMsg(const nav_msgs::msg::OccupancyGrid & msg)
++  const uint32_t num_cells = msg.info.width * msg.info.height;
+@@ -224,2 +227,3 @@ bool validateMsg(const map_msgs::msg::OccupancyGridUpdate & msg)
+-  uint32_t num_cells;
+-  if (__builtin_mul_overflow(msg.width, msg.height, &num_cells)) {
++  if (msg.width != 0 &&
++    msg.height > std::numeric_limits<uint32_t>::max() / msg.width)
++  {
diff --git a/patch/ros-lyrical-nav2-route.osx.patch b/patch/ros-lyrical-nav2-route.osx.patch
deleted file mode 100644
index fb6986ff..00000000
--- a/patch/ros-lyrical-nav2-route.osx.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/include/nav2_route/route_server.hpp b/include/nav2_route/route_server.hpp
-index a6b830c1b..966d62a69 100644
---- a/include/nav2_route/route_server.hpp
-+++ b/include/nav2_route/route_server.hpp
-@@ -130,7 +130,7 @@ protected:
-   template<typename GoalT>
-   Route findRoute(
-     const std::shared_ptr<const GoalT> goal,
--    ReroutingState & rerouting_info = ReroutingState());
-+    ReroutingState & rerouting_info);
- 
-   /**
-    * @brief Main processing called by both action server callbacks to centralize
diff --git a/patch/ros-lyrical-nav2-smac-planner.win.patch b/patch/ros-lyrical-nav2-smac-planner.win.patch
deleted file mode 100644
index 6a06fe0e..00000000
--- a/patch/ros-lyrical-nav2-smac-planner.win.patch
+++ /dev/null
@@ -1,131 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 4ae1a98ad..24317d4d6 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -42,9 +42,17 @@ add_library(${library_name}_common SHARED
-   src/node_lattice.cpp
-   src/smoother.cpp
- )
-+# Add GenerateExportHeader support for symbol visibility, as we are using
-+# static members we need to explicitly export them on Windows, as
-+# CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS does not work with static members.
-+include(GenerateExportHeader)
-+generate_export_header(${library_name}_common
-+  EXPORT_FILE_NAME "${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${library_name}_common_visibility_control.hpp"
-+)
- target_include_directories(${library_name}_common
-   PUBLIC
-     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-+    "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
-     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-     ${OMPL_INCLUDE_DIRS}
- )
-@@ -167,6 +175,10 @@ install(TARGETS ${library_name}_common ${library_name} ${library_name}_2d ${libr
- install(DIRECTORY include/
-   DESTINATION include/${PROJECT_NAME}
- )
-+install(FILES
-+  "${CMAKE_CURRENT_BINARY_DIR}/include/${PROJECT_NAME}/${library_name}_common_visibility_control.hpp"
-+  DESTINATION include/${PROJECT_NAME}
-+)
- 
- install(DIRECTORY lattice_primitives/sample_primitives DESTINATION share/${PROJECT_NAME})
- 
-diff --git a/include/nav2_smac_planner/node_hybrid.hpp b/include/nav2_smac_planner/node_hybrid.hpp
-index ee3a4bf23..2585a581b 100644
---- a/include/nav2_smac_planner/node_hybrid.hpp
-+++ b/include/nav2_smac_planner/node_hybrid.hpp
-@@ -26,6 +26,7 @@
- #include "nav2_smac_planner/types.hpp"
- #include "nav2_smac_planner/collision_checker.hpp"
- #include "nav2_smac_planner/costmap_downsampler.hpp"
-+#include "nav2_smac_planner/nav2_smac_planner_common_visibility_control.hpp"
- #include "nav2_costmap_2d/costmap_2d_ros.hpp"
- #include "nav2_costmap_2d/inflation_layer.hpp"
- 
-@@ -473,16 +474,16 @@ public:
-   Coordinates pose;
- 
-   // Constants required across all nodes but don't want to allocate more than once
--  static float travel_distance_cost;
--  static HybridMotionTable motion_table;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static float travel_distance_cost;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static HybridMotionTable motion_table;
-   // Wavefront lookup and queue for continuing to expand as needed
--  static LookupTable obstacle_heuristic_lookup_table;
--  static ObstacleHeuristicQueue obstacle_heuristic_queue;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static LookupTable obstacle_heuristic_lookup_table;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static ObstacleHeuristicQueue obstacle_heuristic_queue;
- 
--  static std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros;
-   // Dubin / Reeds-Shepp lookup and size for dereferencing
--  static LookupTable dist_heuristic_lookup_table;
--  static float size_lookup;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static LookupTable dist_heuristic_lookup_table;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static float size_lookup;
- 
- private:
-   float _cell_cost;
-diff --git a/include/nav2_smac_planner/node_lattice.hpp b/include/nav2_smac_planner/node_lattice.hpp
-index 824b43544..899ae11e4 100644
---- a/include/nav2_smac_planner/node_lattice.hpp
-+++ b/include/nav2_smac_planner/node_lattice.hpp
-@@ -27,6 +27,7 @@
- #include "nav2_smac_planner/collision_checker.hpp"
- #include "nav2_smac_planner/node_hybrid.hpp"
- #include "nav2_smac_planner/utils.hpp"
-+#include "nav2_smac_planner/nav2_smac_planner_common_visibility_control.hpp"
- 
- namespace nav2_smac_planner
- {
-@@ -415,10 +416,10 @@ public:
- 
-   NodeLattice * parent;
-   Coordinates pose;
--  static LatticeMotionTable motion_table;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static LatticeMotionTable motion_table;
-   // Dubin / Reeds-Shepp lookup and size for dereferencing
--  static LookupTable dist_heuristic_lookup_table;
--  static float size_lookup;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static LookupTable dist_heuristic_lookup_table;
-+  NAV2_SMAC_PLANNER_COMMON_EXPORT static float size_lookup;
- 
- private:
-   float _cell_cost;
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 4ae1a98ad..3a574800b 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -20,6 +20,10 @@ find_package(tf2 REQUIRED)
- find_package(tf2_ros REQUIRED)
- find_package(visualization_msgs REQUIRED)
- 
-+find_package(ode REQUIRED)
-+list(REMOVE_ITEM OMPL_LIBRARIES "ode_double")
-+list(APPEND OMPL_LIBRARIES "ODE::ODE")
-+
- nav2_package()
- 
- if(MSVC)
-diff --git a/include/nav2_smac_planner/a_star.hpp b/include/nav2_smac_planner/a_star.hpp
-index 8b127960c..a5dbbc262 100644
---- a/include/nav2_smac_planner/a_star.hpp
-+++ b/include/nav2_smac_planner/a_star.hpp
-@@ -26,7 +26,6 @@
- #include "nav2_costmap_2d/costmap_2d.hpp"
- #include "nav2_core/planner_exceptions.hpp"
- 
--#include "nav2_smac_planner/thirdparty/robin_hood.h"
- #include "nav2_smac_planner/analytic_expansion.hpp"
- #include "nav2_smac_planner/node_2d.hpp"
- #include "nav2_smac_planner/node_hybrid.hpp"
-@@ -47,7 +46,7 @@ class AStarAlgorithm
- {
- public:
-   typedef NodeT * NodePtr;
--  typedef robin_hood::unordered_node_map<uint64_t, NodeT> Graph;
-+  typedef std::unordered_map<uint64_t, NodeT> Graph;
-   typedef std::vector<NodePtr> NodeVector;
-   typedef std::pair<float, NodeBasic<NodeT>> NodeElement;
-   typedef typename NodeT::Coordinates Coordinates;
diff --git a/patch/ros-lyrical-nav2-util.patch b/patch/ros-lyrical-nav2-util.patch
deleted file mode 100644
index babfabcd..00000000
--- a/patch/ros-lyrical-nav2-util.patch
+++ /dev/null
@@ -1,22 +0,0 @@
-diff --git a/src/node_utils.cpp b/src/node_utils.cpp
-index 993eaf53b..83ab5ebaa 100644
---- a/src/node_utils.cpp
-+++ b/src/node_utils.cpp
-@@ -92,6 +92,9 @@ rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix)
- 
- void setSoftRealTimePriority()
- {
-+#if defined(__APPLE__) || defined(_WIN32)
-+  throw std::runtime_error("Cannot set as real-time thread if not on Linux!");
-+#else
-   sched_param sch;
-   sch.sched_priority = 49;
-   if (sched_setscheduler(0, SCHED_FIFO, &sch) == -1) {
-@@ -101,6 +104,7 @@ void setSoftRealTimePriority()
-       "realtime prioritization! Error: ");
-     throw std::runtime_error(errmsg + std::strerror(errno));
-   }
-+#endif
- }
- 
- }  // namespace nav2_util
diff --git a/patch/ros-lyrical-pick-ik.patch b/patch/ros-lyrical-pick-ik.patch
deleted file mode 100644
index 2916833f..00000000
--- a/patch/ros-lyrical-pick-ik.patch
+++ /dev/null
@@ -1,110 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e0c448b..e4dbba0 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -17,7 +17,7 @@ find_package(rclcpp REQUIRED)
- find_package(rsl REQUIRED)
- find_package(tf2_geometry_msgs REQUIRED)
- find_package(tf2_kdl REQUIRED)
--find_package(tl_expected REQUIRED)
-+find_package(tl-expected REQUIRED)
- 
- generate_parameter_library(
-   pick_ik_parameters
-@@ -41,7 +41,7 @@ target_link_libraries(pick_ik_plugin
-     moveit_core::moveit_robot_model
-     tf2_geometry_msgs::tf2_geometry_msgs
-     tf2_kdl::tf2_kdl
--    tl_expected::tl_expected
-+    tl::expected
-     rsl::rsl
-   PRIVATE
-     fmt::fmt
-@@ -84,6 +84,6 @@ ament_export_dependencies(
-   rsl
-   tf2_geometry_msgs
-   tf2_kdl
--  tl_expected
-+  tl-expected
- )
- ament_package()
-diff --git a/include/pick_ik/forward_kinematics.hpp b/include/pick_ik/forward_kinematics.hpp
-index 834f5b7..f6c2426 100644
---- a/include/pick_ik/forward_kinematics.hpp
-+++ b/include/pick_ik/forward_kinematics.hpp
-@@ -3,7 +3,7 @@
- #include <memory>
- #include <moveit/robot_model/joint_model.h>
- #include <moveit/robot_model/robot_model.h>
--#include <tf2/LinearMath/Vector3.h>
-+#include <tf2/LinearMath/Vector3.hpp>
- #include <vector>
- 
- namespace pick_ik {
-diff --git a/include/pick_ik/robot.hpp b/include/pick_ik/robot.hpp
-index 5c92c5e..d34511c 100644
---- a/include/pick_ik/robot.hpp
-+++ b/include/pick_ik/robot.hpp
-@@ -1,6 +1,6 @@
- #pragma once
- 
--#include <tl_expected/expected.hpp>
-+#include <tl/expected.hpp>
- 
- #include <Eigen/Geometry>
- #include <moveit/robot_model/joint_model.h>
-diff --git a/package.xml b/package.xml
-index 5704712..69a2f51 100644
---- a/package.xml
-+++ b/package.xml
-@@ -17,9 +17,10 @@
-   <depend>range-v3</depend>
-   <depend>rclcpp</depend>
-   <depend>rsl</depend>
-+  <depend>tf2</depend>
-   <depend>tf2_geometry_msgs</depend>
-   <depend>tf2_kdl</depend>
--  <depend>tl_expected</depend>
-+  <depend>libexpected-dev</depend>
- 
-   <test_depend>moveit_resources_panda_moveit_config</test_depend>
- 
-diff --git a/src/forward_kinematics.cpp b/src/forward_kinematics.cpp
-index fb03ed1..db773fd 100644
---- a/src/forward_kinematics.cpp
-+++ b/src/forward_kinematics.cpp
-@@ -5,7 +5,7 @@
- #include <iterator>
- #include <memory>
- #include <moveit/robot_model/robot_model.h>
--#include <tf2/LinearMath/Vector3.h>
-+#include <tf2/LinearMath/Vector3.hpp>
- #include <vector>
- 
- namespace pick_ik {
-diff --git a/src/pick_ik_plugin.cpp b/src/pick_ik_plugin.cpp
-index d586092..ea8c170 100644
---- a/src/pick_ik_plugin.cpp
-+++ b/src/pick_ik_plugin.cpp
-@@ -4,7 +4,7 @@
- #include <pick_ik/ik_memetic.hpp>
- #include <pick_ik/robot.hpp>
- 
--#include <pick_ik_parameters.hpp>
-+#include <pick_ik/pick_ik_parameters.hpp>
- #include <pluginlib/class_list_macros.hpp>
- #include <rclcpp/rclcpp.hpp>
- 
-diff --git a/src/robot.cpp b/src/robot.cpp
-index 7581746..437921b 100644
---- a/src/robot.cpp
-+++ b/src/robot.cpp
-@@ -3,7 +3,7 @@
- #include <rsl/random.hpp>
- #include <tf2_eigen/tf2_eigen.hpp>
- #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
--#include <tl_expected/expected.hpp>
-+#include <tl/expected.hpp>
- 
- #include <Eigen/Geometry>
- #include <cfloat>
diff --git a/patch/ros-lyrical-pilz-industrial-motion-planner-testutils.patch b/patch/ros-lyrical-pilz-industrial-motion-planner-testutils.patch
deleted file mode 100644
index 4d64c8c0..00000000
--- a/patch/ros-lyrical-pilz-industrial-motion-planner-testutils.patch
+++ /dev/null
@@ -1,27 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 1026df76f3..b4e17da23d 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -29,15 +29,14 @@ add_library(
-   src/robotconfiguration.cpp src/sequence.cpp src/xml_testdata_loader.cpp)
- 
- # Specify libraries to link a library or executable target against
--ament_target_dependencies(
-+target_link_libraries(
-   pilz_industrial_motion_planner_testutils
--  Boost
--  Eigen3
--  eigen3_cmake_module
--  rclcpp
--  moveit_core
--  moveit_msgs
--  tf2_eigen)
-+  Boost::headers
-+  Eigen3::Eigen
-+  rclcpp::rclcpp
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  tf2_eigen::tf2_eigen)
- 
- # ##############################################################################
- # Install ##
diff --git a/patch/ros-lyrical-pilz-industrial-motion-planner.patch b/patch/ros-lyrical-pilz-industrial-motion-planner.patch
deleted file mode 100644
index 0d8ffde6..00000000
--- a/patch/ros-lyrical-pilz-industrial-motion-planner.patch
+++ /dev/null
@@ -1,359 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -64,30 +64,98 @@
- )
- 
- add_library(planning_context_loader_base SHARED src/planning_context_loader.cpp)
--target_link_libraries(planning_context_loader_base cartesian_limits_parameters)
--ament_target_dependencies(planning_context_loader_base
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  planning_context_loader_base
-+  cartesian_limits_parameters
-+  joint_limits_common
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- add_library(
-   joint_limits_common SHARED
-   src/joint_limits_aggregator.cpp src/joint_limits_container.cpp
-   src/joint_limits_validator.cpp src/limits_container.cpp)
--target_link_libraries(joint_limits_common cartesian_limits_parameters)
--ament_target_dependencies(joint_limits_common ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  joint_limits_common
-+  cartesian_limits_parameters
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- add_library(
-   trajectory_generation_common SHARED
-   src/trajectory_functions.cpp src/trajectory_generator.cpp
-   src/trajectory_blender_transition_window.cpp)
--target_link_libraries(trajectory_generation_common cartesian_limits_parameters)
--ament_target_dependencies(trajectory_generation_common
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  trajectory_generation_common
-+  cartesian_limits_parameters
-+  joint_limits_common
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- add_library(command_list_manager SHARED src/command_list_manager.cpp
-                                         src/plan_components_builder.cpp)
--target_link_libraries(command_list_manager trajectory_generation_common
--                      joint_limits_common)
--ament_target_dependencies(command_list_manager ${THIS_PACKAGE_INCLUDE_DEPENDS})
-+target_link_libraries(
-+  command_list_manager
-+  trajectory_generation_common
-+  joint_limits_common
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- # ##############################################################################
- # Plugins ##
-@@ -95,43 +163,128 @@
- 
- add_library(pilz_industrial_motion_planner SHARED
-             src/pilz_industrial_motion_planner.cpp)
--ament_target_dependencies(pilz_industrial_motion_planner
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(pilz_industrial_motion_planner
--                      planning_context_loader_base joint_limits_common)
-+target_link_libraries(
-+  pilz_industrial_motion_planner
-+  planning_context_loader_base
-+  joint_limits_common
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- add_library(
-   planning_context_loader_ptp SHARED
-   src/planning_context_loader_ptp.cpp src/trajectory_generator_ptp.cpp
-   src/velocity_profile_atrap.cpp)
--ament_target_dependencies(planning_context_loader_ptp
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(planning_context_loader_ptp planning_context_loader_base
--                      joint_limits_common trajectory_generation_common)
-+target_link_libraries(
-+  planning_context_loader_ptp
-+  planning_context_loader_base
-+  joint_limits_common
-+  trajectory_generation_common
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- add_library(
-   planning_context_loader_lin SHARED
-   src/planning_context_loader_lin.cpp src/trajectory_generator_lin.cpp
-   src/velocity_profile_atrap.cpp)
--ament_target_dependencies(planning_context_loader_lin
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(planning_context_loader_lin planning_context_loader_base
--                      joint_limits_common trajectory_generation_common)
-+target_link_libraries(
-+  planning_context_loader_lin
-+  planning_context_loader_base
-+  joint_limits_common
-+  trajectory_generation_common
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- add_library(
-   planning_context_loader_circ SHARED
-   src/planning_context_loader_circ.cpp src/trajectory_generator_circ.cpp
-   src/path_circle_generator.cpp)
--ament_target_dependencies(planning_context_loader_circ
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(planning_context_loader_circ planning_context_loader_base
--                      joint_limits_common trajectory_generation_common)
-+target_link_libraries(
-+  planning_context_loader_circ
-+  planning_context_loader_base
-+  joint_limits_common
-+  trajectory_generation_common
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- add_library(sequence_capability SHARED src/move_group_sequence_action.cpp
-                                        src/move_group_sequence_service.cpp)
--ament_target_dependencies(sequence_capability ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(sequence_capability joint_limits_common
--                      command_list_manager trajectory_generation_common)
-+target_link_libraries(
-+  sequence_capability
-+  joint_limits_common
-+  command_list_manager
-+  trajectory_generation_common
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- # ##############################################################################
- # Install ##
-diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
---- a/test/CMakeLists.txt
-+++ b/test/CMakeLists.txt
-@@ -12,10 +12,26 @@
- 
- # pilz_industrial_motion_testhelpers
- add_library(${PROJECT_NAME}_test_utils test_utils.cpp)
--ament_target_dependencies(${PROJECT_NAME}_test_utils
--                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
--target_link_libraries(${PROJECT_NAME}_test_utils joint_limits_common
--                      trajectory_generation_common)
-+target_link_libraries(
-+  ${PROJECT_NAME}_test_utils
-+  joint_limits_common
-+  trajectory_generation_common
-+  Eigen3::Eigen
-+  ${geometry_msgs_TARGETS}
-+  moveit_core::moveit_core
-+  ${moveit_msgs_TARGETS}
-+  moveit_ros_move_group::moveit_ros_move_group
-+  moveit_ros_planning::moveit_ros_planning
-+  pluginlib::pluginlib
-+  rclcpp::rclcpp
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  tf2_eigen_kdl::tf2_eigen_kdl
-+  ${tf2_geometry_msgs_TARGETS}
-+  tf2_kdl::tf2_kdl
-+  tf2_ros::tf2_ros
-+  ${orocos_kdl_LIBRARIES}
-+  Boost::headers)
- 
- # Unit tests
- add_subdirectory(unit_tests)
-diff --git a/test/unit_tests/CMakeLists.txt b/test/unit_tests/CMakeLists.txt
---- a/test/unit_tests/CMakeLists.txt
-+++ b/test/unit_tests/CMakeLists.txt
-@@ -38,9 +38,9 @@
- # Trajectory Functions Unit Test
- ament_add_gtest_executable(unittest_trajectory_functions
-                            src/unittest_trajectory_functions.cpp)
--ament_target_dependencies(unittest_trajectory_functions Boost)
--target_link_libraries(unittest_trajectory_functions ${PROJECT_NAME}_test_utils
--                      trajectory_generation_common joint_limits_common)
-+target_link_libraries(
-+  unittest_trajectory_functions ${PROJECT_NAME}_test_utils
-+  trajectory_generation_common joint_limits_common Boost::headers)
- add_ros_test(launch/unittest_trajectory_functions.test.py ARGS
-              "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
- 
-@@ -49,11 +49,12 @@
-   unittest_trajectory_blender_transition_window
-   src/unittest_trajectory_blender_transition_window.cpp
-   ${CMAKE_SOURCE_DIR}/src/trajectory_blender_transition_window.cpp)
--ament_target_dependencies(unittest_trajectory_blender_transition_window
--                          pilz_industrial_motion_planner_testutils)
- target_link_libraries(
--  unittest_trajectory_blender_transition_window ${PROJECT_NAME}_test_utils
--  trajectory_generation_common planning_context_loader_lin)
-+  unittest_trajectory_blender_transition_window
-+  ${PROJECT_NAME}_test_utils
-+  trajectory_generation_common
-+  planning_context_loader_lin
-+  pilz_industrial_motion_planner_testutils::pilz_industrial_motion_planner_testutils)
- add_ros_test(launch/unittest_trajectory_blender_transition_window.test.py ARGS
-              "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
- 
-@@ -70,20 +71,22 @@
- # trajectory generator circ Unit Test
- ament_add_gtest_executable(unittest_trajectory_generator_circ
-                            src/unittest_trajectory_generator_circ.cpp)
--ament_target_dependencies(unittest_trajectory_generator_circ
--                          pilz_industrial_motion_planner_testutils)
--target_link_libraries(unittest_trajectory_generator_circ
--                      ${PROJECT_NAME}_test_utils planning_context_loader_circ)
-+target_link_libraries(
-+  unittest_trajectory_generator_circ
-+  ${PROJECT_NAME}_test_utils
-+  planning_context_loader_circ
-+  pilz_industrial_motion_planner_testutils::pilz_industrial_motion_planner_testutils)
- add_ros_test(launch/unittest_trajectory_generator_circ.test.py ARGS
-              "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
- 
- # trajectory generator lin Unit Test
- ament_add_gtest_executable(unittest_trajectory_generator_lin
-                            src/unittest_trajectory_generator_lin.cpp)
--ament_target_dependencies(unittest_trajectory_generator_lin
--                          pilz_industrial_motion_planner_testutils)
--target_link_libraries(unittest_trajectory_generator_lin
--                      ${PROJECT_NAME}_test_utils planning_context_loader_lin)
-+target_link_libraries(
-+  unittest_trajectory_generator_lin
-+  ${PROJECT_NAME}_test_utils
-+  planning_context_loader_lin
-+  pilz_industrial_motion_planner_testutils::pilz_industrial_motion_planner_testutils)
- add_ros_test(launch/unittest_trajectory_generator_lin.test.py ARGS
-              "test_binary_dir:=${CMAKE_CURRENT_BINARY_DIR}")
- 
diff --git a/patch/ros-lyrical-random-numbers.win.patch b/patch/ros-lyrical-random-numbers.win.patch
deleted file mode 100644
index a6da7813..00000000
--- a/patch/ros-lyrical-random-numbers.win.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b532d3b..4232532 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -11,7 +11,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
-     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-     $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
- )
--target_link_libraries(${PROJECT_NAME} PUBLIC Boost::random)
-+target_link_libraries(${PROJECT_NAME} PUBLIC Boost::random Boost::thread)
- ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
- 
- set_target_properties(${PROJECT_NAME} PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
diff --git a/patch/ros-lyrical-rcl-yaml-param-parser.patch b/patch/ros-lyrical-rcl-yaml-param-parser.patch
deleted file mode 100644
index 337bf13a..00000000
--- a/patch/ros-lyrical-rcl-yaml-param-parser.patch
+++ /dev/null
@@ -1,30 +0,0 @@
-diff --git a/src/parse.c b/src/parse.c
-index 33f2995..5465e54 100644
---- a/src/parse.c
-+++ b/src/parse.c
-@@ -17,10 +17,15 @@
- #include <stdlib.h>
- #include <string.h>
- 
- #ifdef _WIN32
- #include <windows.h>
-+#elif defined(__APPLE__)
-+#include <pthread.h>
-+typedef pthread_once_t once_flag;
-+#define ONCE_FLAG_INIT PTHREAD_ONCE_INIT
-+#define call_once(flag, func) pthread_once((flag), (func))
- #else
- #include <threads.h>
- #endif
- 
- #include <yaml.h>
-@@ -804,9 +809,9 @@ BOOL CALLBACK init_c_locale(
- }
- #else
- static locale_t c_locale = 0;
- static once_flag c_locale_once_flag = ONCE_FLAG_INIT;
- 
- static void init_c_locale(void)
- {
-   c_locale = newlocale(LC_NUMERIC_MASK, "C", 0);
- }
diff --git a/patch/ros-lyrical-rcutils.patch b/patch/ros-lyrical-rcutils.patch
index fb234543..20e77f2c 100644
--- a/patch/ros-lyrical-rcutils.patch
+++ b/patch/ros-lyrical-rcutils.patch
@@ -1,37 +1,39 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 95b504e..3ef2c1b 100644
+index db6c035..5bb36a5 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -6,6 +6,7 @@ include(CheckLibraryExists)
+@@ -6,6 +6,8 @@ include(CheckLibraryExists)
  
  find_package(ament_cmake REQUIRED)
  find_package(ament_cmake_ros_core REQUIRED)
++set(THREADS_PREFER_PTHREAD_FLAG TRUE)
 +find_package(Threads REQUIRED)
  
  if(UNIX AND NOT APPLE)
    include(cmake/check_c_compiler_uses_glibc.cmake)
-@@ -90,6 +91,8 @@ target_link_libraries(${PROJECT_NAME}
-   ${CMAKE_DL_LIBS}
-   ament_cmake_ros_core::ament_ros_defaults
+@@ -87,8 +89,11 @@ if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
+ endif()
+ 
+ target_link_libraries(${PROJECT_NAME}
+-  ${CMAKE_DL_LIBS}
+-  ament_cmake_ros_core::ament_ros_defaults
++  PUBLIC
++    ${CMAKE_DL_LIBS}
++    ament_cmake_ros_core::ament_ros_defaults
++  PRIVATE
++    Threads::Threads
  )
-+target_link_libraries(${PROJECT_NAME} Threads::Threads)
-+ament_export_dependencies(Threads)
  
  check_library_exists(atomic __atomic_load_8 "" HAVE_LIBATOMICS)
+@@ -98,8 +103,9 @@ if(HAVE_LIBATOMICS AND NOT WIN32 AND NOT APPLE)
+   # Don't export it - downstream packages get atomic symbols transitively
+   # through librcutils.so. See https://github.com/ros2/rcutils/issues/525
+   target_link_libraries(${PROJECT_NAME}
+-    atomic
+-    ament_cmake_ros_core::ament_ros_defaults
++    PUBLIC
++      atomic
++      ament_cmake_ros_core::ament_ros_defaults
+   )
+ endif()
  
-diff --git a/src/testing/fault_injection.c b/src/testing/fault_injection.c
-index a8b69d6..45fd5ae 100644
---- a/src/testing/fault_injection.c
-+++ b/src/testing/fault_injection.c
-@@ -16,7 +16,11 @@
- 
- #include "rcutils/stdatomic_helper.h"
- 
-+#if defined(_WIN32) && !defined(__MINGW64__)
- static atomic_int_least64_t g_rcutils_fault_injection_count = {-1};
-+#else
-+static atomic_int_least64_t g_rcutils_fault_injection_count = -1;
-+#endif
- 
- void rcutils_fault_injection_set_count(int_least64_t count)
- {
diff --git a/patch/ros-lyrical-rmf-task-ros2.patch b/patch/ros-lyrical-rmf-task-ros2.patch
new file mode 100644
index 00000000..b9c73de8
--- /dev/null
+++ b/patch/ros-lyrical-rmf-task-ros2.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 17c4c87..f8a2051 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -40,7 +40,7 @@ target_link_libraries(rmf_task_ros2
+     ${rmf_task_msgs_LIBRARIES}
+     ${rclcpp_LIBRARIES}
+     nlohmann_json::nlohmann_json
+-    nlohmann_json_schema_validator::validator
++    nlohmann_json_schema_validator
+ )
+ 
+ target_include_directories(rmf_task_ros2
diff --git a/patch/ros-lyrical-rmf-utils.patch b/patch/ros-lyrical-rmf-utils.patch
new file mode 100644
index 00000000..2d804cc2
--- /dev/null
+++ b/patch/ros-lyrical-rmf-utils.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 125a926..59fa385 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -14,6 +14,9 @@ include(GNUInstallDirs)
+ 
+ file(GLOB_RECURSE lib_srcs "src/rmf_utils/*.cpp")
+ add_library(rmf_utils SHARED ${lib_srcs})
++if(WIN32)
++  set_target_properties(rmf_utils PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
+ 
+ target_include_directories(rmf_utils
+   PUBLIC
diff --git a/patch/ros-lyrical-rmf-visualization-floorplans.patch b/patch/ros-lyrical-rmf-visualization-floorplans.patch
deleted file mode 100644
index 08dbfcd7..00000000
--- a/patch/ros-lyrical-rmf-visualization-floorplans.patch
+++ /dev/null
@@ -1,28 +0,0 @@
-diff --git a/src/FloorplanVisualizer.cpp b/src/FloorplanVisualizer.cpp
-index 15c07c0..4e78ad9 100644
---- a/src/FloorplanVisualizer.cpp
-+++ b/src/FloorplanVisualizer.cpp
-@@ -73,8 +73,11 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options)
-         if (map_name.empty() || level.images.empty())
-           continue;
- 
-+        const auto& first_data = level.images[0].data;
-         cv::Mat cv_img = cv::imdecode(
--          cv::Mat(level.images[0].data), cv::IMREAD_GRAYSCALE);
-+          cv::Mat(1, static_cast<int>(first_data.size()), CV_8UC1,
-+            const_cast<unsigned char*>(first_data.data())),
-+          cv::IMREAD_GRAYSCALE);
-         auto it = level.images.begin();
-         ++it;
-         // We blend all the other images into the first image
-@@ -84,7 +87,9 @@ FloorplanVisualizer::FloorplanVisualizer(const rclcpp::NodeOptions& options)
-         for (; it != level.images.end(); ++it)
-         {
-           cv::Mat next_img = cv::imdecode(
--            cv::Mat(it->data), cv::IMREAD_GRAYSCALE);
-+            cv::Mat(1, static_cast<int>(it->data.size()), CV_8UC1,
-+              const_cast<unsigned char*>(it->data.data())),
-+            cv::IMREAD_GRAYSCALE);
-           cv::addWeighted(cv_img, 0.7, next_img, 0.3, 0.0, cv_img);
-         }
-         const auto& image = level.images[0];
diff --git a/patch/ros-lyrical-rmf-websocket.patch b/patch/ros-lyrical-rmf-websocket.patch
index d421a880..f6920191 100644
--- a/patch/ros-lyrical-rmf-websocket.patch
+++ b/patch/ros-lyrical-rmf-websocket.patch
@@ -1,34 +1,26 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 0368593..c9efb1c 100644
+index e5f0711..7c96e59 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -4,0 +5,3 @@ project(rmf_websocket)
-+# websocketpp 0.8.2 requires Asio APIs that Boost 1.90 removed. The recipe
-+# provides a compatible standalone Asio release.
-+add_compile_definitions(ASIO_STANDALONE)
-@@ -23,3 +27,2 @@ find_package(nlohmann_json_schema_validator REQUIRED)
- find_package(websocketpp REQUIRED)
--find_package(Boost COMPONENTS system REQUIRED)
+@@ -22,6 +22,12 @@ find_package(Boost REQUIRED)
  find_package(Threads)
-@@ -41,3 +44,2 @@ target_link_libraries(rmf_websocket
+ find_package(backward_ros REQUIRED)
+ 
++if(TARGET nlohmann_json_schema_validator::validator)
++  set(json_schema_validator_target nlohmann_json_schema_validator::validator)
++else()
++  set(json_schema_validator_target nlohmann_json_schema_validator)
++endif()
++
+ add_subdirectory(websocketpp)
+ 
+ add_library(rmf_websocket SHARED
+@@ -35,7 +41,7 @@ target_link_libraries(rmf_websocket
+     ${rclcpp_LIBRARIES}
+     rmf_utils::rmf_utils
+     nlohmann_json::nlohmann_json
+-    nlohmann_json_schema_validator::validator
++    ${json_schema_validator_target}
    PRIVATE
--    Boost::system
+     ${Boost_LIBRARIES}
      Threads::Threads
-diff --git a/src/rmf_websocket/BroadcastClient.cpp b/src/rmf_websocket/BroadcastClient.cpp
-index 01d3ac1..250f5b1 100644
---- a/src/rmf_websocket/BroadcastClient.cpp
-+++ b/src/rmf_websocket/BroadcastClient.cpp
-@@ -219,3 +219,3 @@ private:
-   std::string _uri;
--  boost::asio::io_service _io_service;
-+  asio::io_service _io_service;
-   std::shared_ptr<rclcpp::Node> _node;
-diff --git a/src/rmf_websocket/client/ClientWebSocketEndpoint.hpp b/src/rmf_websocket/client/ClientWebSocketEndpoint.hpp
-index 55f7105..6c0cd4b 100644
---- a/src/rmf_websocket/client/ClientWebSocketEndpoint.hpp
-+++ b/src/rmf_websocket/client/ClientWebSocketEndpoint.hpp
-@@ -103,3 +103,3 @@ public:
-     std::shared_ptr<rclcpp::Node> node,
--    boost::asio::io_service* io_service,
-+    asio::io_service* io_service,
-     ConnectionCallback cb);
diff --git a/patch/ros-lyrical-rosidl-generator-py.patch b/patch/ros-lyrical-rosidl-generator-py.osx.patch
similarity index 100%
rename from patch/ros-lyrical-rosidl-generator-py.patch
rename to patch/ros-lyrical-rosidl-generator-py.osx.patch
diff --git a/patch/ros-lyrical-rtabmap.patch b/patch/ros-lyrical-rtabmap.patch
index e73249f6..710aac52 100644
--- a/patch/ros-lyrical-rtabmap.patch
+++ b/patch/ros-lyrical-rtabmap.patch
@@ -1,8 +1,19 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b7d36de..44e1164 100644
+index 3fd1801..68f6511 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -530,8 +530,12 @@ IF(WITH_G2O)
+@@ -113,6 +113,10 @@ if(MSVC)
+     endif()
+   endif()
+   add_compile_options("/bigobj")
++  # GUI entry points use CoInitialize(). Force the COM declarations while
++  # ensuring the modern Winsock header precedes windows.h in every source.
++  add_compile_options("/FIwinsock2.h")
++  add_compile_options("/FIobjbase.h")
+ endif()
+ 
+ # [Eclipse] Automatic Discovery of Include directories (Optional, but handy) 
+@@ -536,8 +540,12 @@ IF(WITH_G2O)
  ENDIF(WITH_G2O)
  
  IF(WITH_GTSAM)
@@ -13,38 +24,23 @@ index b7d36de..44e1164 100644
 +    SET(CMAKE_FIND_PACKAGE_PREFER_CONFIG TRUE)
      FIND_PACKAGE(GTSAM CONFIG QUIET)
 +    SET(CMAKE_FIND_PACKAGE_PREFER_CONFIG ${_RTABMAP_CMAKE_FIND_PACKAGE_PREFER_CONFIG})
- ENDIF(WITH_GTSAM)
- 
- IF(WITH_MRPT)
-@@ -578,7 +582,7 @@ ENDIF(WITH_POINTMATCHER)
- IF(libpointmatcher_FOUND OR GTSAM_FOUND)
--    find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
-+    find_package(Boost COMPONENTS thread filesystem program_options date_time REQUIRED)
-     IF(Boost_MINOR_VERSION GREATER 47)
--        find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer serialization REQUIRED)
-+        find_package(Boost COMPONENTS thread filesystem program_options date_time chrono timer serialization REQUIRED)
-     ENDIF(Boost_MINOR_VERSION GREATER 47)
-     IF(WIN32)
-         MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}")
-@@ -112,5 +116,9 @@ if(MSVC)
-     endif()
-   endif()
-   add_compile_options("/bigobj")
-+  # GUI entry points use CoInitialize(). Force the COM declarations while
-+  # ensuring the modern Winsock header precedes windows.h in every source.
-+  add_compile_options("/FIwinsock2.h")
-+  add_compile_options("/FIobjbase.h")
- endif()
- 
- # Detect CPU arch and whether we are in 32 or 64 bit
+     IF(GTSAM_FOUND)
+       # For issue https://github.com/introlab/rtabmap/pull/1626
+       FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h
 diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
-index b758ad0..3f29cba 100644
+index e6bf74c..fdfe0fa 100644
 --- a/corelib/src/CMakeLists.txt
 +++ b/corelib/src/CMakeLists.txt
-@@ -855,0 +856,6 @@ ADD_LIBRARY(rtabmap::core ALIAS rtabmap_core)
+@@ -875,6 +875,12 @@ add_definitions(${PCL_DEFINITIONS})
+ # The extension is automatically found.
+ ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS})
+ ADD_LIBRARY(rtabmap::core ALIAS rtabmap_core)
 +# GTSAM and this target both instantiate an identical inline TBB allocator
 +# vector accessor on MSVC. Let the linker coalesce that duplicate definition.
 +IF(MSVC)
 +  TARGET_LINK_OPTIONS(rtabmap_core PRIVATE "/FORCE:MULTIPLE")
 +ENDIF(MSVC)
 +
+ 
+ generate_export_header(rtabmap_core
+  DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED)
diff --git a/patch/ros-lyrical-rviz-rendering.osx.patch b/patch/ros-lyrical-rviz-rendering.osx.patch
index b7a8ede3..72ea2a74 100644
--- a/patch/ros-lyrical-rviz-rendering.osx.patch
+++ b/patch/ros-lyrical-rviz-rendering.osx.patch
@@ -1,10 +1,10 @@
 diff --git a/src/rviz_rendering/ogre_render_window_impl.cpp b/src/rviz_rendering/ogre_render_window_impl.cpp
-index 466e1d1e4..8fcd56d57 100644
+index 27ff2ce..38ade73 100644
 --- a/src/rviz_rendering/ogre_render_window_impl.cpp
 +++ b/src/rviz_rendering/ogre_render_window_impl.cpp
-@@ -235,12 +235,21 @@ void
- RenderWindowImpl::resize(size_t width, size_t height)
- {
+@@ -243,12 +243,21 @@ RenderWindowImpl::resize(size_t width, size_t height)
+     return;
+   }
    if (ogre_render_window_) {
 -    this->setCameraAspectRatio();
 -    ogre_render_window_->resize(
@@ -31,7 +31,7 @@ index 466e1d1e4..8fcd56d57 100644
    this->renderLater();
  }
 diff --git a/src/rviz_rendering/ogre_render_window_impl.hpp b/src/rviz_rendering/ogre_render_window_impl.hpp
-index 7bd7b2238..8391498fe 100644
+index 7bd7b22..8391498 100644
 --- a/src/rviz_rendering/ogre_render_window_impl.hpp
 +++ b/src/rviz_rendering/ogre_render_window_impl.hpp
 @@ -150,6 +150,9 @@ protected:
diff --git a/patch/ros-lyrical-rviz-visual-tools.patch b/patch/ros-lyrical-rviz-visual-tools.patch
deleted file mode 100644
index da46c2ac..00000000
--- a/patch/ros-lyrical-rviz-visual-tools.patch
+++ /dev/null
@@ -1,184 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 8b45187..f24262d 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -77,14 +77,15 @@ set(HEADER_FILES
-     )
- 
- add_library(${PROJECT_NAME}_gui SHARED ${SOURCE_FILES} ${HEADER_FILES})
--ament_target_dependencies(${PROJECT_NAME}_gui PUBLIC
--  rclcpp
--  rviz_common
--  rviz_rendering
--  rviz_default_plugins
--  rviz_ogre_vendor
-+target_link_libraries(${PROJECT_NAME}_gui PUBLIC
-+  rclcpp::rclcpp
-+  rviz_common::rviz_common
-+  rviz_rendering::rviz_rendering
-+  rviz_default_plugins::rviz_default_plugins
-+  rviz_ogre_vendor::OgreMain
-+  rviz_ogre_vendor::OgreOverlay
- )
--target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt5::Widgets)
-+target_link_libraries(${PROJECT_NAME}_gui PUBLIC Qt6::Widgets)
- 
- # prevent pluginlib from using boost
- target_compile_definitions(${PROJECT_NAME}_gui PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
-@@ -98,18 +99,18 @@ add_library(${PROJECT_NAME}_remote_control SHARED
- # Needed for M_PI on Windows
- target_compile_definitions(${PROJECT_NAME}_remote_control PRIVATE _USE_MATH_DEFINES)
- 
--ament_target_dependencies(${PROJECT_NAME}_remote_control
--  rclcpp
--  rclcpp_components
--  visualization_msgs
--  tf2
--  tf2_eigen
--  tf2_geometry_msgs
--  sensor_msgs
--  shape_msgs
--  std_msgs
--  trajectory_msgs
--  eigen_stl_containers
-+target_link_libraries(${PROJECT_NAME}_remote_control
-+  rclcpp::rclcpp
-+  rclcpp_components::component
-+  ${visualization_msgs_TARGETS}
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  ${tf2_geometry_msgs_TARGETS}
-+  ${sensor_msgs_TARGETS}
-+  ${shape_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${trajectory_msgs_TARGETS}
-+  eigen_stl_containers::eigen_stl_containers
- )
- 
- # Visualization Tools Library
-@@ -118,22 +119,22 @@ add_library(${PROJECT_NAME} SHARED
-   src/tf_visual_tools.cpp
- )
- target_compile_definitions(${PROJECT_NAME} PRIVATE _USE_MATH_DEFINES)
--ament_target_dependencies(${PROJECT_NAME} PUBLIC Eigen3)
-+target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
- target_link_libraries(${PROJECT_NAME}
-   ${PROJECT_NAME}_remote_control
- )
--ament_target_dependencies(${PROJECT_NAME}
--  rclcpp
--  rclcpp_components
--  visualization_msgs
--  tf2
--  tf2_eigen
--  tf2_geometry_msgs
--  sensor_msgs
--  shape_msgs
--  std_msgs
--  trajectory_msgs
--  eigen_stl_containers
-+target_link_libraries(${PROJECT_NAME}
-+  rclcpp::rclcpp
-+  rclcpp_components::component
-+  ${visualization_msgs_TARGETS}
-+  tf2::tf2
-+  tf2_eigen::tf2_eigen
-+  ${tf2_geometry_msgs_TARGETS}
-+  ${sensor_msgs_TARGETS}
-+  ${shape_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${trajectory_msgs_TARGETS}
-+  eigen_stl_containers::eigen_stl_containers
- )
- 
- # Library
-@@ -144,14 +145,14 @@ target_compile_definitions(${PROJECT_NAME}_imarker_simple PRIVATE _USE_MATH_DEFI
- target_link_libraries(${PROJECT_NAME}_imarker_simple
-   ${PROJECT_NAME}
- )
--ament_target_dependencies(${PROJECT_NAME}_imarker_simple
--  rclcpp
--  interactive_markers
--  geometry_msgs
--  visualization_msgs
--  sensor_msgs
--  eigen_stl_containers
--  Eigen3
-+target_link_libraries(${PROJECT_NAME}_imarker_simple
-+  rclcpp::rclcpp
-+  interactive_markers::interactive_markers
-+  ${geometry_msgs_TARGETS}
-+  ${visualization_msgs_TARGETS}
-+  ${sensor_msgs_TARGETS}
-+  eigen_stl_containers::eigen_stl_containers
-+  Eigen3::Eigen
- )
- 
- # Demo executable
-@@ -162,10 +163,10 @@ target_compile_definitions(${PROJECT_NAME}_demo PRIVATE _USE_MATH_DEFINES)
- target_link_libraries(${PROJECT_NAME}_demo
-   ${PROJECT_NAME}
- )
--ament_target_dependencies(${PROJECT_NAME}_demo
--  rclcpp
--  geometry_msgs
--  std_msgs
-+target_link_libraries(${PROJECT_NAME}_demo
-+  rclcpp::rclcpp
-+  ${geometry_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
- )
- 
- # Demo executable
-@@ -175,8 +176,8 @@ target_compile_definitions(${PROJECT_NAME}_imarker_simple_demo PRIVATE _USE_MATH
- target_link_libraries(${PROJECT_NAME}_imarker_simple_demo
-   ${PROJECT_NAME}_imarker_simple
- )
--ament_target_dependencies(${PROJECT_NAME}_imarker_simple_demo
--  rclcpp
-+target_link_libraries(${PROJECT_NAME}_imarker_simple_demo
-+  rclcpp::rclcpp
- )
- 
- #############
-@@ -248,8 +249,8 @@ if (BUILD_TESTING)
-     tests/rvt_test.cpp
-     TIMEOUT 180)
-   target_compile_definitions(${PROJECT_NAME}_rvt_test PRIVATE _USE_MATH_DEFINES)
--  ament_target_dependencies(${PROJECT_NAME}_rvt_test
--    rclcpp
-+  target_link_libraries(${PROJECT_NAME}_rvt_test
-+    rclcpp::rclcpp
-   )
-   target_link_libraries(${PROJECT_NAME}_rvt_test
-     ${PROJECT_NAME}
-diff --git a/src/rviz_visual_tools.cpp b/src/rviz_visual_tools.cpp
-index d4a83bf..da9eda5 100644
---- a/src/rviz_visual_tools.cpp
-+++ b/src/rviz_visual_tools.cpp
-@@ -42,9 +42,9 @@
- #include <rviz_visual_tools/rviz_visual_tools.hpp>
- 
- // Conversions
--#include <tf2/convert.h>
--#include <tf2/LinearMath/Vector3.h>
--#include <tf2/LinearMath/Quaternion.h>
-+#include <tf2/convert.hpp>
-+#include <tf2/LinearMath/Vector3.hpp>
-+#include <tf2/LinearMath/Quaternion.hpp>
- #if __has_include(<tf2_eigen/tf2_eigen.hpp>)
- #include <tf2_eigen/tf2_eigen.hpp>
- #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-diff --git a/src/tf_visual_tools.cpp b/src/tf_visual_tools.cpp
-index 99d7aca..acf429a 100644
---- a/src/tf_visual_tools.cpp
-+++ b/src/tf_visual_tools.cpp
-@@ -39,7 +39,7 @@
- #endif
- 
- // TF
--#include <tf2/convert.h>
-+#include <tf2/convert.hpp>
- 
- // C++
- #include <string>
diff --git a/patch/ros-lyrical-sbg-driver.patch b/patch/ros-lyrical-sbg-driver.patch
deleted file mode 100644
index efd2b074..00000000
--- a/patch/ros-lyrical-sbg-driver.patch
+++ /dev/null
@@ -1,79 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a4a3964..4063ea2 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -23,17 +23,17 @@ find_package(builtin_interfaces REQUIRED)
- ## Generate messages in the 'msg' folder
- 
- set (USED_LIBRARIES
--  rclcpp
--  sensor_msgs
--  std_msgs
--  std_srvs
--  geometry_msgs
--  nav_msgs
--  rtcm_msgs
--  tf2_ros
--  tf2_msgs
--  tf2_geometry_msgs
--  nmea_msgs
-+  rclcpp::rclcpp
-+  ${sensor_msgs_TARGETS}
-+  ${std_msgs_TARGETS}
-+  ${std_srvs_TARGETS}
-+  ${geometry_msgs_TARGETS}
-+  ${nav_msgs_TARGETS}
-+  ${rtcm_msgs_TARGETS}
-+  tf2_ros::tf2_ros
-+  ${tf2_msgs_TARGETS}
-+  ${tf2_geometry_msgs_TARGETS}
-+  ${nmea_msgs_TARGETS}
- )
- 
- set (msg_files
-@@ -125,8 +125,8 @@ endif()
- target_link_libraries(sbg_device sbgECom)
- target_link_libraries(sbg_device_mag sbgECom)
- 
--ament_target_dependencies(sbg_device ${USED_LIBRARIES}) 
--ament_target_dependencies(sbg_device_mag ${USED_LIBRARIES})
-+target_link_libraries(sbg_device ${USED_LIBRARIES}) 
-+target_link_libraries(sbg_device_mag ${USED_LIBRARIES})
- 
- rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
- target_link_libraries(sbg_device "${cpp_typesupport_target}")
-diff --git a/include/sbg_driver/sbg_vector3.h b/include/sbg_driver/sbg_vector3.h
-index 0bc5b80..0b1b02c 100644
---- a/include/sbg_driver/sbg_vector3.h
-+++ b/include/sbg_driver/sbg_vector3.h
-@@ -115,7 +115,7 @@ public:
-    * \param[in] p_raw_data                  Pointer to data array.
-    * \param[in] array_size                  Array size (Should be defined as 3).
-    */
--  SbgVector3(const T* p_raw_data, size_t array_size)
-+  SbgVector3(const T* p_raw_data, [[maybe_unused]] size_t array_size)
-   {
-     assert(array_size == 3);
- 
-diff --git a/src/sbg_device.cpp b/src/sbg_device.cpp
-index 820322e..b802365 100644
---- a/src/sbg_device.cpp
-+++ b/src/sbg_device.cpp
-@@ -5,6 +5,8 @@
- #include <iomanip>
- #include <fstream>
- #include <ctime>
-+#include <chrono>
-+#include <thread>
- 
- // SbgECom headers
- #include <version/sbgVersion.h>
-@@ -118,7 +120,7 @@ void SbgDevice::onLogReceived(SbgEComClass msg_class, SbgEComMsgId msg, const Sb
-       log_replay_last_timestamp_ = timestamp;
-     }
- 
--    usleep(time_to_sleep);
-+    std::this_thread::sleep_for(std::chrono::microseconds(time_to_sleep));
-   }
- 
-   //
diff --git a/patch/ros-lyrical-sbg-driver.win.patch b/patch/ros-lyrical-sbg-driver.win.patch
deleted file mode 100644
index 25251e93..00000000
--- a/patch/ros-lyrical-sbg-driver.win.patch
+++ /dev/null
@@ -1,21 +0,0 @@
-diff --git a/src/sbg_utm.cpp b/src/sbg_utm.cpp
-index b49e84c..e0791e7 100644
---- a/src/sbg_utm.cpp
-+++ b/src/sbg_utm.cpp
-@@ -1,2 +1,4 @@
-+#define _USE_MATH_DEFINES
-+
- // File header
-
-diff --git a/src/message_wrapper.cpp b/src/message_wrapper.cpp
-index d0c0b6d..2a646b9 100644
---- a/src/message_wrapper.cpp
-+++ b/src/message_wrapper.cpp
-@@ -19,3 +19,7 @@
-+#ifndef M_SQRT2
-+#define M_SQRT2	1.41421356237309504880	/* sqrt(2) */
-+#endif
-+
- /*!
-  * Class to wrap the SBG logs into ROS messages.
-  */
diff --git a/patch/ros-lyrical-sdformat-urdf.patch b/patch/ros-lyrical-sdformat-urdf.patch
deleted file mode 100644
index 8a42564c..00000000
--- a/patch/ros-lyrical-sdformat-urdf.patch
+++ /dev/null
@@ -1,12 +0,0 @@
-diff --git a/src/sdformat_urdf_plugin.cpp b/src/sdformat_urdf_plugin.cpp
-index b738ee8..d1ac964 100644
---- a/src/sdformat_urdf_plugin.cpp
-+++ b/src/sdformat_urdf_plugin.cpp
-@@ -14,6 +14,7 @@
- 
- #include <rcutils/logging_macros.h>
- #include <tinyxml2.h>
-+#include <urdf_world/types.h>
- #include <urdf_parser_plugin/parser.h>
- 
- #include <limits>
diff --git a/patch/ros-lyrical-slam-toolbox.patch b/patch/ros-lyrical-slam-toolbox.patch
new file mode 100644
index 00000000..44d0826a
--- /dev/null
+++ b/patch/ros-lyrical-slam-toolbox.patch
@@ -0,0 +1,12 @@
+diff --git a/lib/karto_sdk/CMakeLists.txt b/lib/karto_sdk/CMakeLists.txt
+index fd2d403..f23fc5f 100644
+--- a/lib/karto_sdk/CMakeLists.txt
++++ b/lib/karto_sdk/CMakeLists.txt
+@@ -35,6 +35,7 @@ include_directories(include ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_I
+ add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp)
+ target_compile_definitions(kartoSlamToolbox PRIVATE KARTO_DYNAMIC)
+ target_link_libraries(kartoSlamToolbox PUBLIC
++  Eigen3::Eigen
+   rclcpp::rclcpp
+   rclcpp_lifecycle::rclcpp_lifecycle
+ )
diff --git a/patch/ros-lyrical-slam-toolbox.win.patch b/patch/ros-lyrical-slam-toolbox.win.patch
deleted file mode 100644
index 3245b1f8..00000000
--- a/patch/ros-lyrical-slam-toolbox.win.patch
+++ /dev/null
@@ -1,212 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 3880aa7..90ee2a6 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -147,6 +147,11 @@ rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typ
- target_link_libraries(ceres_solver_plugin "${cpp_typesupport_target}")
- pluginlib_export_plugin_description_file(slam_toolbox solver_plugins.xml)
- 
-+if(MSVC)
-+  add_compile_definitions(_USE_MATH_DEFINES)
-+  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
-+endif()
-+
- #### Tool lib for mapping
- add_library(toolbox_common src/slam_toolbox_common.cpp src/map_saver.cpp src/loop_closure_assistant.cpp src/laser_utils.cpp src/slam_mapper.cpp)
- ament_target_dependencies(toolbox_common
-@@ -155,26 +160,43 @@ ament_target_dependencies(toolbox_common
- target_link_libraries(toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
- rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
- target_link_libraries(toolbox_common "${cpp_typesupport_target}")
-+set_target_properties(toolbox_common PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
- 
- #### Mapping executibles
- add_library(async_slam_toolbox src/slam_toolbox_async.cpp)
-+set_target_properties(async_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
- target_link_libraries(async_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
- add_executable(async_slam_toolbox_node src/slam_toolbox_async_node.cpp)
-+if(MSVC)
-+  target_compile_options(async_slam_toolbox_node PRIVATE "/F 40000000")
-+endif()
- target_link_libraries(async_slam_toolbox_node async_slam_toolbox)
- 
- add_library(sync_slam_toolbox src/slam_toolbox_sync.cpp)
-+set_target_properties(sync_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
- target_link_libraries(sync_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
- add_executable(sync_slam_toolbox_node src/slam_toolbox_sync_node.cpp)
-+if(MSVC)
-+  target_compile_options(sync_slam_toolbox_node PRIVATE "/F 40000000")
-+endif()
- target_link_libraries(sync_slam_toolbox_node sync_slam_toolbox)
- 
- add_library(localization_slam_toolbox src/slam_toolbox_localization.cpp)
-+set_target_properties(localization_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
- target_link_libraries(localization_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
- add_executable(localization_slam_toolbox_node src/slam_toolbox_localization_node.cpp)
-+if(MSVC)
-+  target_compile_options(localization_slam_toolbox_node PRIVATE "/F 40000000")
-+endif()
- target_link_libraries(localization_slam_toolbox_node localization_slam_toolbox)
- 
- add_library(lifelong_slam_toolbox src/experimental/slam_toolbox_lifelong.cpp)
-+set_target_properties(lifelong_slam_toolbox PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
- target_link_libraries(lifelong_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
- add_executable(lifelong_slam_toolbox_node src/experimental/slam_toolbox_lifelong_node.cpp)
-+if(MSVC)
-+  target_compile_options(lifelong_slam_toolbox_node PRIVATE "/F 40000000")
-+endif()
- target_link_libraries(lifelong_slam_toolbox_node lifelong_slam_toolbox)
- 
- add_library(map_and_localization_slam_toolbox src/experimental/slam_toolbox_map_and_localization.cpp)
-diff --git a/include/slam_toolbox/merge_maps_kinematic.hpp b/include/slam_toolbox/merge_maps_kinematic.hpp
-index 95c9931..c159ab8 100644
---- a/include/slam_toolbox/merge_maps_kinematic.hpp
-+++ b/include/slam_toolbox/merge_maps_kinematic.hpp
-@@ -21,7 +21,9 @@
- 
- #include <thread>
- #include <sys/stat.h>
-+#ifndef _WIN32
- #include <unistd.h>
-+#endif
- #include <string>
- #include <map>
- #include <memory>
-diff --git a/include/slam_toolbox/slam_toolbox_common.hpp b/include/slam_toolbox/slam_toolbox_common.hpp
-index 96bd049..d6e9630 100644
---- a/include/slam_toolbox/slam_toolbox_common.hpp
-+++ b/include/slam_toolbox/slam_toolbox_common.hpp
-@@ -19,7 +19,9 @@
- #ifndef SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_
- #define SLAM_TOOLBOX__SLAM_TOOLBOX_COMMON_HPP_
- 
-+#ifndef _WIN32
- #include <sys/resource.h>
-+#endif
- #include <boost/thread.hpp>
- #include <string>
- #include <map>
-@@ -35,7 +37,7 @@
- #include "bond/msg/constants.hpp"
- #include "rclcpp_lifecycle/lifecycle_node.hpp"
- #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
--#include "message_filters/subscriber.h"
-+#include "message_filters/subscriber.hpp"
- #include "tf2_ros/transform_broadcaster.h"
- #include "tf2_ros/transform_listener.h"
- #include "tf2_ros/create_timer_ros.h"
-diff --git a/lib/karto_sdk/CMakeLists.txt b/lib/karto_sdk/CMakeLists.txt
-index a620bfd..196aab5 100644
---- a/lib/karto_sdk/CMakeLists.txt
-+++ b/lib/karto_sdk/CMakeLists.txt
-@@ -5,7 +5,9 @@ if(NOT CMAKE_CXX_STANDARD)
-   set(CMAKE_CXX_STANDARD 17)
- endif()
- set(CMAKE_BUILD_TYPE Release) #None, Debug, Release, RelWithDebInfo, MinSizeRel
--set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
-+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
-+endif()
- set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
- 
- find_package(ament_cmake REQUIRED)
-@@ -29,6 +31,7 @@ add_definitions(${EIGEN3_DEFINITIONS})
- 
- include_directories(include ${EIGEN3_INCLUDE_DIRS} ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
- add_library(kartoSlamToolbox SHARED src/Karto.cpp src/Mapper.cpp)
-+target_compile_definitions(kartoSlamToolbox PRIVATE KARTO_DYNAMIC)
- ament_target_dependencies(kartoSlamToolbox ${dependencies})
- target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb)
- 
-diff --git a/lib/karto_sdk/src/Mapper.cpp b/lib/karto_sdk/src/Mapper.cpp
-index e969404..d87d33f 100644
---- a/lib/karto_sdk/src/Mapper.cpp
-+++ b/lib/karto_sdk/src/Mapper.cpp
-@@ -405,7 +405,7 @@ void MapperSensorManager::SetRunningScanBufferSize(kt_int32u rScanBufferSize)
-   m_RunningBufferMaximumSize = rScanBufferSize;
- 
-   std::vector<Name> names = GetSensorNames();
--  for (uint i = 0; i != names.size(); i++) {
-+  for (unsigned int i = 0; i != names.size(); i++) {
-     GetScanManager(names[i])->SetRunningScanBufferSize(rScanBufferSize);
-   }
- }
-@@ -415,7 +415,7 @@ void MapperSensorManager::SetRunningScanBufferMaximumDistance(kt_double rScanBuf
-   m_RunningBufferMaximumDistance = rScanBufferMaxDistance;
- 
-   std::vector<Name> names = GetSensorNames();
--  for (uint i = 0; i != names.size(); i++) {
-+  for (unsigned int i = 0; i != names.size(); i++) {
-     GetScanManager(names[i])->SetRunningScanBufferMaximumDistance(rScanBufferMaxDistance);
-   }
- }
-@@ -1868,7 +1868,7 @@ std::vector<Vertex<LocalizedRangeScan> *> MapperGraph::FindNearByVertices(
- 
-   std::vector<Vertex<LocalizedRangeScan> *> rtn_vertices;
-   rtn_vertices.reserve(ret_matches.size());
--  for (uint i = 0; i != ret_matches.size(); i++) {
-+  for (unsigned int i = 0; i != ret_matches.size(); i++) {
-     rtn_vertices.push_back(vertices_to_search[ret_matches[i].first]);
-   }
-   return rtn_vertices;
-@@ -2984,7 +2984,7 @@ void Mapper::ClearLocalizationBuffer()
-   }
- 
-   std::vector<Name> names = m_pMapperSensorManager->GetSensorNames();
--  for (uint i = 0; i != names.size(); i++)
-+  for (unsigned int i = 0; i != names.size(); i++)
-   {
-     m_pMapperSensorManager->ClearRunningScans(names[i]);
-     m_pMapperSensorManager->ClearLastScan(names[i]);
-diff --git a/rviz_plugin/slam_toolbox_rviz_plugin.hpp b/rviz_plugin/slam_toolbox_rviz_plugin.hpp
-index dafa5d0..905d515 100644
---- a/rviz_plugin/slam_toolbox_rviz_plugin.hpp
-+++ b/rviz_plugin/slam_toolbox_rviz_plugin.hpp
-@@ -32,6 +32,7 @@
- #include <QLabel>
- #include <QFrame>
- #include <QRadioButton>
-+#undef NO_ERROR
- // STL
- #include <thread>
- #include <chrono>
-diff --git a/src/merge_maps_kinematic.cpp b/src/merge_maps_kinematic.cpp
-index 3ee0bde..cc8e505 100644
---- a/src/merge_maps_kinematic.cpp
-+++ b/src/merge_maps_kinematic.cpp
-@@ -105,7 +105,11 @@ bool MergeMapsKinematic::addSubmapCallback(
-       "/map_" + std::to_string(num_submaps_), rclcpp::QoS(1)));
-   sstmS_.push_back(this->create_publisher<nav_msgs::msg::MapMetaData>(
-       "/map_metadata_" + std::to_string(num_submaps_), rclcpp::QoS(1)));
-+#ifdef _WIN32
-+  Sleep(1000);
-+#else
-   sleep(1.0);
-+#endif
- 
-   nav_msgs::srv::GetMap::Response map;
-   nav_msgs::msg::OccupancyGrid & og = map.map;
-diff --git a/src/slam_toolbox_common.cpp b/src/slam_toolbox_common.cpp
-index 916a207..18c2fa2 100644
---- a/src/slam_toolbox_common.cpp
-+++ b/src/slam_toolbox_common.cpp
-@@ -52,6 +52,11 @@ SlamToolbox::SlamToolbox(rclcpp::NodeOptions options)
-     this->declare_parameter(
-       "stack_size_to_use", rclcpp::ParameterType::PARAMETER_INTEGER, descriptor);
-     if (this->get_parameter("stack_size_to_use", stack_size)) {
-+#ifdef _WIN32
-+      if (stack_size != 40'000'000) {
-+        RCLCPP_WARN(get_logger(), "Can't dynamically change stack size on Windows to %i. Node using stack size 40000000", (int)stack_size);
-+      }
-+#else
-       RCLCPP_INFO(get_logger(), "Node using stack size %i", (int)stack_size);
-       const rlim_t max_stack_size = stack_size;
-       struct rlimit stack_limit;
-@@ -60,6 +65,7 @@ SlamToolbox::SlamToolbox(rclcpp::NodeOptions options)
-         stack_limit.rlim_cur = stack_size;
-       }
-       setrlimit(RLIMIT_STACK, &stack_limit);
-+#endif
-     }
-   }
-   // server side never times out from lifecycle manager
diff --git a/patch/ros-lyrical-swri-console.patch b/patch/ros-lyrical-swri-console.patch
new file mode 100644
index 00000000..9e27215b
--- /dev/null
+++ b/patch/ros-lyrical-swri-console.patch
@@ -0,0 +1,22 @@
+diff --git a/src/unix_signal_handler.cpp b/src/unix_signal_handler.cpp
+index beb2369..48da6f6 100644
+--- a/src/unix_signal_handler.cpp
++++ b/src/unix_signal_handler.cpp
+@@ -67,7 +67,7 @@ void UnixSignalHandler::setup()
+ 
+   struct sigaction int_action;
+   int_action.sa_handler = UnixSignalHandler::intSignalHandler;
+-  ::sigemptyset(&int_action.sa_mask);
++  sigemptyset(&int_action.sa_mask);
+   int_action.sa_flags = SA_RESTART;
+   if (::sigaction(SIGINT, &int_action, nullptr)) {
+     qFatal("UnixSignalHandler: couldn't install SIGINT handler");
+@@ -75,7 +75,7 @@ void UnixSignalHandler::setup()
+ 
+   struct sigaction term_action;
+   term_action.sa_handler = UnixSignalHandler::termSignalHandler;
+-  ::sigemptyset(&term_action.sa_mask);
++  sigemptyset(&term_action.sa_mask);
+   term_action.sa_flags = SA_RESTART;
+   if (::sigaction(SIGTERM, &term_action, nullptr)) {
+     qFatal("UnixSignalHandler: couldn't install SIGTERM handler");
diff --git a/patch/ros-lyrical-warehouse-ros-sqlite.patch b/patch/ros-lyrical-warehouse-ros-sqlite.patch
deleted file mode 100644
index 0528af01..00000000
--- a/patch/ros-lyrical-warehouse-ros-sqlite.patch
+++ /dev/null
@@ -1,34 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -7,7 +7,7 @@ endif()
- 
- find_package(ament_cmake REQUIRED)
- find_package(SQLite3 REQUIRED)
--find_package(Boost REQUIRED COMPONENTS filesystem system thread)
-+find_package(Boost REQUIRED COMPONENTS filesystem thread)
- find_package(class_loader REQUIRED)
- find_package(OpenSSL REQUIRED)
- find_package(rclcpp REQUIRED)
-@@ -35,6 +35,7 @@ set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 14)
- 
- target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${Boost_INCLUDE_DIRS})
- target_link_libraries(${PROJECT_NAME} PUBLIC
-+  Boost::headers
-   class_loader::class_loader
-   rclcpp::rclcpp
-   warehouse_ros::warehouse_ros
-@@ -65,11 +66,11 @@ if(BUILD_TESTING)
- 
-   ament_add_gtest(TestLoader test/TestLoader.cpp)
-   target_link_libraries(TestLoader ${PROJECT_NAME})
--  target_link_libraries(TestLoader ${Boost_LIBRARIES})
-+  target_link_libraries(TestLoader Boost::filesystem Boost::thread)
- 
-   ament_add_gtest(BusyHandler test/BusyHandler.cpp)
-   target_link_libraries(BusyHandler ${PROJECT_NAME})
--  target_link_libraries(BusyHandler ${Boost_LIBRARIES})
-+  target_link_libraries(BusyHandler Boost::filesystem Boost::thread)
- 
-   find_package(ament_lint_auto REQUIRED)
-   list(APPEND AMENT_LINT_AUTO_EXCLUDE
diff --git a/pixi.lock b/pixi.lock
index ad019d19..c46227df 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,29 +1,29 @@
 version: 7
 platforms:
-- name: osx-64
-  virtual-packages:
-  - __unix=0=0
-  - __osx=13.0
-  - __archspec=0=x86_64
-- name: osx-arm64
-  virtual-packages:
-  - __unix=0=0
-  - __osx=13.0
-  - __archspec=0=m1
-- name: p1
+- name: linux-64-glibc-2-17
   subdir: linux-64
   virtual-packages:
   - __glibc=2.17
   - __unix=0=0
   - __linux=4.18
   - __archspec=0=x86_64
-- name: p2
+- name: linux-aarch64-glibc-2-17
   subdir: linux-aarch64
   virtual-packages:
   - __glibc=2.17
   - __unix=0=0
   - __linux=4.18
   - __archspec=0=aarch64
+- name: osx-64
+  virtual-packages:
+  - __unix=0=0
+  - __osx=13.0
+  - __archspec=0=x86_64
+- name: osx-arm64
+  virtual-packages:
+  - __unix=0=0
+  - __osx=13.0
+  - __archspec=0=m1
 - name: win-64
   virtual-packages:
   - __win=10.0
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   md5: 8b3e5d797336276400ed6685b64ec64b
@@ -1893,19 +1898,19 @@ packages:
   size: 14497574
   timestamp: 1784958042787
   python_site_packages_path: lib/python3.14/site-packages
-- conda: https://repo.prefix.dev/conda-forge/osx-64/rattler-build-0.72.2-h6193a51_0.conda
-  sha256: 1c9459077c5c868522b9ef2ed7d5c375b74f61143378d71d2c27a0d4c2780fbe
-  md5: f8e7a65fee72591fcc0c0f5c62f74a82
+- conda: https://repo.prefix.dev/conda-forge/osx-64/rattler-build-0.57.2-h4728fb8_1.conda
+  sha256: 5ec581b4f39060c1b90687627f4b0bf04ee62d405f43072de7c83a46a9448324
+  md5: 286416d9d4b0c9fedd90e0ed56be240c
   depends:
-  - __osx >=11.0
-  - libcxx >=19
+  - __osx >=10.13
   constrains:
-  - __osx >=11.0
+  - __osx >=10.13
   license: BSD-3-Clause
+  license_family: BSD
   purls: []
   run_exports: {}
-  size: 19220256
-  timestamp: 1785543873696
+  size: 17788466
+  timestamp: 1770649457751
 - conda: https://repo.prefix.dev/conda-forge/osx-64/rattler-index-0.30.3-hbc4d974_0.conda
   sha256: 117318e70c35426be1bf0a1986455af77c9ec8abffe5de72b7eead381e373e22
   md5: f45f1b7f42fafecad59f0cba777d463c
@@ -2318,19 +2323,19 @@ packages:
   size: 14035244
   timestamp: 1784909523029
   python_site_packages_path: lib/python3.14/site-packages
-- conda: https://repo.prefix.dev/conda-forge/osx-arm64/rattler-build-0.72.2-h20b3172_0.conda
-  sha256: 75d671b46a790dd2ed45c7a713d45b76772bd23ca236c17c0f5e54adb158ac91
-  md5: 558030b5c335b1041be073638f53c1a1
+- conda: https://repo.prefix.dev/conda-forge/osx-arm64/rattler-build-0.57.2-h6fdd925_1.conda
+  sha256: 7fa90a0d2ecb767796cadfa6f1384e52229c9cdd10c11ce49a3428048f64b91c
+  md5: a28d853fd6fff4914e3248343b158837
   depends:
   - __osx >=11.0
-  - libcxx >=19
   constrains:
   - __osx >=11.0
   license: BSD-3-Clause
+  license_family: BSD
   purls: []
   run_exports: {}
-  size: 17696068
-  timestamp: 1785543806251
+  size: 16253611
+  timestamp: 1770649407683
 - conda: https://repo.prefix.dev/conda-forge/osx-arm64/rattler-index-0.30.3-hcb0414c_0.conda
   sha256: a467183f2f2daf2869eed4f7e58a3e8a6d92837b4048552c244fe8aa78dbdb5c
   md5: 40635eb678901d1cc20e1140032260f2
@@ -2706,18 +2711,19 @@ packages:
   size: 18338767
   timestamp: 1784911044838
   python_site_packages_path: Lib/site-packages
-- conda: https://repo.prefix.dev/conda-forge/win-64/rattler-build-0.72.2-he94b42d_0.conda
-  sha256: bd96fffbab89fe61a8377264c5c941435d96ea513835855b514b27454e3f6788
-  md5: 252bd358d47db8684a6734e279f92f91
+- conda: https://repo.prefix.dev/conda-forge/win-64/rattler-build-0.57.2-h18a1a76_1.conda
+  sha256: 9b575a5eaae1c427251d75ad36f6707f541e59056adcde35fca410c7f5aa29aa
+  md5: 545404bf30528513fd12c111b01c95a0
   depends:
   - vc >=14.3,<15
   - vc14_runtime >=14.44.35208
   - ucrt >=10.0.20348.0
   license: BSD-3-Clause
+  license_family: BSD
   purls: []
   run_exports: {}
-  size: 20390390
-  timestamp: 1785543839782
+  size: 16311008
+  timestamp: 1770649439173
 - conda: https://repo.prefix.dev/conda-forge/win-64/rattler-index-0.30.3-h91801bb_0.conda
   sha256: ef8e53ad5c4c7bdc465ed5853d44fc26ca60a1b1b48838962814f5eef2081258
   md5: 161257c1595bb9361673d434a680bcdd
@@ -2816,19 +2822,21 @@ packages:
     - zstd >=1.5.7,<1.6.0a0
   size: 388453
   timestamp: 1764777142545
-- pypi: git+https://github.com/RoboStack/vinca.git?rev=4a2f33b8dbbcb49cc6b98012dac1648e4fbc3a5e#4a2f33b8dbbcb49cc6b98012dac1648e4fbc3a5e
+- pypi: git+https://github.com/RoboStack/vinca.git?rev=435ebd63c76c6d52d935b6650724fb03126d4694#435ebd63c76c6d52d935b6650724fb03126d4694
   name: vinca
   version: 0.2.0
   requires_dist:
   - catkin-pkg>=0.4.16
+  - ruamel-yaml>=0.16.6,<0.18.0
+  - rosdistro>=0.8.0
   - empy>=3.3.4,<4.0.0
-  - jinja2>=3.0.0
-  - license-expression>=30.0.0
-  - networkx>=2.5
   - requests>=2.24.0
+  - networkx>=2.5
   - rich>=10
-  - rosdistro>=0.8.0
-  - ruamel-yaml>=0.16.6,<0.18.0
+  - jinja2>=3.0.0
+  - license-expression>=30.0.0
+  - packaging>=23.0
+  - zstandard>=0.19.0
   requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/0b/a7/71ac2cff56fec219ed242bb11b8efb69fcc4bec75db06fb7bfe35de520e6/certifi-2026.7.22-py3-none-any.whl
   name: certifi
@@ -2883,6 +2891,14 @@ packages:
   version: 3.4.9
   sha256: 8a79d9f4d8001473a30c163556b3c3bfebec837495a412dde78b51672f6134f9
   requires_python: '>=3.7'
+- pypi: https://files.pythonhosted.org/packages/31/dc/cc50210e11e465c975462439a492516a73300ab8caa8f5e0902544fd748b/zstandard-0.25.0-cp314-cp314-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
+  name: zstandard
+  version: 0.25.0
+  sha256: e09bb6252b6476d8d56100e8147b803befa9a12cea144bbe629dd508800d1ad0
+  requires_dist:
+  - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/32/91/30151a39f7570f448ed84529390628a651d7f27c87d73c9b887f8189695e/docutils-0.23-py3-none-any.whl
   name: docutils
   version: '0.23'
@@ -2903,10 +2919,26 @@ packages:
   - mercurial>5.7 ; extra == 'docs'
   - ruamel-yaml-jinja2>=0.2 ; extra == 'jinja2'
   requires_python: '>=3'
+- pypi: https://files.pythonhosted.org/packages/3a/43/241f9615bcf8ba8903b3f0432da069e857fc4fd1783bd26183db53c4804b/zstandard-0.25.0-cp314-cp314-win_amd64.whl
+  name: zstandard
+  version: 0.25.0
+  sha256: c19bcdd826e95671065f8692b5a4aa95c52dc7a02a4c5a0cac46deb879a017a2
+  requires_dist:
+  - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/3b/95/88ed47cb7da88569a78b7d6fb9420298df7e99997810c844a924d96d3c08/empy-3.3.4.tar.gz
   name: empy
   version: 3.3.4
   sha256: 73ac49785b601479df4ea18a7c79bc1304a8a7c34c02b9472cf1206ae88f01b3
+- pypi: https://files.pythonhosted.org/packages/3d/5c/f8923b595b55fe49e30612987ad8bf053aef555c14f05bb659dd5dbe3e8a/zstandard-0.25.0-cp314-cp314-macosx_10_13_x86_64.whl
+  name: zstandard
+  version: 0.25.0
+  sha256: e29f0cf06974c899b2c188ef7f783607dbef36da4c242eb6c82dcd8b512855e3
+  requires_dist:
+  - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/41/3c/a36c2450754618e62008bf7435ccb0f88053e07592e6028a34776213d877/markupsafe-3.0.3-cp314-cp314-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
   name: markupsafe
   version: 3.0.3
@@ -2965,6 +2997,14 @@ packages:
   version: 6.0.3
   sha256: c458b6d084f9b935061bc36216e8a69a7e293a2f1e68bf956dcd9e6cbcd143f5
   requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/8d/09/d0a2a14fc3439c5f874042dca72a79c70a532090b7ba0003be73fee37ae2/zstandard-0.25.0-cp314-cp314-macosx_11_0_arm64.whl
+  name: zstandard
+  version: 0.25.0
+  sha256: 05df5136bc5a011f33cd25bc9f506e7426c0c9b3f9954f056831ce68f3b6689f
+  requires_dist:
+  - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/92/b5/47e807c2623074914e29dabd16cbbdd4bf5e9b2db9f8090fa64411fc5382/pyyaml-6.0.3-cp314-cp314-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
   name: pyyaml
   version: 6.0.3
@@ -3051,6 +3091,14 @@ packages:
   - pysocks>=1.5.6,!=1.5.7 ; extra == 'socks'
   - chardet>=3.0.2,<8 ; extra == 'use-chardet-on-py3'
   requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/a4/86/a48e56320d0a17189ab7a42645387334fba2200e904ee47fc5a26c1fd8ca/zstandard-0.25.0-cp314-cp314-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
+  name: zstandard
+  version: 0.25.0
+  sha256: 223415140608d0f0da010499eaa8ccdb9af210a543fac54bce15babbcfc78439
+  requires_dist:
+  - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/af/40/791891d4c0c4dab4c5e187c17261cedc26285fd41541577f900470a45a4d/license_expression-30.4.4-py3-none-any.whl
   name: license-expression
   version: 30.4.4
diff --git a/pixi.toml b/pixi.toml
index 21b3ce3c..61fcb177 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -3,16 +3,20 @@ name = "ros-lyrical"
 description = "RoboStack repo to package ros-lyrical packages as conda packages"
 authors = ["Tobias Fischer <tobias.fischer@qut.edu.au>", "Wolf Vollprecht <w.vollprecht@gmail.com>", "Silvio Traversaro <silvio@traversaro.it>", "Daisuke Nishimatsu <daisuke.nishimatsu1021@gmail.com>"]
 channels = ["https://repo.prefix.dev/conda-forge"]
-platforms = ["osx-arm64", "linux-64", "osx-64", "linux-aarch64", "win-64"]
-
-[system-requirements]
-# 2.17 is the glibc version used in centos 7
-libc = { family="glibc", version="2.17" }
+platforms = [
+  "osx-arm64",
+  # 2.17 is the glibc version used in CentOS 7
+  { platform = "linux-64", glibc = "2.17" },
+  "osx-64",
+  { platform = "linux-aarch64", glibc = "2.17" },
+  "win-64",
+]
 
 [dependencies]
 python = ">=3.14.0,<3.15"
-# Include the latest rattler-build fixes with respect to patch handling.
-rattler-build = ">=0.72.2"
+# Include the latest rattler-build fixes w.r.t. to patches handling
+# rattler-build regression, pinning to 0.57
+rattler-build = "<0.58.0"
 cmake = "<4.0"
 setuptools = "<82.0"
 rattler-index = ">=0.27.16"
@@ -25,7 +29,7 @@ git = "*"
 
 [pypi-dependencies]
 # This is typically the latest commit on main branch
-vinca = { git = "https://github.com/RoboStack/vinca.git", rev = "4a2f33b8dbbcb49cc6b98012dac1648e4fbc3a5e" }
+vinca = { git = "https://github.com/RoboStack/vinca.git", rev = "435ebd63c76c6d52d935b6650724fb03126d4694" }
 # 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 }
@@ -52,4 +56,3 @@ description = "Remove all generated recipes, before regenerating them."
 cmd = "cp ./patch/{{ PACKAGE }}.*patch ./recipes/{{ PACKAGE }}/patch/; rattler-build build --recipe ./recipes/{{ PACKAGE }}/recipe.yaml -m ./conda_build_config.yaml -c https://prefix.dev/robostack-lyrical -c https://prefix.dev/conda-forge"
 args = [{ arg = "PACKAGE", default = "ros-lyrical-ros-workspace" }]
 description = "Build a single package, from the ./recipes dir. Add the `ros-lyrical-` prefix to the package name, e.g. `pixi build-one --package ros-lyrical-ros-workspace`"
-
diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml
index 886bd8a0..5a197f7f 100644
--- a/pkg_additional_info.yaml
+++ b/pkg_additional_info.yaml
@@ -12,11 +12,15 @@ coal:
   generate_dummy_package_with_run_deps:
     dep_name: coal
     max_pin: 'x.x.x'
-    override_version: '3.0.3'
+    override_version: '3.0.4'
 compressed_depth_image_transport:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 console_bridge_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+cyclonedds:
+  generate_dummy_package_with_run_deps:
+    dep_name: cyclonedds
+    max_pin: 'x.x'
 data_tamer_cpp:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 diagnostic_aggregator:
@@ -74,6 +78,24 @@ hpp_fcl:
     max_pin: 'x.x.x'
     # the version on ros is outdated w.r.t. to the conda-forge one
     override_version: '3.0.2'
+iceoryx_binding_c:
+  generate_dummy_package_with_run_deps:
+    dep_name: libiceoryx-binding-c
+    max_pin: 'x.x.x'
+    # the version on ROS (2.0.6) is outdated w.r.t. the conda-forge one
+    override_version: '2.95.8'
+iceoryx_hoofs:
+  generate_dummy_package_with_run_deps:
+    dep_name: libiceoryx-hoofs
+    max_pin: 'x.x.x'
+    # the version on ROS (2.0.6) is outdated w.r.t. the conda-forge one
+    override_version: '2.95.8'
+iceoryx_posh:
+  generate_dummy_package_with_run_deps:
+    dep_name: libiceoryx-posh
+    max_pin: 'x.x.x'
+    # the version on ROS (2.0.6) is outdated w.r.t. the conda-forge one
+    override_version: '2.95.8'
 io_context:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 lanelet2_projection:
@@ -121,12 +143,12 @@ pinocchio:
     dep_name: pinocchio
     max_pin: 'x.x.x'
     # the version on ros is outdated w.r.t. to the conda-forge one
-    override_version: '4.0.0'
+    override_version: '4.1.0'
 proxsuite:
   generate_dummy_package_with_run_deps:
     dep_name: proxsuite
     max_pin: 'x.x'
-    override_version: '0.7.2'
+    override_version: '0.7.3'
 pybind11_json_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR"
 pybind11_vendor:
diff --git a/robostack.yaml b/robostack.yaml
index 01e1c53d..95b31fc2 100644
--- a/robostack.yaml
+++ b/robostack.yaml
@@ -308,7 +308,7 @@ libgazebo11-dev:
 libgazebo9-dev:
   robostack: [gazebo, libprotobuf, libabseil]
 libgdal-dev:
-  robostack: [libgdal]
+  robostack: [libgdal-core]
 libgeos++-dev:
   robostack: [geos]
 libgflags-dev:
@@ -1175,7 +1175,7 @@ unzip:
 uuid:
   robostack:
     linux: [libuuid]
-    osx: []
+    osx: [libuuid]
     win64: []
 virtualenv:
   robostack: [virtualenv]
diff --git a/rosdistro_snapshot.yaml b/rosdistro_snapshot.yaml
index 31d03af7..0ddb8297 100644
--- a/rosdistro_snapshot.yaml
+++ b/rosdistro_snapshot.yaml
@@ -1,6081 +1,26548 @@
-# Snapshot generated by vinca-snapshot on 2026-06-09T09:34:16Z UTC for distro lyrical
+# Snapshot generated by vinca-snapshot on 2026-09-04T15:35:38Z UTC for distro lyrical
 acado_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  repository: https://gitlab.com/autowarefoundation/autoware.auto/acado_vendor
   tag: release/lyrical/acado_vendor/1.0.0-8
   url: https://github.com/ros2-gbp/acado_vendor-release.git
   version: 1.0.0
 ackermann_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-drivers/ackermann_msgs
   tag: release/lyrical/ackermann_msgs/2.0.2-7
   url: https://github.com/ros2-gbp/ackermann_msgs-release.git
   version: 2.0.2
 ackermann_nlmpc:
+  dependencies:
+  - ackermann_msgs
+  - ackermann_nlmpc_msgs
+  - ament_pep257
+  - geometry_msgs
+  - nav_msgs
+  - std_msgs
+  repository: https://git.ime.uni-luebeck.de/public-projects/asl/ackermann_nlmpc
   tag: release/lyrical/ackermann_nlmpc/1.0.3-3
   url: https://github.com/ros2-gbp/ackmerann_nlmpc-release.git
   version: 1.0.3
 ackermann_nlmpc_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://git.ime.uni-luebeck.de/public-projects/asl/ackermann_nlmpc
   tag: release/lyrical/ackermann_nlmpc_msgs/1.0.3-3
   url: https://github.com/ros2-gbp/ackmerann_nlmpc-release.git
   version: 1.0.3
 ackermann_steering_controller:
-  tag: release/lyrical/ackermann_steering_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - steering_controllers_library
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/ackermann_steering_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 action_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_core_generators
+  - rosidl_core_runtime
+  - service_msgs
+  - unique_identifier_msgs
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/action_msgs/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 action_tutorials_cpp:
-  tag: release/lyrical/action_tutorials_cpp/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/action_tutorials_cpp/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 action_tutorials_py:
-  tag: release/lyrical/action_tutorials_py/0.37.8-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - rclpy
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/action_tutorials_py/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 actuator_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/rudislabs/actuator_msgs
   tag: release/lyrical/actuator_msgs/0.0.1-5
   url: https://github.com/ros2-gbp/actuator_msgs-release.git
   version: 0.0.1
 adaptive_component:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  repository: https://github.com/ros-acceleration/adaptive_component
   tag: release/lyrical/adaptive_component/0.2.1-6
   url: https://github.com/ros2-gbp/adaptive_component-release.git
   version: 0.2.1
+adi_iio:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_lint_cmake
+  - ament_cmake_ros
+  - ament_cmake_xmllint
+  - ament_copyright
+  - ament_lint_auto
+  - ament_lint_common
+  - ament_pep257
+  - launch
+  - launch_pytest
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - rclcpp
+  - rclpy
+  - ros2launch
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - rosidl_typesupport_introspection_cpp
+  - std_msgs
+  repository: https://github.com/analogdevicesinc/iio_ros2
+  tag: release/lyrical/adi_iio/1.1.0-1
+  url: https://github.com/ros2-gbp/adi_iio-release.git
+  version: 1.1.0
+adi_imu:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_copyright
+  - ament_lint_auto
+  - ament_pep257
+  - builtin_interfaces
+  - geometry_msgs
+  - rclcpp
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/analogdevicesinc/imu_ros2
+  tag: release/lyrical/adi_imu/1.1.0-1
+  url: https://github.com/ros2-gbp/adi_imu-release.git
+  version: 1.1.0
 admittance_controller:
-  tag: release/lyrical/admittance_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - angles
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - kinematics_interface
+  - kinematics_interface_kdl
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_kdl
+  - tf2_ros
+  - trajectory_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/admittance_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
+agni_tf_tools:
+  dependencies:
+  - ament_cmake
+  - angles
+  - geometry_msgs
+  - interactive_markers
+  - pluginlib
+  - rclcpp
+  - rviz_common
+  - rviz_default_plugins
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/ubi-agni/agni_tf_tools
+  tag: release/lyrical/agni_tf_tools/1.0.2-1
+  url: https://github.com/ros2-gbp/agni_tf_tools-release.git
+  version: 1.0.2
 ament_acceleration:
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ros-acceleration/ament_acceleration
   tag: release/lyrical/ament_acceleration/0.2.0-6
   url: https://github.com/ros2-gbp/ament_acceleration-release.git
   version: 0.2.0
 ament_black:
-  tag: release/lyrical/ament_black/0.2.6-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/botsandus/ament_black
+  tag: release/lyrical/ament_black/0.2.7-1
   url: https://github.com/ros2-gbp/ament_black-release.git
-  version: 0.2.6
+  version: 0.2.7
 ament_clang_format:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_clang_format/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_clang_tidy:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_clang_tidy/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake:
-  tag: release/lyrical/ament_cmake/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_export_definitions
+  - ament_cmake_export_dependencies
+  - ament_cmake_export_include_directories
+  - ament_cmake_export_libraries
+  - ament_cmake_export_link_flags
+  - ament_cmake_export_targets
+  - ament_cmake_gen_version_h
+  - ament_cmake_libraries
+  - ament_cmake_python
+  - ament_cmake_target_dependencies
+  - ament_cmake_test
+  - ament_cmake_version
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_auto:
-  tag: release/lyrical/ament_cmake_auto/2.8.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_auto/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_black:
-  tag: release/lyrical/ament_cmake_black/0.2.6-3
+  dependencies:
+  - ament_black
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_xmllint
+  repository: https://github.com/botsandus/ament_black
+  tag: release/lyrical/ament_cmake_black/0.2.7-1
   url: https://github.com/ros2-gbp/ament_black-release.git
-  version: 0.2.6
+  version: 0.2.7
 ament_cmake_catch2:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_test
+  repository: https://github.com/open-rmf/ament_cmake_catch2
   tag: release/lyrical/ament_cmake_catch2/1.5.0-3
   url: https://github.com/ros2-gbp/ament_cmake_catch2-release.git
   version: 1.5.0
 ament_cmake_clang_format:
+  dependencies:
+  - ament_clang_format
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_clang_format/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_clang_tidy:
+  dependencies:
+  - ament_clang_tidy
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_clang_tidy/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_copyright:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_copyright
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_copyright/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_core:
-  tag: release/lyrical/ament_cmake_core/2.8.7-3
+  dependencies:
+  - ament_package
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_core/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_cppcheck:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cppcheck
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_cppcheck/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_cpplint:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cpplint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_cpplint/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_export_definitions:
-  tag: release/lyrical/ament_cmake_export_definitions/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_export_definitions/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_export_dependencies:
-  tag: release/lyrical/ament_cmake_export_dependencies/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_libraries
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_export_dependencies/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_export_include_directories:
-  tag: release/lyrical/ament_cmake_export_include_directories/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_export_include_directories/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_export_libraries:
-  tag: release/lyrical/ament_cmake_export_libraries/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_export_libraries/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_export_link_flags:
-  tag: release/lyrical/ament_cmake_export_link_flags/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_export_link_flags/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_export_targets:
-  tag: release/lyrical/ament_cmake_export_targets/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_export_libraries
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_export_targets/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_flake8:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_flake8
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_flake8/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_gen_version_h:
-  tag: release/lyrical/ament_cmake_gen_version_h/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_gtest
+  - ament_package
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_gen_version_h/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_gmock:
-  tag: release/lyrical/ament_cmake_gmock/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_gtest
+  - ament_cmake_test
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_gmock/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_google_benchmark:
-  tag: release/lyrical/ament_cmake_google_benchmark/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_export_dependencies
+  - ament_cmake_python
+  - ament_cmake_test
+  - google_benchmark_vendor
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_google_benchmark/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_gtest:
-  tag: release/lyrical/ament_cmake_gtest/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_test
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_gtest/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_include_directories:
-  tag: release/lyrical/ament_cmake_include_directories/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_include_directories/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_libraries:
-  tag: release/lyrical/ament_cmake_libraries/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_libraries/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_lint_cmake:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_test
+  - ament_lint_cmake
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_lint_cmake/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_mypy:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_mypy
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_mypy/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_pclint:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_pclint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_pclint/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_pep257:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_pep257
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_pep257/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_pycodestyle:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_pycodestyle
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_pycodestyle/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_pyflakes:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_pyflakes
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_pyflakes/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_pytest:
-  tag: release/lyrical/ament_cmake_pytest/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_test
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_pytest/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_python:
-  tag: release/lyrical/ament_cmake_python/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_python/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_ros:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - rmw_test_fixture_implementation
+  repository: https://github.com/ros2/ament_cmake_ros
   tag: release/lyrical/ament_cmake_ros/0.15.8-1
   url: https://github.com/ros2-gbp/ament_cmake_ros-release.git
   version: 0.15.8
 ament_cmake_ros_core:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_export_dependencies
+  - ament_cmake_export_targets
+  - ament_cmake_libraries
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/ament_cmake_ros
   tag: release/lyrical/ament_cmake_ros_core/0.15.8-1
   url: https://github.com/ros2-gbp/ament_cmake_ros-release.git
   version: 0.15.8
 ament_cmake_target_dependencies:
-  tag: release/lyrical/ament_cmake_target_dependencies/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_include_directories
+  - ament_cmake_libraries
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_target_dependencies/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_test:
-  tag: release/lyrical/ament_cmake_test/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_python
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_test/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_uncrustify:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_uncrustify
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_uncrustify/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cmake_vendor_package:
-  tag: release/lyrical/ament_cmake_vendor_package/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_export_dependencies
+  - ament_cmake_test
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_vendor_package/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_version:
-  tag: release/lyrical/ament_cmake_version/2.8.7-3
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ament/ament_cmake
+  tag: release/lyrical/ament_cmake_version/2.8.8-1
   url: https://github.com/ros2-gbp/ament_cmake-release.git
-  version: 2.8.7
+  version: 2.8.8
 ament_cmake_xmllint:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cmake_xmllint/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_copyright:
+  dependencies:
+  - ament_flake8
+  - ament_lint
+  - ament_pep257
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_copyright/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cppcheck:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_pycodestyle
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cppcheck/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_cpplint:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_cpplint/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_download:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/samsung-ros/ament_download
   tag: release/lyrical/ament_download/0.0.5-7
   url: https://github.com/ros2-gbp/ament_download-release.git
   version: 0.0.5
 ament_flake8:
+  dependencies:
+  - ament_lint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_flake8/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_index_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ament/ament_index
   tag: release/lyrical/ament_index_cpp/1.13.3-3
   url: https://github.com/ros2-gbp/ament_index-release.git
   version: 1.13.3
 ament_index_python:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ament/ament_index
   tag: release/lyrical/ament_index_python/1.13.3-3
   url: https://github.com/ros2-gbp/ament_index-release.git
   version: 1.13.3
 ament_lint:
+  dependencies: []
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_lint/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_lint_auto:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_test
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_lint_auto/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_lint_cmake:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_lint_cmake/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_lint_common:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_export_dependencies
+  - ament_cmake_flake8
+  - ament_cmake_lint_cmake
+  - ament_cmake_pep257
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_lint_common/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_mypy:
+  dependencies:
+  - ament_flake8
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_mypy/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
-ament_nodl:
-  tag: release/lyrical/ament_nodl/0.1.0-8
-  url: https://github.com/ros2-gbp/ament_nodl-release.git
-  version: 0.1.0
 ament_package:
+  dependencies: []
+  repository: https://github.com/ament/ament_package
   tag: release/lyrical/ament_package/0.18.3-3
   url: https://github.com/ros2-gbp/ament_package-release.git
   version: 0.18.3
 ament_pclint:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_pclint/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_pep257:
+  dependencies:
+  - ament_flake8
+  - ament_lint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_pep257/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_pycodestyle:
+  dependencies:
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_pycodestyle/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_pyflakes:
+  dependencies:
+  - ament_pycodestyle
+  - ament_xmllint
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_pyflakes/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_uncrustify:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_pycodestyle
+  - ament_xmllint
+  - uncrustify_vendor
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_uncrustify/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 ament_vitis:
+  dependencies:
+  - ament_acceleration
+  - ament_cmake_core
+  - ament_cmake_ros
+  repository: https://github.com/ros-acceleration/ament_vitis
   tag: release/lyrical/ament_vitis/0.10.1-6
   url: https://github.com/ros2-gbp/ament_vitis-release.git
   version: 0.10.1
 ament_xmllint:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_lint
+  - ament_pep257
+  repository: https://github.com/ament/ament_lint
   tag: release/lyrical/ament_xmllint/0.20.6-1
   url: https://github.com/ros2-gbp/ament_lint-release.git
   version: 0.20.6
 angles:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  repository: https://github.com/ros/angles
   tag: release/lyrical/angles/1.16.1-3
   url: https://github.com/ros2-gbp/angles-release.git
   version: 1.16.1
 apex_test_tools:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_cmake_pclint
+  - ament_lint_auto
+  - ament_lint_common
+  - osrf_testing_tools_cpp
+  repository: https://gitlab.com/ApexAI/apex_test_tools
   tag: release/lyrical/apex_test_tools/0.0.2-10
   url: https://github.com/ros2-gbp/apex_test_tools-release.git
   version: 0.0.2
 apriltag:
+  dependencies: []
+  repository: https://github.com/AprilRobotics/apriltag
   tag: release/lyrical/apriltag/3.4.5-3
   url: https://github.com/ros2-gbp/apriltag-release.git
   version: 3.4.5
 apriltag_detector:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_lint_auto
+  - ament_lint_common
+  - apriltag_msgs
+  - cv_bridge
+  - image_transport
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - sensor_msgs
+  repository: https://github.com/ros-misc-utilities/apriltag_detector
   tag: release/lyrical/apriltag_detector/3.0.4-3
   url: https://github.com/ros2-gbp/apriltag_detector-release.git
   version: 3.0.4
 apriltag_detector_mit:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - apriltag_detector
+  - apriltag_mit
+  - apriltag_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - sensor_msgs
+  repository: https://github.com/ros-misc-utilities/apriltag_detector
   tag: release/lyrical/apriltag_detector_mit/3.0.4-3
   url: https://github.com/ros2-gbp/apriltag_detector-release.git
   version: 3.0.4
 apriltag_detector_umich:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - apriltag
+  - apriltag_detector
+  - apriltag_msgs
+  - pluginlib
+  - rclcpp
+  - ros_environment
+  - sensor_msgs
+  repository: https://github.com/ros-misc-utilities/apriltag_detector
   tag: release/lyrical/apriltag_detector_umich/3.0.4-3
   url: https://github.com/ros2-gbp/apriltag_detector-release.git
   version: 3.0.4
 apriltag_draw:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_lint_auto
+  - ament_lint_common
+  - apriltag_msgs
+  - cv_bridge
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - sensor_msgs
+  repository: https://github.com/ros-misc-utilities/apriltag_detector
   tag: release/lyrical/apriltag_draw/3.0.4-3
   url: https://github.com/ros2-gbp/apriltag_detector-release.git
   version: 3.0.4
 apriltag_mit:
+  dependencies: []
+  repository: https://github.com/ros-misc-utilities/apriltag_mit
   tag: release/lyrical/apriltag_mit/1.0.3-3
   url: https://github.com/ros2-gbp/apriltag_mit-release.git
   version: 1.0.3
 apriltag_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/christianrauch/apriltag_msgs
   tag: release/lyrical/apriltag_msgs/2.0.2-1
   url: https://github.com/ros2-gbp/apriltag_msgs-release.git
   version: 2.0.2
 apriltag_ros:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_cppcheck
+  - ament_lint_auto
+  - apriltag
+  - apriltag_msgs
+  - camera_ros
+  - cv_bridge
+  - image_proc
+  - image_transport
+  - image_transport_plugins
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - tf2_ros
+  repository: https://github.com/christianrauch/apriltag_ros
   tag: release/lyrical/apriltag_ros/3.4.0-1
   url: https://github.com/ros2-gbp/apriltag_ros-release.git
   version: 3.4.0
 apriltag_tools:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_lint_auto
+  - ament_lint_common
+  - apriltag_detector
+  - apriltag_draw
+  - apriltag_msgs
+  - rclcpp
+  - ros_environment
+  - rosbag2_transport
+  repository: https://github.com/ros-misc-utilities/apriltag_detector
   tag: release/lyrical/apriltag_tools/3.0.4-3
   url: https://github.com/ros2-gbp/apriltag_detector-release.git
   version: 3.0.4
 ardrone_sdk:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/vtalpaert/ardrone-ros2
   tag: release/lyrical/ardrone_sdk/2.0.3-3
   url: https://github.com/ros2-gbp/ardrone_ros-release.git
   version: 2.0.3
 ardrone_sumo:
+  dependencies:
+  - ament_cmake
+  - ardrone_sdk
+  - cv_bridge
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/vtalpaert/ardrone-ros2
   tag: release/lyrical/ardrone_sumo/2.0.3-3
   url: https://github.com/ros2-gbp/ardrone_ros-release.git
   version: 2.0.3
 aruco:
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  repository: https://github.com/pal-robotics/aruco_ros
   tag: release/lyrical/aruco/5.0.5-3
   url: https://github.com/ros2-gbp/aruco_ros-release.git
   version: 5.0.5
 aruco_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/pal-robotics/aruco_ros
   tag: release/lyrical/aruco_msgs/5.0.5-3
   url: https://github.com/ros2-gbp/aruco_ros-release.git
   version: 5.0.5
 aruco_opencv:
-  tag: release/lyrical/aruco_opencv/6.1.2-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_cpplint
+  - ament_cmake_lint_cmake
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - aruco_opencv_msgs
+  - cv_bridge
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/fictionlab/ros_aruco_opencv
+  tag: release/lyrical/aruco_opencv/7.0.0-1
   url: https://github.com/ros2-gbp/aruco_opencv-release.git
-  version: 6.1.2
+  version: 7.0.0
 aruco_opencv_msgs:
-  tag: release/lyrical/aruco_opencv_msgs/6.1.2-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_lint_auto
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/fictionlab/ros_aruco_opencv
+  tag: release/lyrical/aruco_opencv_msgs/7.0.0-1
   url: https://github.com/ros2-gbp/aruco_opencv-release.git
-  version: 6.1.2
+  version: 7.0.0
 aruco_ros:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - aruco
+  - aruco_msgs
+  - cv_bridge
+  - geometry_msgs
+  - image_transport
+  - rclcpp
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/pal-robotics/aruco_ros
   tag: release/lyrical/aruco_ros/5.0.5-3
   url: https://github.com/ros2-gbp/aruco_ros-release.git
   version: 5.0.5
 asio_cmake_module:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros-drivers/transport_drivers
   tag: release/lyrical/asio_cmake_module/1.2.0-5
   url: https://github.com/ros2-gbp/transport_drivers-release.git
   version: 1.2.0
 async_web_server_cpp:
+  dependencies:
+  - ament_cmake_ros
+  - launch_testing
+  repository: https://github.com/fkie/async_web_server_cpp
   tag: release/lyrical/async_web_server_cpp/2.0.2-1
   url: https://github.com/ros2-gbp/async_web_server_cpp-release.git
   version: 2.0.2
 at_sonde_ros_driver:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - std_msgs
+  repository: https://github.com/ma-shangao/at_sonde_ros_driver
   tag: release/lyrical/at_sonde_ros_driver/1.0.0-3
   url: https://github.com/ros2-gbp/at_sonde_ros_driver-release.git
   version: 1.0.0
+audio_capture:
+  dependencies:
+  - ament_cmake
+  - audio_common_msgs
+  - diagnostic_updater
+  - launch_xml
+  - rclcpp
+  - rclcpp_components
+  repository: https://github.com/ros-drivers/audio_common
+  tag: release/lyrical/audio_capture/0.4.0-2
+  url: https://github.com/ros2-gbp/audio_common-release.git
+  version: 0.4.0
+audio_common:
+  dependencies:
+  - ament_cmake
+  - audio_capture
+  - audio_common_msgs
+  - audio_play
+  - sound_play
+  - sound_play_msgs
+  repository: https://github.com/ros-drivers/audio_common
+  tag: release/lyrical/audio_common/0.4.0-2
+  url: https://github.com/ros2-gbp/audio_common-release.git
+  version: 0.4.0
+audio_common_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-drivers/audio_common
+  tag: release/lyrical/audio_common_msgs/0.4.0-2
+  url: https://github.com/ros2-gbp/audio_common-release.git
+  version: 0.4.0
+audio_play:
+  dependencies:
+  - ament_cmake
+  - audio_common_msgs
+  - launch_xml
+  - rclcpp
+  - rclcpp_components
+  repository: https://github.com/ros-drivers/audio_common
+  tag: release/lyrical/audio_play/0.4.0-2
+  url: https://github.com/ros2-gbp/audio_common-release.git
+  version: 0.4.0
 auto_apms_behavior_tree:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_index_python
+  - auto_apms_behavior_tree_core
+  - auto_apms_interfaces
+  - auto_apms_util
+  - generate_parameter_library
+  - geometry_msgs
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rclpy
+  - ros2cli
+  - ros2param
+  - std_srvs
+  - tf2_geometry_msgs
+  repository: https://github.com/AutoAPMS/auto-apms
   tag: release/lyrical/auto_apms_behavior_tree/1.5.1-3
   url: https://github.com/ros2-gbp/autoapms-release.git
   version: 1.5.1
 auto_apms_behavior_tree_core:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - ament_index_cpp
+  - ament_index_python
+  - auto_apms_util
+  - behaviortree_cpp
+  - example_interfaces
+  - rclcpp
+  - rclcpp_action
+  repository: https://github.com/AutoAPMS/auto-apms
   tag: release/lyrical/auto_apms_behavior_tree_core/1.5.1-3
   url: https://github.com/ros2-gbp/autoapms-release.git
   version: 1.5.1
 auto_apms_examples:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - auto_apms_behavior_tree
+  - auto_apms_interfaces
+  - auto_apms_mission
+  - auto_apms_ros2behavior
+  - auto_apms_util
+  - rclcpp_components
+  repository: https://github.com/AutoAPMS/auto-apms
   tag: release/lyrical/auto_apms_examples/1.5.1-3
   url: https://github.com/ros2-gbp/autoapms-release.git
   version: 1.5.1
 auto_apms_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - rosidl_default_generators
+  repository: https://github.com/AutoAPMS/auto-apms
   tag: release/lyrical/auto_apms_interfaces/1.5.1-3
   url: https://github.com/ros2-gbp/autoapms-release.git
   version: 1.5.1
 auto_apms_mission:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - auto_apms_behavior_tree
+  - auto_apms_util
+  - rclcpp_components
+  repository: https://github.com/AutoAPMS/auto-apms
   tag: release/lyrical/auto_apms_mission/1.5.1-3
   url: https://github.com/ros2-gbp/autoapms-release.git
   version: 1.5.1
 auto_apms_ros2behavior:
+  dependencies:
+  - ament_copyright
+  - ament_index_python
+  - auto_apms_behavior_tree
+  - auto_apms_interfaces
+  - rcl_interfaces
+  - rclpy
+  - ros2cli
+  - ros2param
+  - ros2run
+  - std_srvs
+  repository: https://github.com/AutoAPMS/auto-apms
   tag: release/lyrical/auto_apms_ros2behavior/1.5.1-3
   url: https://github.com/ros2-gbp/autoapms-release.git
   version: 1.5.1
 auto_apms_util:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - ament_index_cpp
+  - ament_index_python
+  - auto_apms_interfaces
+  - generate_parameter_library
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rcpputils
+  - yaml_cpp_vendor
+  repository: https://github.com/AutoAPMS/auto-apms
   tag: release/lyrical/auto_apms_util/1.5.1-3
   url: https://github.com/ros2-gbp/autoapms-release.git
   version: 1.5.1
 automatika_embodied_agents:
-  tag: release/lyrical/automatika_embodied_agents/0.7.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - automatika_ros_sugar
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/automatika-robotics/ros-agents
+  tag: release/lyrical/automatika_embodied_agents/0.7.4-1
   url: https://github.com/ros2-gbp/automatika_embodied_agents-release.git
-  version: 0.7.0
+  version: 0.7.4
 automatika_ros_sugar:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_index_python
+  - ament_lint_auto
+  - builtin_interfaces
+  - geometry_msgs
+  - launch
+  - launch_testing
+  - lifecycle_msgs
+  - nav_msgs
+  - rclcpp
+  - rclpy
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - tf2_ros
+  repository: https://github.com/automatika-robotics/ros-sugar
   tag: release/lyrical/automatika_ros_sugar/0.7.1-1
   url: https://github.com/ros2-gbp/automatika_ros_sugar-release.git
   version: 0.7.1
 automotive_autonomy_msgs:
+  dependencies:
+  - ament_cmake
+  - automotive_navigation_msgs
+  - automotive_platform_msgs
+  - ros_environment
+  repository: https://github.com/astuff/automotive_autonomy_msgs
   tag: release/lyrical/automotive_autonomy_msgs/3.0.4-7
   url: https://github.com/ros2-gbp/automotive_autonomy_msgs-release.git
   version: 3.0.4
 automotive_navigation_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/astuff/automotive_autonomy_msgs
   tag: release/lyrical/automotive_navigation_msgs/3.0.4-7
   url: https://github.com/ros2-gbp/automotive_autonomy_msgs-release.git
   version: 3.0.4
 automotive_platform_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/astuff/automotive_autonomy_msgs
   tag: release/lyrical/automotive_platform_msgs/3.0.4-7
   url: https://github.com/ros2-gbp/automotive_autonomy_msgs-release.git
   version: 3.0.4
 autoware_adapi_v1_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geographic_msgs
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - shape_msgs
+  - std_msgs
+  - unique_identifier_msgs
+  repository: https://github.com/autowarefoundation/autoware_adapi_msgs
   tag: release/lyrical/autoware_adapi_v1_msgs/1.9.0-4
   url: https://github.com/ros2-gbp/autoware_adapi_msgs-release.git
   version: 1.9.0
 autoware_adapi_version_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/autowarefoundation/autoware_adapi_msgs
   tag: release/lyrical/autoware_adapi_version_msgs/1.9.0-4
   url: https://github.com/ros2-gbp/autoware_adapi_msgs-release.git
   version: 1.9.0
 autoware_auto_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs
   tag: release/lyrical/autoware_auto_msgs/1.0.0-8
   url: https://github.com/ros2-gbp/autoware_auto_msgs-release.git
   version: 1.0.0
 autoware_cmake:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - autoware_lint_common
+  - ros_environment
+  repository: https://github.com/autowarefoundation/autoware_cmake
   tag: release/lyrical/autoware_cmake/1.1.0-3
   url: https://github.com/ros2-gbp/autoware_cmake-release.git
   version: 1.1.0
 autoware_common_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_common_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_control_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_control_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_internal_debug_msgs:
-  tag: release/lyrical/autoware_internal_debug_msgs/1.12.1-3
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/autowarefoundation/autoware_internal_msgs
+  tag: release/lyrical/autoware_internal_debug_msgs/1.16.0-1
   url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.12.1
+  version: 1.16.0
 autoware_internal_localization_msgs:
-  tag: release/lyrical/autoware_internal_localization_msgs/1.12.1-3
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - autoware_common_msgs
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/autowarefoundation/autoware_internal_msgs
+  tag: release/lyrical/autoware_internal_localization_msgs/1.16.0-1
   url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.12.1
+  version: 1.16.0
 autoware_internal_metric_msgs:
-  tag: release/lyrical/autoware_internal_metric_msgs/1.12.1-3
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/autowarefoundation/autoware_internal_msgs
+  tag: release/lyrical/autoware_internal_metric_msgs/1.16.0-1
   url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.12.1
+  version: 1.16.0
 autoware_internal_msgs:
-  tag: release/lyrical/autoware_internal_msgs/1.12.1-3
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - autoware_internal_debug_msgs
+  - autoware_internal_localization_msgs
+  - autoware_internal_metric_msgs
+  - autoware_internal_perception_msgs
+  - autoware_internal_planning_msgs
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/autowarefoundation/autoware_internal_msgs
+  tag: release/lyrical/autoware_internal_msgs/1.16.0-1
   url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.12.1
+  version: 1.16.0
 autoware_internal_perception_msgs:
-  tag: release/lyrical/autoware_internal_perception_msgs/1.12.1-3
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - autoware_perception_msgs
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/autowarefoundation/autoware_internal_msgs
+  tag: release/lyrical/autoware_internal_perception_msgs/1.16.0-1
   url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.12.1
+  version: 1.16.0
 autoware_internal_planning_msgs:
-  tag: release/lyrical/autoware_internal_planning_msgs/1.12.1-3
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - autoware_common_msgs
+  - autoware_perception_msgs
+  - autoware_planning_msgs
+  - autoware_vehicle_msgs
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - unique_identifier_msgs
+  repository: https://github.com/autowarefoundation/autoware_internal_msgs
+  tag: release/lyrical/autoware_internal_planning_msgs/1.16.0-1
   url: https://github.com/ros2-gbp/autoware_internal_msgs-release.git
-  version: 1.12.1
+  version: 1.16.0
 autoware_lanelet2_extension:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_ros
+  - autoware_cmake
+  - autoware_map_msgs
+  - autoware_planning_msgs
+  - geometry_msgs
+  - lanelet2_core
+  - lanelet2_io
+  - lanelet2_maps
+  - lanelet2_projection
+  - lanelet2_routing
+  - lanelet2_traffic_rules
+  - lanelet2_validation
+  - rclcpp
+  - tf2
+  - tf2_geometry_msgs
+  - visualization_msgs
+  repository: https://github.com/autowarefoundation/autoware_lanelet2_extension
   tag: release/lyrical/autoware_lanelet2_extension/0.7.2-3
   url: https://github.com/ros2-gbp/autoware_lanelet2_extension-release.git
   version: 0.7.2
 autoware_lanelet2_extension_python:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_ros
+  - autoware_cmake
+  - autoware_lanelet2_extension
+  - geometry_msgs
+  - lanelet2_core
+  - lanelet2_io
+  - lanelet2_projection
+  - lanelet2_python
+  - lanelet2_routing
+  - lanelet2_traffic_rules
+  - lanelet2_validation
+  - python_cmake_module
+  - rclcpp
+  repository: https://github.com/autowarefoundation/autoware_lanelet2_extension
   tag: release/lyrical/autoware_lanelet2_extension_python/0.7.2-3
   url: https://github.com/ros2-gbp/autoware_lanelet2_extension-release.git
   version: 0.7.2
 autoware_lint_common:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_cppcheck
+  - ament_cmake_export_dependencies
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_xmllint
+  repository: https://github.com/autowarefoundation/autoware_cmake
   tag: release/lyrical/autoware_lint_common/1.1.0-3
   url: https://github.com/ros2-gbp/autoware_cmake-release.git
   version: 1.1.0
 autoware_localization_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - autoware_common_msgs
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_localization_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_map_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - geographic_msgs
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_map_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_msgs:
+  dependencies:
+  - ament_cmake
+  - autoware_common_msgs
+  - autoware_control_msgs
+  - autoware_localization_msgs
+  - autoware_map_msgs
+  - autoware_perception_msgs
+  - autoware_planning_msgs
+  - autoware_sensing_msgs
+  - autoware_system_msgs
+  - autoware_v2x_msgs
+  - autoware_vehicle_msgs
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_perception_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - unique_identifier_msgs
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_perception_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_planning_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - autoware_common_msgs
+  - builtin_interfaces
+  - geometry_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - unique_identifier_msgs
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_planning_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_sensing_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_sensing_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_system_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - autoware_common_msgs
+  - builtin_interfaces
+  - diagnostic_msgs
+  - geometry_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - unique_identifier_msgs
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_system_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_utils:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_internal_debug_msgs
+  - autoware_internal_msgs
+  - autoware_internal_planning_msgs
+  - autoware_lint_common
+  - autoware_perception_msgs
+  - autoware_planning_msgs
+  - autoware_utils_debug
+  - autoware_utils_diagnostics
+  - autoware_utils_geometry
+  - autoware_utils_logging
+  - autoware_utils_math
+  - autoware_utils_pcl
+  - autoware_utils_rclcpp
+  - autoware_utils_system
+  - autoware_utils_tf
+  - autoware_utils_uuid
+  - autoware_utils_visualization
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_debug:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_ros
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_internal_debug_msgs
+  - autoware_internal_msgs
+  - autoware_lint_common
+  - autoware_utils_system
+  - diagnostic_msgs
+  - rclcpp
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_debug/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_diagnostics:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_ros
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_lint_common
+  - diagnostic_msgs
+  - rclcpp
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_diagnostics/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_geometry:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_internal_planning_msgs
+  - autoware_lint_common
+  - autoware_utils_math
+  - autoware_utils_system
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_geometry/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_logging:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_ros
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_lint_common
+  - logging_demo
+  - rclcpp
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_logging/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_math:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_lint_common
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_math/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_pcl:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_lint_common
+  - autoware_utils_tf
+  - pcl_conversions
+  - pcl_ros
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_pcl/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_rclcpp:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_lint_common
+  - rclcpp
+  - std_msgs
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_rclcpp/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_system:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_lint_common
+  - rclcpp
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_system/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_tf:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_ros
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_lint_common
+  - autoware_utils_geometry
+  - geometry_msgs
+  - rclcpp
+  - tf2_ros
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_tf/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_uuid:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_lint_common
+  - unique_identifier_msgs
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_uuid/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_utils_visualization:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - autoware_cmake
+  - autoware_lint_common
+  - rclcpp
+  - visualization_msgs
+  repository: https://github.com/autowarefoundation/autoware_utils
   tag: release/lyrical/autoware_utils_visualization/1.4.2-4
   url: https://github.com/ros2-gbp/autoware_utils-release.git
   version: 1.4.2
 autoware_v2x_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_v2x_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 autoware_vehicle_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - autoware_planning_msgs
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/autowarefoundation/autoware_msgs
   tag: release/lyrical/autoware_vehicle_msgs/1.11.0-3
   url: https://github.com/ros2-gbp/autoware_msgs-release.git
   version: 1.11.0
 avt_vimba_camera:
+  dependencies:
+  - ament_cmake_auto
+  - camera_info_manager
+  - diagnostic_msgs
+  - diagnostic_updater
+  - image_proc
+  - image_transport
+  - message_filters
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - stereo_image_proc
+  repository: https://github.com/astuff/avt_vimba_camera
   tag: release/lyrical/avt_vimba_camera/2001.1.0-7
   url: https://github.com/ros2-gbp/avt_vimba_camera-release.git
   version: 2001.1.0
 aws_sdk_cpp_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/wep21/aws_sdk_cpp_vendor
   tag: release/lyrical/aws_sdk_cpp_vendor/0.2.1-4
   url: https://github.com/ros2-gbp/aws_sdk_cpp_vendor-release.git
   version: 0.2.1
 backward_ros:
+  dependencies: []
+  repository: https://github.com/pal-robotics/backward_ros
   tag: release/lyrical/backward_ros/1.0.8-5
   url: https://github.com/ros2-gbp/backward_ros-release.git
   version: 1.0.8
 bag2_to_image:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - rosbag2_cpp
+  - rosbag2_storage
+  - sensor_msgs
+  repository: https://github.com/wep21/bag2_to_image
   tag: release/lyrical/bag2_to_image/0.1.2-3
   url: https://github.com/ros2-gbp/bag2_to_image-release.git
   version: 0.1.2
 battery_state_broadcaster:
-  tag: release/lyrical/battery_state_broadcaster/1.2.0-3
-  url: https://github.com/ros2-gbp/ros_battery_monitoring-release.git
-  version: 1.2.0
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/battery_state_broadcaster/6.9.0-1
+  url: https://github.com/ros2-gbp/ros2_controllers-release.git
+  version: 6.9.0
 battery_state_rviz_overlay:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  - rviz_2d_overlay_msgs
+  - sensor_msgs
+  repository: https://github.com/ipa320/ros_battery_monitoring
   tag: release/lyrical/battery_state_rviz_overlay/1.2.0-3
   url: https://github.com/ros2-gbp/ros_battery_monitoring-release.git
   version: 1.2.0
 behaviortree_cpp:
-  tag: release/lyrical/behaviortree_cpp/4.9.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - rclcpp
+  - ros_environment
+  repository: https://github.com/BehaviorTree/BehaviorTree.CPP
+  tag: release/lyrical/behaviortree_cpp/4.10.0-1
   url: https://github.com/ros2-gbp/behaviortree_cpp_v4-release.git
-  version: 4.9.0
+  version: 4.10.0
 bicycle_steering_controller:
-  tag: release/lyrical/bicycle_steering_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - steering_controllers_library
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/bicycle_steering_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 bno055:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - example_interfaces
+  - rclpy
+  - std_msgs
+  repository: https://github.com/flynneva/bno055
   tag: release/lyrical/bno055/0.5.0-4
   url: https://github.com/ros2-gbp/bno055-release.git
   version: 0.5.0
 bond:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros/bond_core
   tag: release/lyrical/bond/4.4.0-3
   url: https://github.com/ros2-gbp/bond_core-release.git
   version: 4.4.0
 bond_core:
+  dependencies:
+  - ament_cmake
+  - bond
+  - bondcpp
+  - smclib
+  repository: https://github.com/ros/bond_core
   tag: release/lyrical/bond_core/4.4.0-3
   url: https://github.com/ros2-gbp/bond_core-release.git
   version: 4.4.0
 bondcpp:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - bond
+  - rclcpp
+  - rclcpp_lifecycle
+  - smclib
+  repository: https://github.com/ros/bond_core
   tag: release/lyrical/bondcpp/4.4.0-3
   url: https://github.com/ros2-gbp/bond_core-release.git
   version: 4.4.0
 bondpy:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - bond
+  - rclpy
+  - smclib
+  repository: https://github.com/ros/bond_core
   tag: release/lyrical/bondpy/4.4.0-3
   url: https://github.com/ros2-gbp/bond_core-release.git
   version: 4.4.0
 boost_geometry_util:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_lint_auto
+  - geometry_msgs
+  - ouxt_common
+  - rclcpp
+  repository: https://github.com/OUXT-Polaris/boost_geometry_util
   tag: release/lyrical/boost_geometry_util/0.0.1-6
   url: https://github.com/ros2-gbp/boost_geometry_util-release.git
   version: 0.0.1
 boost_sml_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/nobleo/boost_sml_vendor
   tag: release/lyrical/boost_sml_vendor/1.1.13-3
   url: https://github.com/ros2-gbp/boost_sml_vendor-release.git
   version: 1.1.13
 broll:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - rcutils
+  - sensor_msgs
+  repository: https://github.com/ros-tooling/rosbag2_broll
   tag: release/lyrical/broll/0.1.0-3
   url: https://github.com/ros2-gbp/rosbag2_broll-release.git
   version: 0.1.0
 builtin_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_core_generators
+  - rosidl_core_runtime
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/builtin_interfaces/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 camera_calibration:
-  tag: release/lyrical/camera_calibration/7.1.6-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - cv_bridge
+  - image_geometry
+  - message_filters
+  - rclpy
+  - sensor_msgs
+  - std_srvs
+  repository: https://github.com/ros-perception/image_pipeline
+  tag: release/lyrical/camera_calibration/7.1.7-1
   url: https://github.com/ros2-gbp/image_pipeline-release.git
-  version: 7.1.6
+  version: 7.1.7
 camera_calibration_parsers:
+  dependencies:
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - sensor_msgs
+  - yaml_cpp_vendor
+  repository: https://github.com/ros-perception/image_common
   tag: release/lyrical/camera_calibration_parsers/6.4.10-1
   url: https://github.com/ros2-gbp/image_common-release.git
   version: 6.4.10
 camera_info_manager:
+  dependencies:
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - camera_calibration_parsers
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - sensor_msgs
+  repository: https://github.com/ros-perception/image_common
   tag: release/lyrical/camera_info_manager/6.4.10-1
   url: https://github.com/ros2-gbp/image_common-release.git
   version: 6.4.10
 camera_info_manager_py:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  - sensor_msgs
+  repository: https://github.com/ros-perception/image_common
   tag: release/lyrical/camera_info_manager_py/6.4.10-1
   url: https://github.com/ros2-gbp/image_common-release.git
   version: 6.4.10
 camera_ros:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_cppcheck
+  - ament_cmake_flake8
+  - ament_cmake_lint_cmake
+  - ament_cmake_mypy
+  - ament_cmake_pep257
+  - ament_cmake_pyflakes
+  - ament_cmake_xmllint
+  - ament_index_python
+  - ament_lint_auto
+  - camera_info_manager
+  - cv_bridge
+  - diagnostic_msgs
+  - image_view
+  - libcamera
+  - rclcpp
+  - rclcpp_components
+  - ros2launch
+  - sensor_msgs
+  repository: https://github.com/christianrauch/camera_ros
   tag: release/lyrical/camera_ros/0.7.0-1
   url: https://github.com/ros2-gbp/camera_ros-release.git
   version: 0.7.0
 can_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-industrial/ros_canopen
   tag: release/lyrical/can_msgs/2.0.0-7
   url: https://github.com/ros2-gbp/ros_canopen-release.git
   version: 2.0.0
 canopen:
+  dependencies:
+  - ament_cmake
+  - canopen_402_driver
+  - canopen_base_driver
+  - canopen_core
+  - canopen_interfaces
+  - canopen_proxy_driver
+  - lely_core_libraries
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_402_driver:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - canopen_base_driver
+  - canopen_core
+  - canopen_interfaces
+  - canopen_proxy_driver
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_402_driver/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_base_driver:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - canopen_core
+  - canopen_interfaces
+  - diagnostic_updater
+  - lely_core_libraries
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_base_driver/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_core:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - canopen_interfaces
+  - lely_core_libraries
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - yaml_cpp_vendor
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_core/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_fake_slaves:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - lely_core_libraries
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_fake_slaves/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_interfaces/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_master_driver:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - canopen_core
+  - canopen_interfaces
+  - lely_core_libraries
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_master_driver/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_proxy_driver:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - canopen_base_driver
+  - canopen_core
+  - canopen_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_proxy_driver/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_ros2_control:
+  dependencies:
+  - ament_cmake
+  - canopen_402_driver
+  - canopen_core
+  - canopen_proxy_driver
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - ros2_control_test_assets
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_ros2_control/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_ros2_controllers:
+  dependencies:
+  - ament_cmake
+  - canopen_402_driver
+  - canopen_interfaces
+  - canopen_proxy_driver
+  - controller_interface
+  - controller_manager
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_ros2_controllers/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_tests:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - canopen_402_driver
+  - canopen_core
+  - canopen_fake_slaves
+  - canopen_proxy_driver
+  - canopen_ros2_controllers
+  - controller_manager
+  - forward_command_controller
+  - joint_state_broadcaster
+  - joint_trajectory_controller
+  - lely_core_libraries
+  - robot_state_publisher
+  - xacro
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_tests/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 canopen_utils:
+  dependencies:
+  - ament_lint_auto
+  - canopen_interfaces
+  - lifecycle_msgs
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/canopen_utils/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 cartographer:
+  dependencies: []
+  repository: https://github.com/ros2/cartographer
   tag: release/lyrical/cartographer/2.0.9004-3
   url: https://github.com/ros2-gbp/cartographer-release.git
   version: 2.0.9004
 cartographer_ros:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - cartographer
+  - cartographer_ros_msgs
+  - geometry_msgs
+  - launch
+  - nav_msgs
+  - pcl_conversions
+  - rclcpp
+  - robot_state_publisher
+  - ros_environment
+  - rosbag2_cpp
+  - rosbag2_storage
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_msgs
+  - tf2_ros
+  - urdf
+  - visualization_msgs
+  repository: https://github.com/ros2/cartographer_ros
   tag: release/lyrical/cartographer_ros/2.0.9003-3
   url: https://github.com/ros2-gbp/cartographer_ros-release.git
   version: 2.0.9003
 cartographer_ros_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros2/cartographer_ros
   tag: release/lyrical/cartographer_ros_msgs/2.0.9003-3
   url: https://github.com/ros2-gbp/cartographer_ros-release.git
   version: 2.0.9003
 cartographer_rviz:
+  dependencies:
+  - ament_cmake
+  - cartographer
+  - cartographer_ros
+  - cartographer_ros_msgs
+  - pluginlib
+  - rclcpp
+  - rviz_common
+  - rviz_ogre_vendor
+  - rviz_rendering
+  repository: https://github.com/ros2/cartographer_ros
   tag: release/lyrical/cartographer_rviz/2.0.9003-3
   url: https://github.com/ros2-gbp/cartographer_ros-release.git
   version: 2.0.9003
 cascade_lifecycle_msgs:
-  tag: release/lyrical/cascade_lifecycle_msgs/2.0.4-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - lifecycle_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/fmrico/cascade_lifecycle
+  tag: release/lyrical/cascade_lifecycle_msgs/2.0.6-1
   url: https://github.com/ros2-gbp/cascade_lifecycle-release.git
-  version: 2.0.4
+  version: 2.0.6
 catch_ros2:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - ros2launch
+  - std_srvs
+  repository: https://github.com/ngmor/catch_ros2
   tag: release/lyrical/catch_ros2/0.2.3-3
   url: https://github.com/ros2-gbp/catch_ros2-release.git
   version: 0.2.3
 chained_filter_controller:
-  tag: release/lyrical/chained_filter_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - controller_interface
+  - controller_manager
+  - filters
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/chained_filter_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 chomp_motion_planner:
-  tag: release/lyrical/chomp_motion_planner/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - moveit_common
+  - moveit_core
+  - rclcpp
+  - rsl
+  - trajectory_msgs
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/chomp_motion_planner/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 class_loader:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - console_bridge_vendor
+  - rcpputils
+  repository: https://github.com/ros/class_loader
   tag: release/lyrical/class_loader/2.9.4-3
   url: https://github.com/ros2-gbp/class_loader-release.git
   version: 2.9.4
 classic_bags:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - builtin_interfaces
+  - rclcpp
+  - rclpy
+  - rosbag2_cpp
+  - rosbag2_py
+  - rosbag2_storage
+  - rosbag2_storage_mcap
+  - rosbag2_storage_sqlite3
+  - rosidl_runtime_py
+  - std_msgs
+  repository: https://github.com/MetroRobots/classic_bags
   tag: release/lyrical/classic_bags/0.4.0-3
   url: https://github.com/ros2-gbp/classic_bags-release.git
   version: 0.4.0
 clips_executive:
+  dependencies:
+  - ament_cmake
+  - cx_ament_index_plugin
+  - cx_bringup
+  - cx_clips_env_manager
+  - cx_config_plugin
+  - cx_example_plugin
+  - cx_executive_plugin
+  - cx_file_load_plugin
+  - cx_msgs
+  - cx_plugin
+  - cx_protobuf_plugin
+  - cx_ros_comm_gen
+  - cx_ros_msgs_plugin
+  - cx_tf2_pose_tracker_plugin
+  - cx_utils
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/clips_executive/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 clips_vendor:
-  tag: release/lyrical/clips_vendor/6.4.3-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/carologistics/clips_vendor
+  tag: release/lyrical/clips_vendor/6.4.4-1
   url: https://github.com/ros2-gbp/clips_vendor-release.git
-  version: 6.4.3
+  version: 6.4.4
 cm_topic_hardware_component:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - hardware_interface
+  - pal_statistics_msgs
+  - rclcpp
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  repository: https://github.com/ros-controls/topic_based_hardware_interfaces
   tag: release/lyrical/cm_topic_hardware_component/1.1.0-1
   url: https://github.com/ros2-gbp/topic_based_hardware-release.git
   version: 1.1.0
 coal:
+  dependencies:
+  - eigenpy
+  repository: https://github.com/coal-library/coal
   tag: release/lyrical/coal/3.0.3-2
   url: https://github.com/ros2-gbp/coal-release.git
   version: 3.0.3
 coin_d4_driver:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  repository: https://github.com/ROBOTIS-GIT/coin_d4_driver
   tag: release/lyrical/coin_d4_driver/1.0.1-3
   url: https://github.com/ros2-gbp/coin_d4_driver-release.git
   version: 1.0.1
 color_names:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ouxt_lint_common
+  - rclcpp
+  - rviz2
+  - std_msgs
+  - visualization_msgs
   tag: release/lyrical/color_names/0.0.3-7
   url: https://github.com/ros2-gbp/color_names-release.git
   version: 0.0.3
 color_util:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - std_msgs
+  repository: https://github.com/MetroRobots/color_util
   tag: release/lyrical/color_util/1.2.0-2
   url: https://github.com/ros2-gbp/color_util-release.git
   version: 1.2.0
 common_interfaces:
-  tag: release/lyrical/common_interfaces/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - diagnostic_msgs
+  - geometry_msgs
+  - nav_msgs
+  - sensor_msgs
+  - shape_msgs
+  - std_msgs
+  - std_srvs
+  - stereo_msgs
+  - trajectory_msgs
+  - visualization_msgs
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/common_interfaces/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 compass_conversions:
-  tag: release/lyrical/compass_conversions/3.0.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - angles
+  - compass_interfaces
+  - cras_cpp_common
+  - cras_lint
+  - geometry_msgs
+  - magnetic_model
+  - message_filters
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ctu-vras/compass
+  tag: release/lyrical/compass_conversions/4.0.1-1
   url: https://github.com/ros2-gbp/compass-release.git
-  version: 3.0.3
+  version: 4.0.1
 compass_interfaces:
-  tag: release/lyrical/compass_interfaces/3.0.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - cras_cpp_common
+  - cras_lint
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ctu-vras/compass
+  tag: release/lyrical/compass_interfaces/4.0.1-1
   url: https://github.com/ros2-gbp/compass-release.git
-  version: 3.0.3
+  version: 4.0.1
 composition:
-  tag: release/lyrical/composition/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - rclcpp_components
+  - rcutils
+  - rmw_implementation_cmake
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/composition/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 composition_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rcl_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/composition_interfaces/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 compressed_depth_image_transport:
-  tag: release/lyrical/compressed_depth_image_transport/6.2.5-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - image_transport
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/ros-perception/image_transport_plugins
+  tag: release/lyrical/compressed_depth_image_transport/6.2.6-1
   url: https://github.com/ros2-gbp/image_transport_plugins-release.git
-  version: 6.2.5
+  version: 6.2.6
 compressed_image_transport:
-  tag: release/lyrical/compressed_image_transport/6.2.5-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - image_transport
+  repository: https://github.com/ros-perception/image_transport_plugins
+  tag: release/lyrical/compressed_image_transport/6.2.6-1
   url: https://github.com/ros2-gbp/image_transport_plugins-release.git
-  version: 6.2.5
+  version: 6.2.6
 console_bridge_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_lint_auto
+  - ament_lint_common
+  - performance_test_fixture
+  repository: https://github.com/ros2/console_bridge_vendor
   tag: release/lyrical/console_bridge_vendor/1.9.1-3
   url: https://github.com/ros2-gbp/console_bridge_vendor-release.git
   version: 1.9.1
 control_box_rst:
+  dependencies: []
+  repository: https://github.com/rst-tu-dortmund/control_box_rst
   tag: release/lyrical/control_box_rst/0.0.7-7
   url: https://github.com/ros2-gbp/control_box_rst-release.git
   version: 0.0.7
 control_msgs:
-  tag: release/lyrical/control_msgs/6.9.0-3
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - builtin_interfaces
+  - diagnostic_msgs
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - trajectory_msgs
+  repository: https://github.com/ros-controls/control_msgs
+  tag: release/lyrical/control_msgs/6.10.0-1
   url: https://github.com/ros2-gbp/control_msgs-release.git
-  version: 6.9.0
+  version: 6.10.0
 control_toolbox:
-  tag: release/lyrical/control_toolbox/6.3.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - filters
+  - generate_parameter_library
+  - geometry_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcutils
+  - realtime_tools
+  - ros2_control_cmake
+  - rsl
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-controls/control_toolbox
+  tag: release/lyrical/control_toolbox/6.4.0-1
   url: https://github.com/ros2-gbp/control_toolbox-release.git
-  version: 6.3.0
+  version: 6.4.0
 controller_interface:
-  tag: release/lyrical/controller_interface/6.7.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - geometry_msgs
+  - hardware_interface
+  - pal_statistics
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/controller_interface/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 controller_manager:
-  tag: release/lyrical/controller_manager/6.7.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - backward_ros
+  - controller_interface
+  - controller_manager_msgs
+  - diagnostic_msgs
+  - diagnostic_updater
+  - example_interfaces
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - libstatistics_collector
+  - lifecycle_msgs
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclpy
+  - realtime_tools
+  - robot_state_publisher
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - ros2param
+  - ros2pkg
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/controller_manager/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 controller_manager_msgs:
-  tag: release/lyrical/controller_manager_msgs/6.7.1-1
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - lifecycle_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/controller_manager_msgs/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
+costmap_queue:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - nav2_common
+  - nav2_costmap_2d
+  - rclcpp
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/costmap_queue/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
 cras_bag_tools:
-  tag: release/lyrical/cras_bag_tools/3.0.2-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_cmake_ros
+  - builtin_interfaces
+  - cras_lint
+  - cv_bridge
+  - rclpy
+  - rosbag2_py
+  - rosidl_runtime_py
+  - sensor_msgs
+  - tf2_msgs
+  repository: https://github.com/ctu-vras/ros-utils
+  tag: release/lyrical/cras_bag_tools/4.0.2-1
   url: https://github.com/ros2-gbp/cras_ros_utils-release.git
-  version: 3.0.2
+  version: 4.0.2
 cras_cpp_common:
-  tag: release/lyrical/cras_cpp_common/3.0.2-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - backward_ros
+  - builtin_interfaces
+  - cras_lint
+  - filters
+  - geometry_msgs
+  - rcl
+  - rclcpp
+  - rclcpp_components
+  - rcutils
+  - rmw
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - urdf
+  repository: https://github.com/ctu-vras/ros-utils
+  tag: release/lyrical/cras_cpp_common/4.0.2-1
   url: https://github.com/ros2-gbp/cras_ros_utils-release.git
-  version: 3.0.2
+  version: 4.0.2
 cras_lint:
-  tag: release/lyrical/cras_lint/3.0.2-3
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_test
+  - ament_lint_common
+  repository: https://github.com/ctu-vras/ros-utils
+  tag: release/lyrical/cras_lint/4.0.2-1
   url: https://github.com/ros2-gbp/cras_ros_utils-release.git
-  version: 3.0.2
+  version: 4.0.2
 cras_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ctu-vras/cras_msgs
   tag: release/lyrical/cras_msgs/2.0.1-3
   url: https://github.com/ros2-gbp/cras_msgs-release.git
   version: 2.0.1
 cras_topic_tools:
-  tag: release/lyrical/cras_topic_tools/3.0.2-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - cras_cpp_common
+  - cras_lint
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  - topic_tools
+  repository: https://github.com/ctu-vras/ros-utils
+  tag: release/lyrical/cras_topic_tools/4.0.2-1
   url: https://github.com/ros2-gbp/cras_ros_utils-release.git
-  version: 3.0.2
+  version: 4.0.2
 crazyflie:
-  tag: release/lyrical/crazyflie/1.0.4-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - crazyflie_description
+  - crazyflie_interfaces
+  - crazyflie_server_cpp
+  - geometry_msgs
+  - rclcpp
+  - rclpy
+  - sensor_msgs
+  - std_srvs
+  repository: https://github.com/IMRCLab/crazyswarm2
+  tag: release/lyrical/crazyflie/1.0.7-1
   url: https://github.com/ros2-gbp/crazyswarm2-release.git
-  version: 1.0.4
+  version: 1.0.7
+crazyflie_description:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/IMRCLab/crazyswarm2
+  tag: release/lyrical/crazyflie_description/1.0.7-1
+  url: https://github.com/ros2-gbp/crazyswarm2-release.git
+  version: 1.0.7
 crazyflie_examples:
-  tag: release/lyrical/crazyflie_examples/1.0.4-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - crazyflie_py
+  - geometry_msgs
+  - nav_msgs
+  - rclpy
+  - sensor_msgs
+  - tf2_ros
+  - tf_transformations
+  repository: https://github.com/IMRCLab/crazyswarm2
+  tag: release/lyrical/crazyflie_examples/1.0.7-1
   url: https://github.com/ros2-gbp/crazyswarm2-release.git
-  version: 1.0.4
+  version: 1.0.7
 crazyflie_interfaces:
-  tag: release/lyrical/crazyflie_interfaces/1.0.4-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/IMRCLab/crazyswarm2
+  tag: release/lyrical/crazyflie_interfaces/1.0.7-1
   url: https://github.com/ros2-gbp/crazyswarm2-release.git
-  version: 1.0.4
+  version: 1.0.7
 crazyflie_py:
-  tag: release/lyrical/crazyflie_py/1.0.4-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - crazyflie_interfaces
+  - rclpy
+  repository: https://github.com/IMRCLab/crazyswarm2
+  tag: release/lyrical/crazyflie_py/1.0.7-1
   url: https://github.com/ros2-gbp/crazyswarm2-release.git
-  version: 1.0.4
+  version: 1.0.7
+crazyflie_server_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - crazyflie_interfaces
+  - geometry_msgs
+  - motion_capture_tracking_interfaces
+  - nav_msgs
+  - rclcpp
+  - ros_environment
+  - sensor_msgs
+  - std_srvs
+  - tf2_ros
+  repository: https://github.com/IMRCLab/crazyswarm2
+  tag: release/lyrical/crazyflie_server_cpp/1.0.7-1
+  url: https://github.com/ros2-gbp/crazyswarm2-release.git
+  version: 1.0.7
 crazyflie_server_py:
-  tag: release/lyrical/crazyflie_server_py/1.0.4-1
+  dependencies:
+  - ament_flake8
+  - ament_pep257
+  - crazyflie_interfaces
+  - geometry_msgs
+  - motion_capture_tracking_interfaces
+  - nav_msgs
+  - rcl_interfaces
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_ros
+  repository: https://github.com/IMRCLab/crazyswarm2
+  tag: release/lyrical/crazyflie_server_py/1.0.7-1
   url: https://github.com/ros2-gbp/crazyswarm2-release.git
-  version: 1.0.4
+  version: 1.0.7
 crazyflie_sim:
-  tag: release/lyrical/crazyflie_sim/1.0.4-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - crazyflie_interfaces
+  - rclpy
+  repository: https://github.com/IMRCLab/crazyswarm2
+  tag: release/lyrical/crazyflie_sim/1.0.7-1
   url: https://github.com/ros2-gbp/crazyswarm2-release.git
-  version: 1.0.4
+  version: 1.0.7
 crocoddyl:
+  dependencies:
+  - ament_cmake
+  - eigenpy
+  - jrl_cmakemodules
+  - pinocchio
+  repository: https://github.com/loco-3d/crocoddyl
   tag: release/lyrical/crocoddyl/3.2.0-5
   url: https://github.com/ros2-gbp/crocoddyl-release.git
   version: 3.2.0
 crx_kinematics:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - moveit_core
+  - pluginlib
+  - tf2_eigen
+  repository: https://github.com/danielcranston/crx_kinematics
   tag: release/lyrical/crx_kinematics/1.0.0-3
   url: https://github.com/ros2-gbp/crx_kinematics-release.git
   version: 1.0.0
 cuda_buffer:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - cuda_buffer_backend_msgs
+  - rcutils
+  - rmw
+  - rosidl_buffer
+  repository: https://github.com/ros2/rosidl_buffer_backends
   tag: release/lyrical/cuda_buffer/0.1.2-1
   url: https://github.com/ros2-gbp/rosidl_buffer_backends-release.git
   version: 0.1.2
 cuda_buffer_backend:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - cuda_buffer
+  - cuda_buffer_backend_msgs
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rcutils
+  - rosidl_buffer_backend
+  - rosidl_buffer_backend_registry
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_cpp
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros2/rosidl_buffer_backends
   tag: release/lyrical/cuda_buffer_backend/0.1.2-1
   url: https://github.com/ros2-gbp/rosidl_buffer_backends-release.git
   version: 0.1.2
 cuda_buffer_backend_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/rosidl_buffer_backends
   tag: release/lyrical/cuda_buffer_backend_msgs/0.1.2-1
   url: https://github.com/ros2-gbp/rosidl_buffer_backends-release.git
   version: 0.1.2
 cudnn_cmake_module:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  repository: https://github.com/tier4/cudnn_cmake_module
   tag: release/lyrical/cudnn_cmake_module/0.0.1-7
   url: https://github.com/ros2-gbp/cudnn_cmake_module-release.git
   version: 0.0.1
 cv_bridge:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - python_cmake_module
+  - rclcpp
+  - rcpputils
+  - sensor_msgs
+  repository: https://github.com/ros-perception/vision_opencv
   tag: release/lyrical/cv_bridge/4.1.0-3
   url: https://github.com/ros2-gbp/vision_opencv-release.git
   version: 4.1.0
 cx_ament_index_plugin:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - clips_vendor
+  - cx_plugin
+  - cx_utils
+  - pluginlib
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_ament_index_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_bringup:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - cx_ament_index_plugin
+  - cx_clips_env_manager
+  - cx_config_plugin
+  - cx_example_plugin
+  - cx_executive_plugin
+  - cx_file_load_plugin
+  - cx_protobuf_plugin
+  - cx_ros_comm_gen
+  - cx_ros_msgs_plugin
+  - example_interfaces
+  - launch_ros
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_bringup/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_clips_env_manager:
+  dependencies:
+  - ament_cmake
+  - bond
+  - bondcpp
+  - clips_vendor
+  - cx_msgs
+  - cx_plugin
+  - lifecycle_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_clips_env_manager/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_config_plugin:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - clips_vendor
+  - cx_plugin
+  - cx_utils
+  - pluginlib
+  - yaml_cpp_vendor
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_config_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_example_plugin:
+  dependencies:
+  - ament_cmake
+  - clips_vendor
+  - cx_plugin
+  - cx_utils
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_example_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_executive_plugin:
+  dependencies:
+  - ament_cmake
+  - clips_vendor
+  - cx_plugin
+  - cx_utils
+  - pluginlib
+  - rclcpp
+  - std_msgs
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_executive_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_file_load_plugin:
+  dependencies:
+  - ament_cmake
+  - clips_vendor
+  - cx_plugin
+  - cx_utils
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_file_load_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_msgs/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_plugin:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - clips_vendor
+  - cx_utils
+  - pluginlib
+  - rclcpp_lifecycle
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_protobuf_plugin:
+  dependencies:
+  - ament_cmake
+  - cx_plugin
+  - cx_utils
+  - pluginlib
+  - protobuf_comm
+  - rclcpp
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_protobuf_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_ros_comm_gen:
+  dependencies:
+  - ament_cmake
+  - ament_index_python
+  - cx_plugin
+  - cx_utils
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rosidl_runtime_py
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_ros_comm_gen/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_ros_msgs_plugin:
+  dependencies:
+  - ament_cmake
+  - clips_vendor
+  - cx_plugin
+  - cx_utils
+  - pluginlib
+  - rclcpp
+  - rcutils
+  - rosidl_typesupport_cpp
+  - rosidl_typesupport_introspection_cpp
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_ros_msgs_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_ros_param_plugin:
+  dependencies:
+  - ament_cmake
+  - cx_plugin
+  - cx_utils
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_ros_param_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_tf2_pose_tracker_plugin:
+  dependencies:
+  - ament_cmake
+  - clips_vendor
+  - cx_plugin
+  - cx_utils
+  - geometry_msgs
+  - pluginlib
+  - tf2_ros
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_tf2_pose_tracker_plugin/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_tutorial_agents:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - cx_bringup
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_tutorial_agents/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cx_utils:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - clips_vendor
+  - rclcpp
+  repository: https://github.com/carologistics/clips_executive
   tag: release/lyrical/cx_utils/0.1.3-3
   url: https://github.com/ros2-gbp/clips_executive-release.git
   version: 0.1.3
 cyclonedds:
+  dependencies:
+  - iceoryx_hoofs
+  - iceoryx_posh
+  repository: https://github.com/eclipse-cyclonedds/cyclonedds
   tag: release/lyrical/cyclonedds/11.0.1-4
   url: https://github.com/ros2-gbp/cyclonedds-release.git
   version: 11.0.1
 data_tamer_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - data_tamer_msgs
+  - gtest_vendor
+  - mcap_vendor
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/PickNikRobotics/data_tamer
   tag: release/lyrical/data_tamer_cpp/1.0.3-3
   url: https://github.com/ros2-gbp/data_tamer-release.git
   version: 1.0.3
 data_tamer_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/PickNikRobotics/data_tamer
   tag: release/lyrical/data_tamer_msgs/1.0.3-3
   url: https://github.com/ros2-gbp/data_tamer-release.git
   version: 1.0.3
 data_tamer_tools:
-  tag: release/lyrical/data_tamer_tools/0.4.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_index_cpp
+  - ament_lint
+  - data_tamer_cpp
+  - data_tamer_msgs
+  - foxglove_sdk_vendor
+  - geographic_msgs
+  - geometry_msgs
+  - mcap_vendor
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - rosidl_default_generators
+  - sensor_msgs
+  - tf2_msgs
+  - visualization_msgs
+  repository: https://gitlab.com/jlack/data_tamer_tools
+  tag: release/lyrical/data_tamer_tools/0.10.0-1
   url: https://github.com/ros2-gbp/data_tamer_tools-release.git
-  version: 0.4.0
+  version: 0.10.0
+dataspeed_can:
+  dependencies:
+  - ament_cmake
+  - dataspeed_can_msg_filters
+  - dataspeed_can_msgs
+  - dataspeed_can_tools
+  - dataspeed_can_usb
+  repository: https://bitbucket.org/dataspeedinc/dataspeed_can
+  tag: release/lyrical/dataspeed_can/2.0.7-1
+  url: https://github.com/DataspeedInc-release/dataspeed_can-release.git
+  version: 2.0.7
+dataspeed_can_msg_filters:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - can_msgs
+  - rclcpp
+  repository: https://bitbucket.org/dataspeedinc/dataspeed_can
+  tag: release/lyrical/dataspeed_can_msg_filters/2.0.7-1
+  url: https://github.com/DataspeedInc-release/dataspeed_can-release.git
+  version: 2.0.7
+dataspeed_can_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://bitbucket.org/dataspeedinc/dataspeed_can
+  tag: release/lyrical/dataspeed_can_msgs/2.0.7-1
+  url: https://github.com/DataspeedInc-release/dataspeed_can-release.git
+  version: 2.0.7
+dataspeed_can_tools:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - can_msgs
+  - dataspeed_can_msgs
+  - rclcpp
+  - rosbag2_cpp
+  - std_msgs
+  repository: https://bitbucket.org/dataspeedinc/dataspeed_can
+  tag: release/lyrical/dataspeed_can_tools/2.0.7-1
+  url: https://github.com/DataspeedInc-release/dataspeed_can-release.git
+  version: 2.0.7
+dataspeed_can_usb:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - can_msgs
+  - lusb
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://bitbucket.org/dataspeedinc/dataspeed_can
+  tag: release/lyrical/dataspeed_can_usb/2.0.7-1
+  url: https://github.com/DataspeedInc-release/dataspeed_can-release.git
+  version: 2.0.7
 delphi_esr_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/astuff/astuff_sensor_msgs
   tag: release/lyrical/delphi_esr_msgs/4.0.0-5
   url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git
   version: 4.0.0
 delphi_mrr_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/astuff/astuff_sensor_msgs
   tag: release/lyrical/delphi_mrr_msgs/4.0.0-5
   url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git
   version: 4.0.0
 delphi_srr_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/astuff/astuff_sensor_msgs
   tag: release/lyrical/delphi_srr_msgs/4.0.0-5
   url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git
   version: 4.0.0
 demo_nodes_cpp:
-  tag: release/lyrical/demo_nodes_cpp/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - launch_xml
+  - rcl
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rcpputils
+  - rcutils
+  - rmw
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/demo_nodes_cpp/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 demo_nodes_cpp_native:
-  tag: release/lyrical/demo_nodes_cpp_native/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - rclcpp_components
+  - rmw_fastrtps_cpp
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/demo_nodes_cpp_native/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 demo_nodes_py:
-  tag: release/lyrical/demo_nodes_py/0.37.8-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - rcl_interfaces
+  - rclpy
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/demo_nodes_py/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 depth_image_proc:
-  tag: release/lyrical/depth_image_proc/7.1.6-1
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - class_loader
+  - cv_bridge
+  - image_geometry
+  - image_proc
+  - image_transport
+  - message_filters
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - stereo_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_ros
+  repository: https://github.com/ros-perception/image_pipeline
+  tag: release/lyrical/depth_image_proc/7.1.7-1
   url: https://github.com/ros2-gbp/image_pipeline-release.git
-  version: 7.1.6
+  version: 7.1.7
+depthai:
+  dependencies:
+  - ament_cmake
+  - ros_environment
+  repository: https://github.com/luxonis/depthai-core
+  tag: release/lyrical/depthai/3.9.0-2
+  url: https://github.com/luxonis/depthai-core-release.git
+  version: 3.9.0
+depthai-ros:
+  dependencies:
+  - ament_cmake
+  - depthai
+  - depthai_bridge
+  - depthai_descriptions
+  - depthai_examples
+  - depthai_filters
+  - depthai_ros_driver
+  - depthai_ros_msgs
+  repository: https://github.com/luxonis/depthai-ros
+  tag: release/lyrical/depthai-ros/3.4.0-1
+  url: https://github.com/luxonis/depthai-ros-release.git
+  version: 3.4.0
+depthai_bridge:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - camera_info_manager
+  - composition_interfaces
+  - cv_bridge
+  - depthai
+  - depthai_ros_msgs
+  - ffmpeg_image_transport_msgs
+  - image_transport
+  - nav_msgs
+  - rclcpp
+  - robot_state_publisher
+  - ros_environment
+  - sensor_msgs
+  - std_msgs
+  - stereo_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - vision_msgs
+  - xacro
+  repository: https://github.com/luxonis/depthai-ros
+  tag: release/lyrical/depthai_bridge/3.4.0-1
+  url: https://github.com/luxonis/depthai-ros-release.git
+  version: 3.4.0
+depthai_descriptions:
+  dependencies:
+  - ament_cmake
+  - robot_state_publisher
+  - xacro
+  repository: https://github.com/luxonis/depthai-ros
+  tag: release/lyrical/depthai_descriptions/3.4.0-1
+  url: https://github.com/luxonis/depthai-ros-release.git
+  version: 3.4.0
+depthai_examples:
+  dependencies:
+  - ament_cmake
+  - backward_ros
+  - camera_info_manager
+  - cv_bridge
+  - depth_image_proc
+  - depthai
+  - depthai_bridge
+  - depthai_descriptions
+  - depthai_ros_msgs
+  - foxglove_msgs
+  - image_transport
+  - nav_msgs
+  - rclcpp
+  - robot_state_publisher
+  - ros_environment
+  - rviz_imu_plugin
+  - sensor_msgs
+  - std_msgs
+  - stereo_msgs
+  - vision_msgs
+  - xacro
+  repository: https://github.com/luxonis/depthai-ros
+  tag: release/lyrical/depthai_examples/3.4.0-1
+  url: https://github.com/luxonis/depthai-ros-release.git
+  version: 3.4.0
+depthai_filters:
+  dependencies:
+  - ament_cmake_auto
+  - cv_bridge
+  - depthai_ros_msgs
+  - image_transport
+  - message_filters
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - vision_msgs
+  - visualization_msgs
+  repository: https://github.com/luxonis/depthai-ros
+  tag: release/lyrical/depthai_filters/3.4.0-1
+  url: https://github.com/luxonis/depthai-ros-release.git
+  version: 3.4.0
+depthai_ros_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_python
+  - backward_ros
+  - camera_calibration
+  - camera_info_manager
+  - cv_bridge
+  - depthai
+  - depthai_bridge
+  - depthai_descriptions
+  - depthai_ros_msgs
+  - diagnostic_msgs
+  - diagnostic_updater
+  - ffmpeg_image_transport_msgs
+  - geometry_msgs
+  - image_pipeline
+  - image_transport
+  - image_transport_plugins
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_ros
+  - vision_msgs
+  repository: https://github.com/luxonis/depthai-ros
+  tag: release/lyrical/depthai_ros_driver/3.4.0-1
+  url: https://github.com/luxonis/depthai-ros-release.git
+  version: 3.4.0
+depthai_ros_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - rclcpp
+  - rosidl_default_generators
+  - sensor_msgs
+  - std_msgs
+  - vision_msgs
+  repository: https://github.com/luxonis/depthai-ros
+  tag: release/lyrical/depthai_ros_msgs/3.4.0-1
+  url: https://github.com/luxonis/depthai-ros-release.git
+  version: 3.4.0
 depthimage_to_laserscan:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - image_geometry
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros-perception/depthimage_to_laserscan
   tag: release/lyrical/depthimage_to_laserscan/2.5.1-4
   url: https://github.com/ros2-gbp/depthimage_to_laserscan-release.git
   version: 2.5.1
 derived_object_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - shape_msgs
+  - std_msgs
+  repository: https://github.com/astuff/astuff_sensor_msgs
   tag: release/lyrical/derived_object_msgs/4.0.0-5
   url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git
   version: 4.0.0
 desktop:
+  dependencies:
+  - action_tutorials_cpp
+  - action_tutorials_py
+  - ament_cmake
+  - angles
+  - composition
+  - demo_nodes_cpp
+  - demo_nodes_cpp_native
+  - demo_nodes_py
+  - depthimage_to_laserscan
+  - dummy_map_server
+  - dummy_robot_bringup
+  - dummy_sensors
+  - examples_rclcpp_minimal_action_client
+  - examples_rclcpp_minimal_action_server
+  - examples_rclcpp_minimal_client
+  - examples_rclcpp_minimal_composition
+  - examples_rclcpp_minimal_publisher
+  - examples_rclcpp_minimal_service
+  - examples_rclcpp_minimal_subscriber
+  - examples_rclcpp_minimal_timer
+  - examples_rclcpp_multithreaded_executor
+  - examples_rclpy_executors
+  - examples_rclpy_minimal_action_client
+  - examples_rclpy_minimal_action_server
+  - examples_rclpy_minimal_client
+  - examples_rclpy_minimal_publisher
+  - examples_rclpy_minimal_service
+  - examples_rclpy_minimal_subscriber
+  - image_tools
+  - intra_process_demo
+  - joy
+  - lifecycle
+  - logging_demo
+  - pcl_conversions
+  - pendulum_control
+  - pendulum_msgs
+  - quality_of_service_demo_cpp
+  - quality_of_service_demo_py
+  - ros_base
+  - rqt_common_plugins
+  - rviz2
+  - rviz_default_plugins
+  - teleop_twist_joy
+  - teleop_twist_keyboard
+  - tlsf
+  - tlsf_cpp
+  - topic_monitor
+  - turtlesim
+  repository: https://github.com/ros2/variants
   tag: release/lyrical/desktop/0.13.0-3
   url: https://github.com/ros2-gbp/variants-release.git
   version: 0.13.0
 desktop_full:
+  dependencies:
+  - ament_cmake
+  - desktop
+  - perception
+  - ros_gz_sim_demos
+  - simulation
+  repository: https://github.com/ros2/variants
   tag: release/lyrical/desktop_full/0.13.0-3
   url: https://github.com/ros2-gbp/variants-release.git
   version: 0.13.0
 diagnostic_aggregator:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - launch_pytest
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros/diagnostics
   tag: release/lyrical/diagnostic_aggregator/4.4.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
   version: 4.4.7
 diagnostic_common_diagnostics:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - diagnostic_updater
+  - launch_testing_ament_cmake
+  - rclpy
+  repository: https://github.com/ros/diagnostics
   tag: release/lyrical/diagnostic_common_diagnostics/4.4.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
   version: 4.4.7
 diagnostic_msgs:
-  tag: release/lyrical/diagnostic_msgs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/diagnostic_msgs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 diagnostic_remote_logging:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - rclcpp_components
+  repository: https://github.com/ros/diagnostics
   tag: release/lyrical/diagnostic_remote_logging/4.4.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
   version: 4.4.7
 diagnostic_updater:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - launch
+  - launch_testing
+  - launch_testing_ros
+  - rclcpp
+  - rclcpp_lifecycle
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros/diagnostics
   tag: release/lyrical/diagnostic_updater/4.4.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
   version: 4.4.7
 diagnostics:
+  dependencies:
+  - ament_cmake
+  - diagnostic_aggregator
+  - diagnostic_common_diagnostics
+  - diagnostic_remote_logging
+  - diagnostic_updater
+  - self_test
+  repository: https://github.com/ros/diagnostics
   tag: release/lyrical/diagnostics/4.4.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
   version: 4.4.7
 diff_drive_controller:
-  tag: release/lyrical/diff_drive_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2
+  - tf2_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/diff_drive_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 domain_coordinator:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ros2/ament_cmake_ros
   tag: release/lyrical/domain_coordinator/0.15.8-1
   url: https://github.com/ros2-gbp/ament_cmake_ros-release.git
   version: 0.15.8
 draco_point_cloud_transport:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - point_cloud_interfaces
+  - point_cloud_transport
+  - rclcpp
+  - rcpputils
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-perception/point_cloud_transport_plugins
   tag: release/lyrical/draco_point_cloud_transport/6.2.0-1
   url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git
   version: 6.2.0
+ds_dbw:
+  dependencies:
+  - ament_cmake
+  - ds_dbw_can
+  - ds_dbw_joystick_demo
+  - ds_dbw_msgs
+  repository: https://bitbucket.org/dataspeedinc/dbw_ros
+  tag: release/lyrical/ds_dbw/2.4.0-1
+  url: https://github.com/DataspeedInc-release/dbw_ros-release.git
+  version: 2.4.0
+ds_dbw_can:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - can_msgs
+  - dataspeed_can_msg_filters
+  - dataspeed_can_usb
+  - ds_dbw_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  repository: https://bitbucket.org/dataspeedinc/dbw_ros
+  tag: release/lyrical/ds_dbw_can/2.4.0-1
+  url: https://github.com/DataspeedInc-release/dbw_ros-release.git
+  version: 2.4.0
+ds_dbw_joystick_demo:
+  dependencies:
+  - ament_cmake
+  - ds_dbw_can
+  - ds_dbw_msgs
+  - joy
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  repository: https://bitbucket.org/dataspeedinc/dbw_ros
+  tag: release/lyrical/ds_dbw_joystick_demo/2.4.0-1
+  url: https://github.com/DataspeedInc-release/dbw_ros-release.git
+  version: 2.4.0
+ds_dbw_msgs:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://bitbucket.org/dataspeedinc/dbw_ros
+  tag: release/lyrical/ds_dbw_msgs/2.4.0-1
+  url: https://github.com/DataspeedInc-release/dbw_ros-release.git
+  version: 2.4.0
 dual_arm_panda_moveit_config:
-  tag: release/lyrical/dual_arm_panda_moveit_config/3.1.1-3
+  dependencies:
+  - ament_cmake
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - moveit_resources_panda_description
+  - robot_state_publisher
+  - topic_tools
+  - xacro
+  repository: https://github.com/ros-planning/moveit_resources
+  tag: release/lyrical/dual_arm_panda_moveit_config/3.2.0-1
   url: https://github.com/ros2-gbp/moveit_resources-release.git
-  version: 3.1.1
+  version: 3.2.0
 dual_laser_merger:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_copyright
+  - ament_cpplint
+  - ament_flake8
+  - ament_lint_auto
+  - ament_lint_common
+  - ament_pep257
+  - ament_xmllint
+  - geometry_msgs
+  - laser_geometry
+  - message_filters
+  - pcl_conversions
+  - pcl_ros
+  - rclcpp
+  - rclcpp_components
+  - tf2
+  - tf2_ros
+  - tf2_sensor_msgs
+  repository: https://github.com/pradyum/dual_laser_merger
   tag: release/lyrical/dual_laser_merger/0.0.1-3
   url: https://github.com/ros2-gbp/dual_laser_merger-release.git
   version: 0.0.1
 dummy_map_server:
-  tag: release/lyrical/dummy_map_server/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - nav_msgs
+  - rclcpp
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/dummy_map_server/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 dummy_robot_bringup:
-  tag: release/lyrical/dummy_robot_bringup/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - dummy_map_server
+  - dummy_sensors
+  - launch
+  - launch_ros
+  - robot_state_publisher
+  - rviz2
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/dummy_robot_bringup/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 dummy_sensors:
-  tag: release/lyrical/dummy_sensors/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/dummy_sensors/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
+dwb_core:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - builtin_interfaces
+  - dwb_msgs
+  - geometry_msgs
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_ros_common
+  - nav2_util
+  - nav_2d_msgs
+  - nav_2d_utils
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/dwb_core/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+dwb_critics:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - costmap_queue
+  - dwb_core
+  - dwb_msgs
+  - geometry_msgs
+  - nav2_common
+  - nav2_costmap_2d
+  - nav2_ros_common
+  - nav2_util
+  - nav_2d_msgs
+  - nav_2d_utils
+  - pluginlib
+  - rclcpp
+  - tf2
+  - tf2_geometry_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/dwb_critics/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+dwb_msgs:
+  dependencies:
+  - ament_cmake
+  - backward_ros
+  - builtin_interfaces
+  - geometry_msgs
+  - nav_2d_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/dwb_msgs/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+dwb_plugins:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - dwb_core
+  - dwb_msgs
+  - geometry_msgs
+  - nav2_common
+  - nav2_costmap_2d
+  - nav2_ros_common
+  - nav2_util
+  - nav_2d_msgs
+  - nav_2d_utils
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/dwb_plugins/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
 dynamixel_hardware:
-  tag: release/lyrical/dynamixel_hardware/0.6.0-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - dynamixel_workbench_toolbox
+  - hardware_interface
+  - lifecycle_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/dynamixel-community/dynamixel_hardware
+  tag: release/lyrical/dynamixel_hardware/0.6.1-2
   url: https://github.com/ros2-gbp/dynamixel_hardware-release.git
-  version: 0.6.0
+  version: 0.6.1
 dynamixel_hardware_interface:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - dynamixel_interfaces
+  - dynamixel_sdk
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - realtime_tools
+  - std_srvs
+  repository: https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface
   tag: release/lyrical/dynamixel_hardware_interface/1.5.1-3
   url: https://github.com/ros2-gbp/dynamixel_hardware_interface-release.git
   version: 1.5.1
 dynamixel_interfaces:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ROBOTIS-GIT/dynamixel_interfaces
   tag: release/lyrical/dynamixel_interfaces/1.0.1-3
   url: https://github.com/ros2-gbp/dynamixel_interfaces-release.git
   version: 1.0.1
 dynamixel_sdk:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  repository: https://github.com/ROBOTIS-GIT/DynamixelSDK
   tag: release/lyrical/dynamixel_sdk/4.0.3-3
   url: https://github.com/ros2-gbp/dynamixel_sdk-release.git
   version: 4.0.3
 dynamixel_sdk_custom_interfaces:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ROBOTIS-GIT/DynamixelSDK
   tag: release/lyrical/dynamixel_sdk_custom_interfaces/4.0.3-3
   url: https://github.com/ros2-gbp/dynamixel_sdk-release.git
   version: 4.0.3
 dynamixel_sdk_examples:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - dynamixel_sdk
+  - dynamixel_sdk_custom_interfaces
+  - rclcpp
+  - rclpy
+  repository: https://github.com/ROBOTIS-GIT/DynamixelSDK
   tag: release/lyrical/dynamixel_sdk_examples/4.0.3-3
   url: https://github.com/ros2-gbp/dynamixel_sdk-release.git
   version: 4.0.3
 dynamixel_workbench:
+  dependencies:
+  - ament_cmake
+  - dynamixel_workbench_toolbox
+  repository: https://github.com/ROBOTIS-GIT/dynamixel-workbench
   tag: release/lyrical/dynamixel_workbench/2.2.5-3
   url: https://github.com/ros2-gbp/dynamixel_workbench-release.git
   version: 2.2.5
 dynamixel_workbench_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs
   tag: release/lyrical/dynamixel_workbench_msgs/2.1.0-3
   url: https://github.com/ros2-gbp/dynamixel_workbench_msgs-release.git
   version: 2.1.0
 dynamixel_workbench_toolbox:
+  dependencies:
+  - ament_cmake
+  - dynamixel_sdk
+  repository: https://github.com/ROBOTIS-GIT/dynamixel-workbench
   tag: release/lyrical/dynamixel_workbench_toolbox/2.2.5-3
   url: https://github.com/ros2-gbp/dynamixel_workbench-release.git
   version: 2.2.5
+easynav:
+  dependencies:
+  - ament_cmake
+  - easynav_common
+  - easynav_controller
+  - easynav_core
+  - easynav_interfaces
+  - easynav_localizer
+  - easynav_maps_manager
+  - easynav_planner
+  - easynav_sensors
+  - easynav_support_py
+  - easynav_system
+  - easynav_tools
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_bonxai_maps_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - nav_msgs
+  - pcl_conversions
+  - pcl_ros
+  - pluginlib
+  - rclcpp
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - yaets
+  - yaml_cpp_vendor
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_bonxai_maps_manager/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_lifecycle
+  - tf2_ros
+  - yaets
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_common/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_controller:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - geometry_msgs
+  - lifecycle_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_controller/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_core:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_sensors
+  - pcl_ros
+  - rclcpp_lifecycle
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_core/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_costmap_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - tf2_geometry_msgs
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_costmap_common/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_costmap_localizer:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_costmap_common
+  - easynav_localizer
+  - easynav_sensors
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_costmap_localizer/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_costmap_maps_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_costmap_common
+  - easynav_sensors
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_srvs
+  - tf2_ros
+  - yaets
+  - yaml_cpp_vendor
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_costmap_maps_manager/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_costmap_planner:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_costmap_common
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_costmap_planner/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_fusion_localizer:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - diagnostic_msgs
+  - diagnostic_updater
+  - easynav_common
+  - easynav_core
+  - easynav_localizer
+  - easynav_sensors
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - robot_localization
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - yaets
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_fusion_localizer/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_gps_localizer:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_gps_localizer/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - std_msgs
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_interfaces/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_localizer:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - lifecycle_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_localizer/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_maps_manager:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - lifecycle_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_maps_manager/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_mpc_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_sensors
+  - easynav_simple_common
+  - easynav_system
+  - geometry_msgs
+  - nav_msgs
+  - pcl_conversions
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_mpc_controller/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_mppi_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_sensors
+  - easynav_simple_common
+  - easynav_system
+  - geometry_msgs
+  - nav_msgs
+  - pcl_ros
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_mppi_controller/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_navmap_localizer:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_bonxai_maps_manager
+  - easynav_common
+  - easynav_core
+  - easynav_localizer
+  - easynav_sensors
+  - geometry_msgs
+  - nav_msgs
+  - navmap_core
+  - navmap_ros
+  - navmap_ros_interfaces
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_navmap_localizer/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_navmap_maps_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_sensors
+  - nav_msgs
+  - navmap_core
+  - navmap_ros
+  - navmap_ros_interfaces
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - yaets
+  - yaml_cpp_vendor
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_navmap_maps_manager/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_navmap_planner:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - geometry_msgs
+  - nav_msgs
+  - navmap_core
+  - navmap_ros
+  - navmap_ros_interfaces
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_navmap_planner/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_octomap_maps_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - nav_msgs
+  - octomap_msgs
+  - pcl_conversions
+  - pcl_ros
+  - pluginlib
+  - rclcpp
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - yaets
+  - yaml_cpp_vendor
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_octomap_maps_manager/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_planner:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - lifecycle_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_planner/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_regulated_pp_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_sensors
+  - easynav_system
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_regulated_pp_controller/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_routes_maps_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_costmap_common
+  - geometry_msgs
+  - interactive_markers
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_srvs
+  - tf2_ros
+  - visualization_msgs
+  - yaets
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_routes_maps_manager/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_sensors:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - easynav_common
+  - geometry_msgs
+  - nav_msgs
+  - pcl_conversions
+  - pcl_ros
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - tf2_geometry_msgs
+  - tf2_ros
+  - vision_msgs
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_sensors/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_serest_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_sensors
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_serest_controller/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_simple_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - nav_msgs
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_simple_common/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_simple_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_simple_common
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_simple_controller/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_simple_localizer:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_localizer
+  - easynav_sensors
+  - easynav_simple_common
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_simple_localizer/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_simple_maps_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_sensors
+  - easynav_simple_common
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_srvs
+  - tf2_ros
+  - yaets
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_simple_maps_manager/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_simple_planner:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_simple_common
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_simple_planner/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
+easynav_support_py:
+  dependencies:
+  - ament_cmake_pytest
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - builtin_interfaces
+  - easynav_interfaces
+  - geometry_msgs
+  - rclpy
+  - std_msgs
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_support_py/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_system:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_controller
+  - easynav_interfaces
+  - easynav_localizer
+  - easynav_maps_manager
+  - easynav_planner
+  - easynav_sensors
+  - geometry_msgs
+  - lifecycle_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - tf2_geometry_msgs
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_system/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_tools:
+  dependencies:
+  - ament_cmake_pytest
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - easynav_interfaces
+  - easynav_support_py
+  - geometry_msgs
+  - rclpy
+  - ros2cli
+  - rosidl_runtime_py
+  repository: https://github.com/EasyNavigation/EasyNavigation
+  tag: release/lyrical/easynav_tools/0.4.2-2
+  url: https://github.com/EasyNavigation/EasyNavigation-release.git
+  version: 0.4.2
+easynav_vff_controller:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - easynav_common
+  - easynav_core
+  - easynav_sensors
+  - nav_msgs
+  - pcl_ros
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - tf2
+  - visualization_msgs
+  repository: https://github.com/EasyNavigation/easynav_plugins
+  tag: release/lyrical/easynav_vff_controller/0.4.2-2
+  url: https://github.com/EasyNavigation/easynav_plugins-release.git
+  version: 0.4.2
 ecl_build:
+  dependencies:
+  - ament_cmake
+  - ecl_license
+  repository: https://github.com/stonier/ecl_tools
   tag: release/lyrical/ecl_build/1.0.3-6
   url: https://github.com/ros2-gbp/ecl_tools-release.git
   version: 1.0.3
 ecl_command_line:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_license
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_command_line/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_concepts:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_license
+  - ecl_type_traits
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_concepts/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_config:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_license
+  repository: https://github.com/stonier/ecl_lite
   tag: release/lyrical/ecl_config/1.2.0-6
   url: https://github.com/ros2-gbp/ecl_lite-release.git
   version: 1.2.0
 ecl_console:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_build
+  - ecl_config
+  - ecl_license
+  repository: https://github.com/stonier/ecl_lite
   tag: release/lyrical/ecl_console/1.2.0-6
   url: https://github.com/ros2-gbp/ecl_lite-release.git
   version: 1.2.0
 ecl_containers:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_converters
+  - ecl_errors
+  - ecl_exceptions
+  - ecl_formatters
+  - ecl_license
+  - ecl_mpl
+  - ecl_type_traits
+  - ecl_utilities
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_containers/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_converters:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_concepts
+  - ecl_config
+  - ecl_errors
+  - ecl_exceptions
+  - ecl_license
+  - ecl_mpl
+  - ecl_type_traits
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_converters/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_converters_lite:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_config
+  - ecl_license
+  repository: https://github.com/stonier/ecl_lite
   tag: release/lyrical/ecl_converters_lite/1.2.0-6
   url: https://github.com/ros2-gbp/ecl_lite-release.git
   version: 1.2.0
 ecl_core:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_command_line
+  - ecl_concepts
+  - ecl_containers
+  - ecl_converters
+  - ecl_core_apps
+  - ecl_devices
+  - ecl_eigen
+  - ecl_exceptions
+  - ecl_formatters
+  - ecl_geometry
+  - ecl_ipc
+  - ecl_linear_algebra
+  - ecl_math
+  - ecl_mpl
+  - ecl_sigslots
+  - ecl_statistics
+  - ecl_streams
+  - ecl_threads
+  - ecl_time
+  - ecl_type_traits
+  - ecl_utilities
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_core/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_core_apps:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_build
+  - ecl_command_line
+  - ecl_config
+  - ecl_containers
+  - ecl_converters
+  - ecl_devices
+  - ecl_errors
+  - ecl_exceptions
+  - ecl_formatters
+  - ecl_geometry
+  - ecl_ipc
+  - ecl_license
+  - ecl_linear_algebra
+  - ecl_sigslots
+  - ecl_streams
+  - ecl_threads
+  - ecl_time_lite
+  - ecl_type_traits
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_core_apps/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_devices:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_containers
+  - ecl_errors
+  - ecl_license
+  - ecl_mpl
+  - ecl_threads
+  - ecl_type_traits
+  - ecl_utilities
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_devices/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_eigen:
+  dependencies:
+  - ament_cmake_ros
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_eigen/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_errors:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_build
+  - ecl_config
+  - ecl_license
+  repository: https://github.com/stonier/ecl_lite
   tag: release/lyrical/ecl_errors/1.2.0-6
   url: https://github.com/ros2-gbp/ecl_lite-release.git
   version: 1.2.0
 ecl_exceptions:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_build
+  - ecl_config
+  - ecl_errors
+  - ecl_license
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_exceptions/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_filesystem:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_errors
+  - ecl_license
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_filesystem/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_formatters:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_build
+  - ecl_config
+  - ecl_converters
+  - ecl_exceptions
+  - ecl_license
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_formatters/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_geometry:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_containers
+  - ecl_exceptions
+  - ecl_formatters
+  - ecl_license
+  - ecl_linear_algebra
+  - ecl_math
+  - ecl_mpl
+  - ecl_type_traits
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_geometry/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_io:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_build
+  - ecl_config
+  - ecl_errors
+  - ecl_license
+  repository: https://github.com/stonier/ecl_lite
   tag: release/lyrical/ecl_io/1.2.0-6
   url: https://github.com/ros2-gbp/ecl_lite-release.git
   version: 1.2.0
 ecl_ipc:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_errors
+  - ecl_exceptions
+  - ecl_license
+  - ecl_threads
+  - ecl_time
+  - ecl_time_lite
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_ipc/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_license:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/stonier/ecl_tools
   tag: release/lyrical/ecl_license/1.0.3-6
   url: https://github.com/ros2-gbp/ecl_tools-release.git
   version: 1.0.3
 ecl_linear_algebra:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_converters
+  - ecl_eigen
+  - ecl_exceptions
+  - ecl_formatters
+  - ecl_license
+  - ecl_math
+  - sophus
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_linear_algebra/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_lite:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_config
+  - ecl_converters_lite
+  - ecl_errors
+  - ecl_io
+  - ecl_sigslots_lite
+  - ecl_time_lite
+  repository: https://github.com/stonier/ecl_lite
   tag: release/lyrical/ecl_lite/1.2.0-6
   url: https://github.com/ros2-gbp/ecl_lite-release.git
   version: 1.2.0
 ecl_manipulators:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_exceptions
+  - ecl_formatters
+  - ecl_geometry
+  - ecl_license
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_manipulators/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_math:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_license
+  - ecl_type_traits
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_math/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_mobile_robot:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_errors
+  - ecl_formatters
+  - ecl_geometry
+  - ecl_license
+  - ecl_linear_algebra
+  - ecl_math
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_mobile_robot/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_mpl:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_license
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_mpl/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_sigslots:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_license
+  - ecl_threads
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_sigslots/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_sigslots_lite:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_build
+  - ecl_config
+  - ecl_errors
+  - ecl_license
+  repository: https://github.com/stonier/ecl_lite
   tag: release/lyrical/ecl_sigslots_lite/1.2.0-6
   url: https://github.com/ros2-gbp/ecl_lite-release.git
   version: 1.2.0
 ecl_statistics:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_license
+  - ecl_linear_algebra
+  - ecl_mpl
+  - ecl_type_traits
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_statistics/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_streams:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_concepts
+  - ecl_converters
+  - ecl_devices
+  - ecl_errors
+  - ecl_license
+  - ecl_time
+  - ecl_type_traits
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_streams/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_threads:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_concepts
+  - ecl_config
+  - ecl_errors
+  - ecl_exceptions
+  - ecl_license
+  - ecl_time
+  - ecl_utilities
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_threads/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_time:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_errors
+  - ecl_exceptions
+  - ecl_license
+  - ecl_time_lite
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_time/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_time_lite:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_build
+  - ecl_config
+  - ecl_errors
+  - ecl_license
+  repository: https://github.com/stonier/ecl_lite
   tag: release/lyrical/ecl_time_lite/1.2.0-6
   url: https://github.com/ros2-gbp/ecl_lite-release.git
   version: 1.2.0
 ecl_tools:
+  dependencies:
+  - ament_cmake
+  - ecl_build
+  - ecl_license
+  repository: https://github.com/stonier/ecl_tools
   tag: release/lyrical/ecl_tools/1.0.3-6
   url: https://github.com/ros2-gbp/ecl_tools-release.git
   version: 1.0.3
 ecl_type_traits:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_config
+  - ecl_license
+  - ecl_mpl
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_type_traits/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 ecl_utilities:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ecl_build
+  - ecl_concepts
+  - ecl_license
+  - ecl_mpl
+  repository: https://github.com/stonier/ecl_core
   tag: release/lyrical/ecl_utilities/1.2.1-6
   url: https://github.com/ros2-gbp/ecl_core-release.git
   version: 1.2.1
 eigen3_cmake_module:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  repository: https://github.com/ros2/eigen3_cmake_module
   tag: release/lyrical/eigen3_cmake_module/0.5.1-3
   url: https://github.com/ros2-gbp/eigen3_cmake_module-release.git
   version: 0.5.1
 eigen_stl_containers:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros/eigen_stl_containers
   tag: release/lyrical/eigen_stl_containers/1.1.0-3
   url: https://github.com/ros2-gbp/eigen_stl_containers-release.git
   version: 1.1.0
 eigenpy:
+  dependencies:
+  - jrl_cmakemodules
+  repository: https://github.com/stack-of-tasks/eigenpy
   tag: release/lyrical/eigenpy/3.13.0-1
   url: https://github.com/ros2-gbp/eigenpy-release.git
   version: 3.13.0
 eiquadprog:
+  dependencies:
+  - ament_cmake
+  - jrl_cmakemodules
+  repository: https://github.com/stack-of-tasks/eiquadprog
   tag: release/lyrical/eiquadprog/1.3.2-1
   url: https://github.com/ros2-gbp/eiquadprog-release.git
   version: 1.3.2
 event_camera_codecs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - class_loader
+  - event_camera_msgs
+  - rclcpp
+  - ros_environment
+  - rosbag2_cpp
+  repository: https://github.com/ros-event-camera/event_camera_codecs
   tag: release/lyrical/event_camera_codecs/3.0.0-3
   url: https://github.com/ros2-gbp/event_camera_codecs-release.git
   version: 3.0.0
 event_camera_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-event-camera/event_camera_msgs
   tag: release/lyrical/event_camera_msgs/2.0.1-3
   url: https://github.com/ros2-gbp/event_camera_msgs-release.git
   version: 2.0.1
 event_camera_py:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_clang_format
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - event_camera_codecs
+  - event_camera_msgs
+  - pybind11_vendor
+  - python_cmake_module
+  - rclpy
+  - ros_environment
+  - rosbag2_py
+  - rosbag2_storage_default_plugins
+  - rosbag2_storage_mcap
+  - rosidl_runtime_py
+  - rpyutils
+  repository: https://github.com/ros-event-camera/event_camera_py
   tag: release/lyrical/event_camera_py/3.0.0-3
   url: https://github.com/ros2-gbp/event_camera_py-release.git
   version: 3.0.0
 event_camera_renderer:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - event_camera_codecs
+  - event_camera_msgs
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - sensor_msgs
+  repository: https://github.com/ros-event-camera/event_camera_renderer
   tag: release/lyrical/event_camera_renderer/3.0.0-3
   url: https://github.com/ros2-gbp/event_camera_renderer-release.git
   version: 3.0.0
 event_camera_tools:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_black
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - ament_cmake_test
+  - ament_lint_auto
+  - ament_lint_common
+  - event_camera_codecs
+  - event_camera_msgs
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - rosbag2_cpp
+  - rosbag2_storage
+  - sensor_msgs
+  repository: https://github.com/ros-event-camera/event_camera_tools
   tag: release/lyrical/event_camera_tools/3.1.5-2
   url: https://github.com/ros2-gbp/event_camera_tools-release.git
   version: 3.1.5
 event_image_reconstruction_fibar:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_black
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - event_camera_codecs
+  - event_camera_msgs
+  - fibar_lib
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - rosbag2_cpp
+  - rosbag2_transport
+  - sensor_msgs
+  repository: https://github.com/ros-event-camera/event_image_reconstruction_fibar
   tag: release/lyrical/event_image_reconstruction_fibar/3.0.4-3
   url: https://github.com/ros2-gbp/event_image_reconstruction_fibar-release.git
   version: 3.0.4
 example_interfaces:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/example_interfaces
   tag: release/lyrical/example_interfaces/0.14.1-3
   url: https://github.com/ros2-gbp/example_interfaces-release.git
   version: 0.14.1
 examples_rclcpp_async_client:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rclcpp
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_async_client/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_cbg_executor:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_cbg_executor/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_minimal_action_client:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rclcpp
+  - rclcpp_action
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_minimal_action_client/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_minimal_action_server:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rclcpp
+  - rclcpp_action
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_minimal_action_server/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_minimal_client:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rclcpp
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_minimal_client/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_minimal_composition:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_minimal_composition/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_minimal_publisher:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_minimal_publisher/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_minimal_service:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rclcpp
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_minimal_service/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_minimal_subscriber:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_minimal_subscriber/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_minimal_timer:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_minimal_timer/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_multithreaded_executor:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_multithreaded_executor/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclcpp_wait_set:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclcpp_wait_set/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclpy_executors:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclpy_executors/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclpy_guard_conditions:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclpy_guard_conditions/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclpy_minimal_action_client:
+  dependencies:
+  - action_msgs
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - rclpy
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclpy_minimal_action_client/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclpy_minimal_action_server:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - rclpy
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclpy_minimal_action_server/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclpy_minimal_client:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclpy_minimal_client/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclpy_minimal_publisher:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclpy_minimal_publisher/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclpy_minimal_service:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclpy_minimal_service/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclpy_minimal_subscriber:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclpy_minimal_subscriber/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_rclpy_pointcloud_publisher:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  - sensor_msgs
+  - sensor_msgs_py
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/examples_rclpy_pointcloud_publisher/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 examples_tf2_py:
-  tag: release/lyrical/examples_tf2_py/0.45.7-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - geometry_msgs
+  - launch_ros
+  - rclpy
+  - sensor_msgs
+  - tf2_ros_py
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/examples_tf2_py/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 executive_smach:
+  dependencies:
+  - ament_cmake
+  - smach
+  - smach_msgs
+  - smach_ros
+  repository: https://github.com/ros/executive_smach
   tag: release/lyrical/executive_smach/3.0.3-4
   url: https://github.com/ros2-gbp/executive_smach-release.git
   version: 3.0.3
 fastcdr:
+  dependencies: []
+  repository: https://github.com/eProsima/Fast-CDR
   tag: release/lyrical/fastcdr/2.3.6-1
   url: https://github.com/ros2-gbp/fastcdr-release.git
   version: 2.3.6
 fastdds:
-  tag: release/lyrical/fastdds/3.6.1-3
+  dependencies:
+  - fastcdr
+  - foonathan_memory_vendor
+  repository: https://github.com/eProsima/Fast-DDS
+  tag: release/lyrical/fastdds/3.6.2-1
   url: https://github.com/ros2-gbp/fastdds-release.git
-  version: 3.6.1
+  version: 3.6.2
 feetech_ros2_driver:
+  dependencies:
+  - ament_cmake
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/ros-physical-ai/feetech_ros2_driver
   tag: release/lyrical/feetech_ros2_driver/0.2.1-3
   url: https://github.com/ros2-gbp/feetech_ros2_driver-release.git
   version: 0.2.1
 ffmpeg_encoder_decoder:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - ffmpeg_image_transport_msgs
+  - rclcpp
+  - ros_environment
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-misc-utilities/ffmpeg_encoder_decoder
   tag: release/lyrical/ffmpeg_encoder_decoder/3.0.1-3
   url: https://github.com/ros2-gbp/ffmpeg_encoder_decoder-release.git
   version: 3.0.1
 ffmpeg_image_transport:
-  tag: release/lyrical/ffmpeg_image_transport/3.0.3-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_black
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ffmpeg_encoder_decoder
+  - ffmpeg_image_transport_msgs
+  - image_transport
+  - pluginlib
+  - rclcpp
+  - rcutils
+  - ros_environment
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-misc-utilities/ffmpeg_image_transport
+  tag: release/lyrical/ffmpeg_image_transport/3.0.4-1
   url: https://github.com/ros2-gbp/ffmpeg_image_transport-release.git
-  version: 3.0.3
+  version: 3.0.4
 ffmpeg_image_transport_msgs:
-  tag: release/lyrical/ffmpeg_image_transport_msgs/1.0.2-4
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-misc-utilities/ffmpeg_image_transport_msgs
+  tag: release/lyrical/ffmpeg_image_transport_msgs/1.3.0-1
   url: https://github.com/ros2-gbp/ffmpeg_image_transport_msgs-release.git
-  version: 1.0.2
+  version: 1.3.0
 ffmpeg_image_transport_tools:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_black
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - ffmpeg_encoder_decoder
+  - ffmpeg_image_transport_msgs
+  - rclcpp
+  - rcutils
+  - ros_environment
+  - rosbag2_cpp
+  - rosbag2_storage
+  - sensor_msgs
+  repository: https://github.com/ros-misc-utilities/ffmpeg_image_transport_tools
   tag: release/lyrical/ffmpeg_image_transport_tools/3.0.1-3
   url: https://github.com/ros2-gbp/ffmpeg_image_transport_tools-release.git
   version: 3.0.1
 ffw:
+  dependencies:
+  - ament_cmake
+  - ffw_bringup
+  - ffw_description
+  - ffw_joint_trajectory_command_broadcaster
+  - ffw_joystick_controller
+  - ffw_moveit_config
+  - ffw_robot_manager
+  - ffw_spring_actuator_controller
+  - ffw_swerve_drive_controller
+  - ffw_teleop
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 ffw_bringup:
+  dependencies:
+  - dynamixel_hardware_interface
+  - ffw_description
+  - gz_ros2_control
+  - image_transport_plugins
+  - rclpy
+  - robot_state_publisher
+  - ros2_control
+  - ros2_controllers
+  - ros_gz_bridge
+  - ros_gz_image
+  - ros_gz_sim
+  - rviz2
+  - xacro
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw_bringup/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 ffw_description:
+  dependencies:
+  - ament_cmake
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - robot_state_publisher
+  - rviz2
+  - urdf
+  - xacro
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw_description/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 ffw_joint_trajectory_command_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - builtin_interfaces
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcutils
+  - realtime_tools
+  - ros2_control_test_assets
+  - sensor_msgs
+  - trajectory_msgs
+  - urdf
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw_joint_trajectory_command_broadcaster/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 ffw_joystick_controller:
+  dependencies:
+  - ament_cmake
+  - controller_interface
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_msgs
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw_joystick_controller/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 ffw_moveit_config:
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - moveit_configs_utils
+  - moveit_kinematics
+  - moveit_planners
+  - moveit_ros_move_group
+  - moveit_ros_visualization
+  - moveit_setup_assistant
+  - moveit_simple_controller_manager
+  - robot_state_publisher
+  - rviz2
+  - rviz_common
+  - rviz_default_plugins
+  - tf2_ros
+  - xacro
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw_moveit_config/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 ffw_robot_manager:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - controller_interface
+  - dynamixel_hardware_interface
+  - dynamixel_interfaces
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - ros2_control_cmake
+  - sensor_msgs
+  - std_srvs
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw_robot_manager/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 ffw_spring_actuator_controller:
+  dependencies:
+  - ament_cmake
+  - controller_interface
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - urdf
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw_spring_actuator_controller/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 ffw_swerve_drive_controller:
+  dependencies:
+  - ament_cmake_gmock
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - realtime_tools
+  - ros2_control_test_assets
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_msgs
+  - visualization_msgs
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw_swerve_drive_controller/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 ffw_teleop:
+  dependencies:
+  - rclpy
+  repository: https://github.com/ROBOTIS-GIT/ai_worker
   tag: release/lyrical/ffw_teleop/1.1.14-3
   url: https://github.com/ros2-gbp/ai_worker-release.git
   version: 1.1.14
 fibar_lib:
+  dependencies: []
+  repository: https://github.com/ros-event-camera/fibar_lib
   tag: release/lyrical/fibar_lib/1.0.2-3
   url: https://github.com/ros2-gbp/fibar_lib-release.git
   version: 1.0.2
 fields2cover:
+  dependencies:
+  - ortools_vendor
+  repository: https://github.com/Fields2Cover/fields2cover
   tag: release/lyrical/fields2cover/2.0.0-18
   url: https://github.com/ros2-gbp/fields2cover-release.git
   version: 2.0.0
 filters:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_gtest
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/ros/filters
   tag: release/lyrical/filters/2.2.2-3
   url: https://github.com/ros2-gbp/filters-release.git
   version: 2.2.2
 fkie_message_filters:
-  tag: release/lyrical/fkie_message_filters/3.3.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - image_transport
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_msgs
+  - tf2_ros
+  repository: https://github.com/fkie/message_filters
+  tag: release/lyrical/fkie_message_filters/3.4.0-1
   url: https://github.com/ros2-gbp/fkie_message_filters-release.git
-  version: 3.3.1
+  version: 3.4.0
 flex_sync:
+  dependencies:
+  - ament_clang_format
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_components
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-misc-utilities/flex_sync
   tag: release/lyrical/flex_sync/2.0.1-3
   url: https://github.com/ros2-gbp/flex_sync-release.git
   version: 2.0.1
 flexbe_behavior_engine:
+  dependencies:
+  - ament_cmake
+  - flexbe_core
+  - flexbe_input
+  - flexbe_mirror
+  - flexbe_msgs
+  - flexbe_onboard
+  - flexbe_states
+  - flexbe_testing
+  - flexbe_widget
+  repository: https://github.com/flexbe/flexbe_behavior_engine
   tag: release/lyrical/flexbe_behavior_engine/4.1.4-1
   url: https://github.com/ros2-gbp/flexbe_behavior_engine-release.git
   version: 4.1.4
 flexbe_core:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - flexbe_msgs
+  - launch_ros
+  - launch_testing
+  - rclpy
+  - std_msgs
+  - std_srvs
+  - tf2_ros_py
+  repository: https://github.com/flexbe/flexbe_behavior_engine
   tag: release/lyrical/flexbe_core/4.1.4-1
   url: https://github.com/ros2-gbp/flexbe_behavior_engine-release.git
   version: 4.1.4
 flexbe_input:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - flexbe_core
+  - flexbe_msgs
+  - rclpy
+  repository: https://github.com/flexbe/flexbe_behavior_engine
   tag: release/lyrical/flexbe_input/4.1.4-1
   url: https://github.com/ros2-gbp/flexbe_behavior_engine-release.git
   version: 4.1.4
 flexbe_mirror:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - flexbe_core
+  - flexbe_msgs
+  - rclpy
+  repository: https://github.com/flexbe/flexbe_behavior_engine
   tag: release/lyrical/flexbe_mirror/4.1.4-1
   url: https://github.com/ros2-gbp/flexbe_behavior_engine-release.git
   version: 4.1.4
 flexbe_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/flexbe/flexbe_behavior_engine
   tag: release/lyrical/flexbe_msgs/4.1.4-1
   url: https://github.com/ros2-gbp/flexbe_behavior_engine-release.git
   version: 4.1.4
 flexbe_onboard:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - flexbe_core
+  - flexbe_msgs
+  - flexbe_states
+  - launch_ros
+  - launch_testing
+  - rclpy
+  repository: https://github.com/flexbe/flexbe_behavior_engine
   tag: release/lyrical/flexbe_onboard/4.1.4-1
   url: https://github.com/ros2-gbp/flexbe_behavior_engine-release.git
   version: 4.1.4
 flexbe_states:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - flexbe_core
+  - flexbe_msgs
+  - flexbe_testing
+  - geometry_msgs
+  - rclpy
+  repository: https://github.com/flexbe/flexbe_behavior_engine
   tag: release/lyrical/flexbe_states/4.1.4-1
   url: https://github.com/ros2-gbp/flexbe_behavior_engine-release.git
   version: 4.1.4
 flexbe_testing:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - flexbe_core
+  - flexbe_msgs
+  - launch_ros
+  - launch_testing
+  - rclpy
+  - std_msgs
+  repository: https://github.com/flexbe/flexbe_behavior_engine
   tag: release/lyrical/flexbe_testing/4.1.4-1
   url: https://github.com/ros2-gbp/flexbe_behavior_engine-release.git
   version: 4.1.4
 flexbe_widget:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - flexbe_core
+  - flexbe_mirror
+  - flexbe_msgs
+  - flexbe_onboard
+  - launch_ros
+  - rclpy
+  - std_msgs
+  repository: https://github.com/flexbe/flexbe_behavior_engine
   tag: release/lyrical/flexbe_widget/4.1.4-1
   url: https://github.com/ros2-gbp/flexbe_behavior_engine-release.git
   version: 4.1.4
 flir_camera_description:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - robot_state_publisher
+  - urdf
+  - xacro
+  repository: https://github.com/ros-drivers/flir_camera_driver
   tag: release/lyrical/flir_camera_description/3.0.5-1
   url: https://github.com/ros2-gbp/flir_camera_driver-release.git
   version: 3.0.5
 flir_camera_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-drivers/flir_camera_driver
   tag: release/lyrical/flir_camera_msgs/3.0.5-1
   url: https://github.com/ros2-gbp/flir_camera_driver-release.git
   version: 3.0.5
 fluent_rviz:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - geometry_msgs
+  - ouxt_lint_common
+  - rclcpp
+  - std_msgs
+  - visualization_msgs
+  repository: https://github.com/ForteFibre/FluentRviz
   tag: release/lyrical/fluent_rviz/0.0.3-6
   url: https://github.com/ros2-gbp/fluent_rviz-release.git
   version: 0.0.3
 foonathan_memory_vendor:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_xmllint
+  repository: https://github.com/eProsima/foonathan_memory_vendor
   tag: release/lyrical/foonathan_memory_vendor/1.4.1-1
   url: https://github.com/ros2-gbp/foonathan_memory_vendor-release.git
   version: 1.4.1
 force_torque_sensor_broadcaster:
-  tag: release/lyrical/force_torque_sensor_broadcaster/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - filters
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/force_torque_sensor_broadcaster/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 forward_command_controller:
-  tag: release/lyrical/forward_command_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/forward_command_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 four_wheel_steering_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-drivers/four_wheel_steering_msgs
   tag: release/lyrical/four_wheel_steering_msgs/2.0.1-7
   url: https://github.com/ros2-gbp/four_wheel_steering_msgs-release.git
   version: 2.0.1
 foxglove_bridge:
-  tag: release/lyrical/foxglove_bridge/3.4.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - geometry_msgs
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rcpputils
+  - rcutils
+  - resource_retriever
+  - ros_environment
+  - rosgraph_msgs
+  - rosidl_typesupport_introspection_cpp
+  - rosx_introspection
+  - sensor_msgs
+  - service_msgs
+  - std_msgs
+  - std_srvs
+  - test_msgs
+  repository: https://github.com/foxglove/foxglove-sdk
+  tag: release/lyrical/foxglove_bridge/3.5.0-2
   url: https://github.com/ros2-gbp/foxglove_bridge-release.git
-  version: 3.4.1
+  version: 3.5.0
 foxglove_compressed_video_transport:
-  tag: release/lyrical/foxglove_compressed_video_transport/3.0.2-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ffmpeg_encoder_decoder
+  - foxglove_msgs
+  - image_transport
+  - pluginlib
+  - rclcpp
+  - rcutils
+  - ros_environment
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-misc-utilities/foxglove_compressed_video_transport
+  tag: release/lyrical/foxglove_compressed_video_transport/3.0.3-1
   url: https://github.com/ros2-gbp/foxglove_compressed_video_transport-release.git
-  version: 3.0.2
+  version: 3.0.3
 foxglove_msgs:
-  tag: release/lyrical/foxglove_msgs/3.4.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/foxglove/foxglove-sdk
+  tag: release/lyrical/foxglove_msgs/3.5.0-2
   url: https://github.com/ros2-gbp/foxglove_bridge-release.git
-  version: 3.4.1
+  version: 3.5.0
 foxglove_sdk_vendor:
-  tag: release/lyrical/foxglove_sdk_vendor/0.2.0-6
+  dependencies:
+  - ament_cmake
+  repository: https://gitlab.com/jlack/foxglove_sdk_vendor
+  tag: release/lyrical/foxglove_sdk_vendor/0.3.0-1
   url: https://github.com/ros2-gbp/foxglove_sdk_vendor-release.git
-  version: 0.2.0
+  version: 0.3.0
+franka_inria_inverse_dynamics_solver:
+  dependencies:
+  - ament_cmake
+  - inverse_dynamics_solver
+  - pluginlib
+  repository: https://github.com/unisa-acg/inverse-dynamics-solver
+  tag: release/lyrical/franka_inria_inverse_dynamics_solver/3.0.0-1
+  url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git
+  version: 3.0.0
 frequency_cam:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - event_camera_codecs
+  - event_camera_msgs
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - rosbag2_cpp
+  - std_msgs
+  repository: https://github.com/ros-event-camera/frequency_cam
   tag: release/lyrical/frequency_cam/3.1.2-2
   url: https://github.com/ros2-gbp/frequency_cam-release.git
   version: 3.1.2
 fuse:
-  tag: release/lyrical/fuse/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - fuse_constraints
+  - fuse_core
+  - fuse_doc
+  - fuse_graphs
+  - fuse_models
+  - fuse_msgs
+  - fuse_optimizers
+  - fuse_publishers
+  - fuse_variables
+  - fuse_viz
+  - gtest_vendor
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_constraints:
-  tag: release/lyrical/fuse_constraints/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - fuse_core
+  - fuse_graphs
+  - fuse_variables
+  - geometry_msgs
+  - gtest_vendor
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_constraints/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_core:
-  tag: release/lyrical/fuse_core/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - fuse_msgs
+  - geometry_msgs
+  - gtest_vendor
+  - launch
+  - launch_pytest
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_core/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_doc:
-  tag: release/lyrical/fuse_doc/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - gtest_vendor
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_doc/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_graphs:
-  tag: release/lyrical/fuse_graphs/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - fuse_core
+  - gtest_vendor
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_graphs/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_loss:
-  tag: release/lyrical/fuse_loss/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - fuse_core
+  - gtest_vendor
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_loss/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_models:
-  tag: release/lyrical/fuse_models/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - fuse_constraints
+  - fuse_core
+  - fuse_graphs
+  - fuse_msgs
+  - fuse_publishers
+  - fuse_variables
+  - geometry_msgs
+  - gtest_vendor
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_2d
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_models/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_msgs:
-  tag: release/lyrical/fuse_msgs/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - gtest_vendor
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_msgs/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_optimizers:
-  tag: release/lyrical/fuse_optimizers/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_updater
+  - fuse_constraints
+  - fuse_core
+  - fuse_graphs
+  - fuse_models
+  - fuse_msgs
+  - fuse_variables
+  - geometry_msgs
+  - gtest_vendor
+  - launch
+  - launch_pytest
+  - launch_ros
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - std_srvs
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_optimizers/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_publishers:
-  tag: release/lyrical/fuse_publishers/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - fuse_constraints
+  - fuse_core
+  - fuse_graphs
+  - fuse_msgs
+  - fuse_variables
+  - geometry_msgs
+  - gtest_vendor
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_publishers/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_tutorials:
-  tag: release/lyrical/fuse_tutorials/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - fuse_constraints
+  - fuse_core
+  - fuse_models
+  - fuse_optimizers
+  - fuse_publishers
+  - fuse_variables
+  - gtest_vendor
+  - nav_msgs
+  - rclcpp
+  - rviz2
+  - sensor_msgs
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_tutorials/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_variables:
-  tag: release/lyrical/fuse_variables/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - fuse_core
+  - fuse_graphs
+  - gtest_vendor
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_variables/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 fuse_viz:
-  tag: release/lyrical/fuse_viz/1.3.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - fuse_constraints
+  - fuse_core
+  - fuse_msgs
+  - fuse_variables
+  - geometry_msgs
+  - gtest_vendor
+  - rviz_common
+  - rviz_rendering
+  - tf2_geometry_msgs
+  repository: https://github.com/locusrobotics/fuse
+  tag: release/lyrical/fuse_viz/1.3.4-1
   url: https://github.com/ros2-gbp/fuse-release.git
-  version: 1.3.3
+  version: 1.3.4
 game_controller_spl:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - game_controller_spl_interfaces
+  - rclpy
+  repository: https://github.com/ros-sports/game_controller_spl
   tag: release/lyrical/game_controller_spl/5.0.0-4
   url: https://github.com/ros2-gbp/game_controller_spl-release.git
   version: 5.0.0
 game_controller_spl_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-sports/game_controller_spl
   tag: release/lyrical/game_controller_spl_interfaces/5.0.0-4
   url: https://github.com/ros2-gbp/game_controller_spl-release.git
   version: 5.0.0
 generate_parameter_library:
-  tag: release/lyrical/generate_parameter_library/1.1.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - generate_parameter_library_py
+  - rclcpp
+  - rclcpp_lifecycle
+  - rclpy
+  - rsl
+  - tcb_span
+  repository: https://github.com/PickNikRobotics/generate_parameter_library
+  tag: release/lyrical/generate_parameter_library/1.3.0-1
   url: https://github.com/ros2-gbp/generate_parameter_library-release.git
-  version: 1.1.0
+  version: 1.3.0
 generate_parameter_library_py:
-  tag: release/lyrical/generate_parameter_library_py/1.1.0-1
+  dependencies: []
+  repository: https://github.com/PickNikRobotics/generate_parameter_library
+  tag: release/lyrical/generate_parameter_library_py/1.3.0-1
   url: https://github.com/ros2-gbp/generate_parameter_library-release.git
-  version: 1.1.0
+  version: 1.3.0
 geodesy:
+  dependencies:
+  - ament_cmake
+  - angles
+  - geographic_msgs
+  - geometry_msgs
+  - sensor_msgs
+  - unique_identifier_msgs
+  repository: https://github.com/ros-geographic-info/geographic_info
   tag: release/lyrical/geodesy/1.0.6-3
   url: https://github.com/ros2-gbp/geographic_info-release.git
   version: 1.0.6
 geographic_info:
+  dependencies:
+  - ament_cmake
+  - geodesy
+  - geographic_msgs
+  repository: https://github.com/ros-geographic-info/geographic_info
   tag: release/lyrical/geographic_info/1.0.6-3
   url: https://github.com/ros2-gbp/geographic_info-release.git
   version: 1.0.6
 geographic_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - unique_identifier_msgs
+  repository: https://github.com/ros-geographic-info/geographic_info
   tag: release/lyrical/geographic_msgs/1.0.6-3
   url: https://github.com/ros2-gbp/geographic_info-release.git
   version: 1.0.6
 geometric_shapes:
-  tag: release/lyrical/geometric_shapes/2.3.3-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_cmake
+  - console_bridge_vendor
+  - eigen3_cmake_module
+  - eigen_stl_containers
+  - geometry_msgs
+  - random_numbers
+  - rclcpp
+  - resource_retriever
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - shape_msgs
+  - visualization_msgs
+  repository: https://github.com/ros-planning/geometric_shapes
+  tag: release/lyrical/geometric_shapes/2.3.4-1
   url: https://github.com/ros2-gbp/geometric_shapes-release.git
-  version: 2.3.3
+  version: 2.3.4
 geometry2:
-  tag: release/lyrical/geometry2/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - tf2
+  - tf2_bullet
+  - tf2_eigen
+  - tf2_eigen_kdl
+  - tf2_geometry_msgs
+  - tf2_kdl
+  - tf2_msgs
+  - tf2_py
+  - tf2_ros
+  - tf2_sensor_msgs
+  - tf2_tools
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/geometry2/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 geometry_msgs:
-  tag: release/lyrical/geometry_msgs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/geometry_msgs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 geometry_tutorials:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros/geometry_tutorials
   tag: release/lyrical/geometry_tutorials/0.7.0-3
   url: https://github.com/ros2-gbp/geometry_tutorials-release.git
   version: 0.7.0
 gmock_vendor:
+  dependencies:
+  - gtest_vendor
+  repository: https://github.com/ament/googletest
   tag: release/lyrical/gmock_vendor/1.16.1-3
   url: https://github.com/ros2-gbp/googletest-release.git
   version: 1.16.1
 google_benchmark_vendor:
+  dependencies: []
+  repository: https://github.com/ament/google_benchmark_vendor
   tag: release/lyrical/google_benchmark_vendor/0.7.0-3
   url: https://github.com/ros2-gbp/google_benchmark_vendor-release.git
   version: 0.7.0
 gpio_controllers:
-  tag: release/lyrical/gpio_controllers/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/gpio_controllers/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 gps_msgs:
-  tag: release/lyrical/gps_msgs/2.1.2-4
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/swri-robotics/gps_umd
+  tag: release/lyrical/gps_msgs/3.1.1-1
   url: https://github.com/ros2-gbp/gps_umd-release.git
-  version: 2.1.2
+  version: 3.1.1
 gps_sensor_broadcaster:
-  tag: release/lyrical/gps_sensor_broadcaster/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/gps_sensor_broadcaster/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 gps_tools:
-  tag: release/lyrical/gps_tools/2.1.2-4
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - gps_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/swri-robotics/gps_umd
+  tag: release/lyrical/gps_tools/3.1.1-1
   url: https://github.com/ros2-gbp/gps_umd-release.git
-  version: 2.1.2
+  version: 3.1.1
 gps_umd:
-  tag: release/lyrical/gps_umd/2.1.2-4
+  dependencies:
+  - ament_cmake
+  - gps_msgs
+  - gps_tools
+  - gpsd_client
+  repository: https://github.com/swri-robotics/gps_umd
+  tag: release/lyrical/gps_umd/3.1.1-1
   url: https://github.com/ros2-gbp/gps_umd-release.git
-  version: 2.1.2
+  version: 3.1.1
 gpsd_client:
-  tag: release/lyrical/gpsd_client/2.1.2-4
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - gps_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/swri-robotics/gps_umd
+  tag: release/lyrical/gpsd_client/3.1.1-1
   url: https://github.com/ros2-gbp/gps_umd-release.git
-  version: 2.1.2
+  version: 3.1.1
 graph_msgs:
-  tag: release/lyrical/graph_msgs/0.2.0-7
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_cmake
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/PickNikRobotics/graph_msgs
+  tag: release/lyrical/graph_msgs/0.2.1-1
   url: https://github.com/ros2-gbp/graph_msgs-release.git
-  version: 0.2.0
+  version: 0.2.1
 grasping_msgs:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - moveit_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - shape_msgs
+  - std_msgs
+  repository: https://github.com/mikeferguson/grasping_msgs
   tag: release/lyrical/grasping_msgs/0.5.0-3
   url: https://github.com/ros2-gbp/grasping_msgs-release.git
   version: 0.5.0
 grbl_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/flynneva/grbl_msgs
   tag: release/lyrical/grbl_msgs/0.0.2-10
   url: https://github.com/ros2-gbp/grbl_msgs-release.git
   version: 0.0.2
 grbl_ros:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - grbl_msgs
+  - rclpy
+  - std_msgs
+  repository: https://github.com/flynneva/grbl_ros
   tag: release/lyrical/grbl_ros/0.0.16-8
   url: https://github.com/ros2-gbp/grbl_ros-release.git
   version: 0.0.16
 greenwave_monitor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_flake8
+  - ament_lint_auto
+  - ament_lint_common
+  - ament_pep257
+  - diagnostic_msgs
+  - greenwave_monitor_interfaces
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - rclcpp
+  - rclpy
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/NVIDIA-ISAAC-ROS/greenwave_monitor
   tag: release/lyrical/greenwave_monitor/1.0.0-4
   url: https://github.com/ros2-gbp/greenwave_monitor-release.git
   version: 1.0.0
 greenwave_monitor_interfaces:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/NVIDIA-ISAAC-ROS/greenwave_monitor
   tag: release/lyrical/greenwave_monitor_interfaces/1.0.0-4
   url: https://github.com/ros2-gbp/greenwave_monitor-release.git
   version: 1.0.0
 gscam:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - camera_calibration_parsers
+  - camera_info_manager
+  - class_loader
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros-drivers/gscam
   tag: release/lyrical/gscam/2.0.4-3
   url: https://github.com/ros2-gbp/gscam-release.git
   version: 2.0.4
 gstreamer_ros_babel_fish:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/StefanFabian/gstreamer_ros_babel_fish
   tag: release/lyrical/gstreamer_ros_babel_fish/1.26.40-3
   url: https://github.com/ros2-gbp/gstreamer_ros_babel_fish-release.git
   version: 1.26.40
 gtest_vendor:
+  dependencies: []
+  repository: https://github.com/ament/googletest
   tag: release/lyrical/gtest_vendor/1.16.1-3
   url: https://github.com/ros2-gbp/googletest-release.git
   version: 1.16.1
 gtsam:
+  dependencies: []
+  repository: https://github.com/borglab/gtsam
   tag: release/lyrical/gtsam/4.3.0-5
   url: https://github.com/ros2-gbp/gtsam-release.git
   version: 4.3.0
 gtsam2mrpt_serial:
+  dependencies:
+  - gtsam
+  - mola_common
+  - mrpt_libbase
+  - mrpt_libmath
+  - mrpt_libposes
+  repository: https://github.com/MRPT/gtsam2mrpt_serial
   tag: release/lyrical/gtsam2mrpt_serial/0.2.0-3
   url: https://github.com/ros2-gbp/gtsam2mrpt_serial-release.git
   version: 0.2.0
+gurumdds_cmake_module:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/rmw_gurumdds
+  tag: release/lyrical/gurumdds_cmake_module/7.0.0-3
+  url: https://github.com/ros2-gbp/rmw_gurumdds-release.git
+  version: 7.0.0
 gz_cmake_vendor:
-  tag: release/lyrical/gz_cmake_vendor/0.4.4-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  repository: https://github.com/gazebo-release/gz_cmake_vendor
+  tag: release/lyrical/gz_cmake_vendor/0.4.5-1
   url: https://github.com/ros2-gbp/gz_cmake_vendor-release.git
-  version: 0.4.4
+  version: 0.4.5
 gz_common_vendor:
-  tag: release/lyrical/gz_common_vendor/0.3.5-4
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_math_vendor
+  - gz_utils_vendor
+  - spdlog_vendor
+  repository: https://github.com/gazebo-release/gz_common_vendor
+  tag: release/lyrical/gz_common_vendor/0.3.8-1
   url: https://github.com/ros2-gbp/gz_common_vendor-release.git
-  version: 0.3.5
+  version: 0.3.8
 gz_dartsim_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  repository: https://github.com/gazebo-release/gz_dartsim_vendor
   tag: release/lyrical/gz_dartsim_vendor/0.1.3-3
   url: https://github.com/ros2-gbp/gz_dartsim_vendor-release.git
   version: 0.1.3
 gz_fuel_tools_vendor:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_common_vendor
+  - gz_math_vendor
+  - gz_msgs_vendor
+  - gz_tools_vendor
+  - gz_utils_vendor
+  repository: https://github.com/gazebo-release/gz_fuel_tools_vendor
   tag: release/lyrical/gz_fuel_tools_vendor/0.3.1-3
   url: https://github.com/ros2-gbp/gz_fuel_tools_vendor-release.git
   version: 0.3.1
 gz_gui_vendor:
-  tag: release/lyrical/gz_gui_vendor/0.3.1-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_common_vendor
+  - gz_math_vendor
+  - gz_msgs_vendor
+  - gz_plugin_vendor
+  - gz_rendering_vendor
+  - gz_tools_vendor
+  - gz_transport_vendor
+  - gz_utils_vendor
+  repository: https://github.com/gazebo-release/gz_gui_vendor
+  tag: release/lyrical/gz_gui_vendor/0.3.2-1
   url: https://github.com/ros2-gbp/gz_gui_vendor-release.git
-  version: 0.3.1
+  version: 0.3.2
 gz_launch_vendor:
-  tag: release/lyrical/gz_launch_vendor/0.3.1-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_common_vendor
+  - gz_gui_vendor
+  - gz_math_vendor
+  - gz_msgs_vendor
+  - gz_plugin_vendor
+  - gz_sim_vendor
+  - gz_tools_vendor
+  - gz_transport_vendor
+  repository: https://github.com/gazebo-release/gz_launch_vendor
+  tag: release/lyrical/gz_launch_vendor/0.3.2-1
   url: https://github.com/ros2-gbp/gz_launch_vendor-release.git
-  version: 0.3.1
+  version: 0.3.2
 gz_math_vendor:
-  tag: release/lyrical/gz_math_vendor/0.4.3-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_utils_vendor
+  repository: https://github.com/gazebo-release/gz_math_vendor
+  tag: release/lyrical/gz_math_vendor/0.4.5-1
   url: https://github.com/ros2-gbp/gz_math_vendor-release.git
-  version: 0.4.3
+  version: 0.4.5
 gz_msgs_vendor:
-  tag: release/lyrical/gz_msgs_vendor/0.3.3-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_math_vendor
+  - gz_tools_vendor
+  repository: https://github.com/gazebo-release/gz_msgs_vendor
+  tag: release/lyrical/gz_msgs_vendor/0.3.4-2
   url: https://github.com/ros2-gbp/gz_msgs_vendor-release.git
-  version: 0.3.3
+  version: 0.3.4
 gz_ogre_next_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - gz_cmake_vendor
+  repository: https://github.com/gazebo-release/gz_ogre_next_vendor
   tag: release/lyrical/gz_ogre_next_vendor/0.2.1-1
   url: https://github.com/ros2-gbp/gz_ogre_next_vendor-release.git
   version: 0.2.1
 gz_physics_vendor:
-  tag: release/lyrical/gz_physics_vendor/0.4.3-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_common_vendor
+  - gz_dartsim_vendor
+  - gz_math_vendor
+  - gz_plugin_vendor
+  - gz_utils_vendor
+  - sdformat_vendor
+  repository: https://github.com/gazebo-release/gz_physics_vendor
+  tag: release/lyrical/gz_physics_vendor/0.4.7-1
   url: https://github.com/ros2-gbp/gz_physics_vendor-release.git
-  version: 0.4.3
+  version: 0.4.7
 gz_plugin_vendor:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_tools_vendor
+  - gz_utils_vendor
+  repository: https://github.com/gazebo-release/gz_plugin_vendor
   tag: release/lyrical/gz_plugin_vendor/0.3.1-3
   url: https://github.com/ros2-gbp/gz_plugin_vendor-release.git
   version: 0.3.1
 gz_rendering_vendor:
-  tag: release/lyrical/gz_rendering_vendor/0.4.3-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_common_vendor
+  - gz_math_vendor
+  - gz_ogre_next_vendor
+  - gz_plugin_vendor
+  - gz_utils_vendor
+  repository: https://github.com/gazebo-release/gz_rendering_vendor
+  tag: release/lyrical/gz_rendering_vendor/0.4.4-1
   url: https://github.com/ros2-gbp/gz_rendering_vendor-release.git
-  version: 0.4.3
+  version: 0.4.4
 gz_ros2_control:
-  tag: release/lyrical/gz_ros2_control/3.0.8-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - controller_manager
+  - gz_plugin_vendor
+  - gz_sim_vendor
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - yaml_cpp_vendor
+  repository: https://github.com/ros-controls/gz_ros2_control
+  tag: release/lyrical/gz_ros2_control/3.0.9-1
   url: https://github.com/ros2-gbp/ign_ros2_control-release.git
-  version: 3.0.8
+  version: 3.0.9
 gz_ros2_control_demos:
-  tag: release/lyrical/gz_ros2_control_demos/3.0.8-1
+  dependencies:
+  - ackermann_steering_controller
+  - ament_cmake
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - control_msgs
+  - control_toolbox
+  - diff_drive_controller
+  - force_torque_sensor_broadcaster
+  - forward_command_controller
+  - geometry_msgs
+  - gz_ros2_control
+  - gz_sim_vendor
+  - hardware_interface
+  - imu_sensor_broadcaster
+  - joint_state_broadcaster
+  - joint_trajectory_controller
+  - launch
+  - launch_ros
+  - mecanum_drive_controller
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - robot_state_publisher
+  - ros2_control_cmake
+  - ros2controlcli
+  - ros2launch
+  - ros_gz_bridge
+  - ros_gz_sim
+  - std_msgs
+  - tricycle_controller
+  - xacro
+  repository: https://github.com/ros-controls/gz_ros2_control
+  tag: release/lyrical/gz_ros2_control_demos/3.0.9-1
   url: https://github.com/ros2-gbp/ign_ros2_control-release.git
-  version: 3.0.8
+  version: 3.0.9
 gz_sensors_vendor:
-  tag: release/lyrical/gz_sensors_vendor/0.3.2-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_common_vendor
+  - gz_math_vendor
+  - gz_msgs_vendor
+  - gz_rendering_vendor
+  - gz_tools_vendor
+  - gz_transport_vendor
+  - sdformat_vendor
+  repository: https://github.com/gazebo-release/gz_sensors_vendor
+  tag: release/lyrical/gz_sensors_vendor/0.3.5-1
   url: https://github.com/ros2-gbp/gz_sensors_vendor-release.git
-  version: 0.3.2
+  version: 0.3.5
 gz_sim_vendor:
-  tag: release/lyrical/gz_sim_vendor/0.4.4-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_common_vendor
+  - gz_fuel_tools_vendor
+  - gz_gui_vendor
+  - gz_math_vendor
+  - gz_msgs_vendor
+  - gz_physics_vendor
+  - gz_plugin_vendor
+  - gz_rendering_vendor
+  - gz_sensors_vendor
+  - gz_tools_vendor
+  - gz_transport_vendor
+  - gz_utils_vendor
+  - sdformat_vendor
+  repository: https://github.com/gazebo-release/gz_sim_vendor
+  tag: release/lyrical/gz_sim_vendor/0.4.6-1
   url: https://github.com/ros2-gbp/gz_sim_vendor-release.git
-  version: 0.4.4
+  version: 0.4.6
 gz_tools_vendor:
-  tag: release/lyrical/gz_tools_vendor/0.2.1-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  repository: https://github.com/gazebo-release/gz_tools_vendor
+  tag: release/lyrical/gz_tools_vendor/0.2.2-1
   url: https://github.com/ros2-gbp/gz_tools_vendor-release.git
-  version: 0.2.1
+  version: 0.2.2
 gz_transport_vendor:
-  tag: release/lyrical/gz_transport_vendor/0.3.4-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_math_vendor
+  - gz_msgs_vendor
+  - gz_tools_vendor
+  - gz_utils_vendor
+  - zenoh_cpp_vendor
+  repository: https://github.com/gazebo-release/gz_transport_vendor
+  tag: release/lyrical/gz_transport_vendor/0.3.5-1
   url: https://github.com/ros2-gbp/gz_transport_vendor-release.git
-  version: 0.3.4
+  version: 0.3.5
 gz_utils_vendor:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - spdlog_vendor
+  repository: https://github.com/gazebo-release/gz_utils_vendor
   tag: release/lyrical/gz_utils_vendor/0.4.1-3
   url: https://github.com/ros2-gbp/gz_utils_vendor-release.git
   version: 0.4.1
 hardware_interface:
-  tag: release/lyrical/hardware_interface/6.7.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - joint_limits
+  - lifecycle_msgs
+  - pal_statistics
+  - pluginlib
+  - rclcpp_lifecycle
+  - rcpputils
+  - rcutils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sdformat_urdf
+  - urdf
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/hardware_interface/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 hardware_interface_testing:
-  tag: release/lyrical/hardware_interface_testing/6.7.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - control_msgs
+  - hardware_interface
+  - lifecycle_msgs
+  - pluginlib
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/hardware_interface_testing/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 hash_library_vendor:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/tier4/hash_library_vendor
   tag: release/lyrical/hash_library_vendor/0.1.1-8
   url: https://github.com/ros2-gbp/hash_library_vendor-release.git
   version: 0.1.1
 hatchbed_common:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  repository: https://github.com/hatchbed/hatchbed_common
   tag: release/lyrical/hatchbed_common/0.1.5-3
   url: https://github.com/ros2-gbp/hatchbed_common-release.git
   version: 0.1.5
 heaphook:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - tlsf
+  repository: https://github.com/tier4/heaphook
   tag: release/lyrical/heaphook/0.1.1-4
   url: https://github.com/ros2-gbp/heaphook-release.git
   version: 0.1.1
 hebi_cpp_api:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/HebiRobotics/hebi_cpp_api_ros
   tag: release/lyrical/hebi_cpp_api/3.16.0-3
   url: https://github.com/ros2-gbp/hebi_cpp_api-release.git
   version: 3.16.0
+hitch_estimation_apriltag_array:
+  dependencies:
+  - ament_lint_auto
+  - ament_lint_common
+  - apriltag_msgs
+  - apriltag_ros
+  - geometry_msgs
+  - rclpy
+  - sensor_msgs
+  - tf2_ros
+  - tf_transformations
+  repository: https://github.com/li9i/hitch-estimation-apriltag-array
+  tag: release/lyrical/hitch_estimation_apriltag_array/0.0.3-1
+  url: https://github.com/li9i/hitch-estimation-apriltag-array-release.git
+  version: 0.0.3
 hls_lfcd_lds_driver:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver
   tag: release/lyrical/hls_lfcd_lds_driver/2.1.1-3
   url: https://github.com/ros2-gbp/hls_lfcd_lds_driver-release.git
   version: 2.1.1
 hri:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - geometry_msgs
+  - hri_msgs
+  - magic_enum
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/ros4hri/libhri
   tag: release/lyrical/hri/2.9.0-3
   url: https://github.com/ros2-gbp/libhri-release.git
   version: 2.9.0
 hri_actions_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros4hri/hri_actions_msgs
   tag: release/lyrical/hri_actions_msgs/2.5.0-3
   url: https://github.com/ros2-gbp/hri_actions_msgs-release.git
   version: 2.5.0
 hri_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  repository: https://github.com/ros4hri/hri_msgs
   tag: release/lyrical/hri_msgs/2.3.2-3
   url: https://github.com/ros2-gbp/hri_msgs-release.git
   version: 2.3.2
 hri_rviz:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - hri
+  - hri_msgs
+  - rclcpp
+  - rcpputils
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_ogre_vendor
+  - sensor_msgs
+  repository: https://github.com/ros4hri/hri_rviz
   tag: release/lyrical/hri_rviz/2.3.0-3
   url: https://github.com/ros2-gbp/hri_rviz-release.git
   version: 2.3.0
 human_description:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  - launch_pal
+  - launch_param_builder
+  - launch_ros
+  - launch_testing_ament_cmake
+  - robot_state_publisher
+  - urdf_test
+  - xacro
+  repository: https://github.com/ros4hri/human_description
   tag: release/lyrical/human_description/2.0.2-3
   url: https://github.com/ros2-gbp/human_description-release.git
   version: 2.0.2
 ibeo_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/astuff/astuff_sensor_msgs
   tag: release/lyrical/ibeo_msgs/4.0.0-5
   url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git
   version: 4.0.0
 iceoryx_binding_c:
+  dependencies:
+  - iceoryx_hoofs
+  - iceoryx_posh
+  repository: https://github.com/eclipse-iceoryx/iceoryx
   tag: release/lyrical/iceoryx_binding_c/2.0.6-1
   url: https://github.com/ros2-gbp/iceoryx-release.git
   version: 2.0.6
 iceoryx_hoofs:
+  dependencies: []
+  repository: https://github.com/eclipse-iceoryx/iceoryx
   tag: release/lyrical/iceoryx_hoofs/2.0.6-1
   url: https://github.com/ros2-gbp/iceoryx-release.git
   version: 2.0.6
 iceoryx_introspection:
+  dependencies:
+  - iceoryx_hoofs
+  - iceoryx_posh
+  repository: https://github.com/eclipse-iceoryx/iceoryx
   tag: release/lyrical/iceoryx_introspection/2.0.6-1
   url: https://github.com/ros2-gbp/iceoryx-release.git
   version: 2.0.6
 iceoryx_posh:
+  dependencies:
+  - iceoryx_hoofs
+  repository: https://github.com/eclipse-iceoryx/iceoryx
   tag: release/lyrical/iceoryx_posh/2.0.6-1
   url: https://github.com/ros2-gbp/iceoryx-release.git
   version: 2.0.6
 ifm3d_core:
+  dependencies:
+  - cv_bridge
   tag: release/lyrical/ifm3d_core/0.18.0-11
   url: https://github.com/ros2-gbp/ifm3d-release.git
   version: 0.18.0
 image_common:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - camera_calibration_parsers
+  - camera_info_manager
+  - image_transport
+  repository: https://github.com/ros-perception/image_common
   tag: release/lyrical/image_common/6.4.10-1
   url: https://github.com/ros2-gbp/image_common-release.git
   version: 6.4.10
 image_geometry:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_cmake_ros
+  - sensor_msgs
+  repository: https://github.com/ros-perception/vision_opencv
   tag: release/lyrical/image_geometry/4.1.0-3
   url: https://github.com/ros2-gbp/vision_opencv-release.git
   version: 4.1.0
 image_pipeline:
-  tag: release/lyrical/image_pipeline/7.1.6-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - camera_calibration
+  - depth_image_proc
+  - image_proc
+  - image_publisher
+  - image_rotate
+  - image_view
+  - stereo_image_proc
+  repository: https://github.com/ros-perception/image_pipeline
+  tag: release/lyrical/image_pipeline/7.1.7-1
   url: https://github.com/ros2-gbp/image_pipeline-release.git
-  version: 7.1.6
+  version: 7.1.7
 image_proc:
-  tag: release/lyrical/image_proc/7.1.6-1
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - camera_calibration_parsers
+  - cv_bridge
+  - geometry_msgs
+  - image_geometry
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - rcutils
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tracetools_image_pipeline
+  repository: https://github.com/ros-perception/image_pipeline
+  tag: release/lyrical/image_proc/7.1.7-1
   url: https://github.com/ros2-gbp/image_pipeline-release.git
-  version: 7.1.6
+  version: 7.1.7
 image_publisher:
-  tag: release/lyrical/image_publisher/7.1.6-1
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - camera_info_manager
+  - cv_bridge
+  - image_transport
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  repository: https://github.com/ros-perception/image_pipeline
+  tag: release/lyrical/image_publisher/7.1.7-1
   url: https://github.com/ros2-gbp/image_pipeline-release.git
-  version: 7.1.6
+  version: 7.1.7
 image_rotate:
-  tag: release/lyrical/image_rotate/7.1.6-1
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - class_loader
+  - cv_bridge
+  - geometry_msgs
+  - image_transport
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-perception/image_pipeline
+  tag: release/lyrical/image_rotate/7.1.7-1
   url: https://github.com/ros2-gbp/image_pipeline-release.git
-  version: 7.1.6
+  version: 7.1.7
 image_tools:
-  tag: release/lyrical/image_tools/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - rclcpp_components
+  - rmw_implementation_cmake
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/image_tools/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 image_transport:
+  dependencies:
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - message_filters
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  repository: https://github.com/ros-perception/image_common
   tag: release/lyrical/image_transport/6.4.10-1
   url: https://github.com/ros2-gbp/image_common-release.git
   version: 6.4.10
 image_transport_plugins:
-  tag: release/lyrical/image_transport_plugins/6.2.5-1
+  dependencies:
+  - ament_cmake
+  - compressed_depth_image_transport
+  - compressed_image_transport
+  - theora_image_transport
+  - zstd_image_transport
+  repository: https://github.com/ros-perception/image_transport_plugins
+  tag: release/lyrical/image_transport_plugins/6.2.6-1
   url: https://github.com/ros2-gbp/image_transport_plugins-release.git
-  version: 6.2.5
+  version: 6.2.6
 image_transport_py:
+  dependencies:
+  - ament_cmake_python
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - image_transport
+  - rclcpp
+  - rpyutils
+  - sensor_msgs
+  repository: https://github.com/ros-perception/image_common
   tag: release/lyrical/image_transport_py/6.4.10-1
   url: https://github.com/ros2-gbp/image_common-release.git
   version: 6.4.10
 image_view:
-  tag: release/lyrical/image_view/7.1.6-1
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - camera_calibration_parsers
+  - cv_bridge
+  - image_transport
+  - message_filters
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - sensor_msgs
+  - std_srvs
+  - stereo_msgs
+  repository: https://github.com/ros-perception/image_pipeline
+  tag: release/lyrical/image_view/7.1.7-1
   url: https://github.com/ros2-gbp/image_pipeline-release.git
-  version: 7.1.6
+  version: 7.1.7
 imu_complementary_filter:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - message_filters
+  - rclcpp
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/CCNYRoboticsLab/imu_tools
   tag: release/lyrical/imu_complementary_filter/2.2.2-3
   url: https://github.com/ros2-gbp/imu_tools-release.git
   version: 2.2.2
 imu_filter_madgwick:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - builtin_interfaces
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/CCNYRoboticsLab/imu_tools
   tag: release/lyrical/imu_filter_madgwick/2.2.2-3
   url: https://github.com/ros2-gbp/imu_tools-release.git
   version: 2.2.2
 imu_pipeline:
+  dependencies:
+  - ament_cmake
+  - imu_processors
+  - imu_transformer
+  repository: https://github.com/ros-perception/imu_pipeline
   tag: release/lyrical/imu_pipeline/0.6.1-3
   url: https://github.com/ros2-gbp/imu_pipeline-release.git
   version: 0.6.1
 imu_processors:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cpplint
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - tf2_ros
+  repository: https://github.com/ros-perception/imu_pipeline
   tag: release/lyrical/imu_processors/0.6.1-3
   url: https://github.com/ros2-gbp/imu_pipeline-release.git
   version: 0.6.1
 imu_sensor_broadcaster:
-  tag: release/lyrical/imu_sensor_broadcaster/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/imu_sensor_broadcaster/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 imu_tools:
+  dependencies:
+  - ament_cmake
+  - imu_complementary_filter
+  - imu_filter_madgwick
+  - rviz_imu_plugin
+  repository: https://github.com/CCNYRoboticsLab/imu_tools
   tag: release/lyrical/imu_tools/2.2.2-3
   url: https://github.com/ros2-gbp/imu_tools-release.git
   version: 2.2.2
 imu_transformer:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - geometry_msgs
+  - message_filters
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - tf2_geometry_msgs
+  - tf2_ros
+  - tf2_sensor_msgs
+  repository: https://github.com/ros-perception/imu_pipeline
   tag: release/lyrical/imu_transformer/0.6.1-3
   url: https://github.com/ros2-gbp/imu_pipeline-release.git
   version: 0.6.1
+int2dds_ffi_vendor:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/IntellectusCorp/rmw_int2dds
+  tag: release/lyrical/int2dds_ffi_vendor/0.1.3-1
+  url: https://github.com/ros2-gbp/rmw_int2dds-release.git
+  version: 0.1.3
 interactive_marker_twist_server:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - interactive_markers
+  - rclcpp
+  - tf2
+  - visualization_msgs
+  repository: https://github.com/ros-visualization/interactive_marker_twist_server
   tag: release/lyrical/interactive_marker_twist_server/2.1.0-4
   url: https://github.com/ros2-gbp/interactive_marker_twist_server-release.git
   version: 2.1.0
 interactive_markers:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rclcpp
+  - rclpy
+  - rcutils
+  - rmw
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - visualization_msgs
+  repository: https://github.com/ros-visualization/interactive_markers
   tag: release/lyrical/interactive_markers/2.8.4-1
   url: https://github.com/ros2-gbp/interactive_markers-release.git
   version: 2.8.4
 intra_process_demo:
-  tag: release/lyrical/intra_process_demo/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - rmw_implementation_cmake
+  - sensor_msgs
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/intra_process_demo/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
+inverse_dynamics_solver:
+  dependencies:
+  - ament_cmake
+  - pluginlib
+  - rclcpp
+  - rosbag2_cpp
+  - rosbag2_storage
+  - rosbag2_storage_default_plugins
+  - sensor_msgs
+  - urdf
+  repository: https://github.com/unisa-acg/inverse-dynamics-solver
+  tag: release/lyrical/inverse_dynamics_solver/3.0.0-1
+  url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git
+  version: 3.0.0
 io_context:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - asio_cmake_module
+  - rclcpp
+  - std_msgs
+  - udp_msgs
+  repository: https://github.com/ros-drivers/transport_drivers
   tag: release/lyrical/io_context/1.2.0-5
   url: https://github.com/ros2-gbp/transport_drivers-release.git
   version: 1.2.0
 irobot_create_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/iRobotEducation/irobot_create_msgs
   tag: release/lyrical/irobot_create_msgs/2.1.0-5
   url: https://github.com/ros2-gbp/irobot_create_msgs-release.git
   version: 2.1.0
 jacro:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_index_python
+  - std_msgs
+  repository: https://github.com/JafarAbdi/jacro
   tag: release/lyrical/jacro/0.2.0-4
   url: https://github.com/ros2-gbp/jacro-release.git
   version: 0.2.0
 joint_limits:
-  tag: release/lyrical/joint_limits/6.7.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - backward_ros
+  - generate_parameter_library
+  - launch_ros
+  - launch_testing_ament_cmake
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - trajectory_msgs
+  - urdf
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/joint_limits/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 joint_state_broadcaster:
-  tag: release/lyrical/joint_state_broadcaster/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - builtin_interfaces
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
+  - urdf
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/joint_state_broadcaster/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 joint_state_publisher:
-  tag: release/lyrical/joint_state_publisher/2.4.2-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - launch_testing
+  - launch_testing_ros
+  - rclpy
+  - ros2topic
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros/joint_state_publisher
+  tag: release/lyrical/joint_state_publisher/2.4.3-1
   url: https://github.com/ros2-gbp/joint_state_publisher-release.git
-  version: 2.4.2
+  version: 2.4.3
 joint_state_publisher_gui:
-  tag: release/lyrical/joint_state_publisher_gui/2.4.2-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - joint_state_publisher
+  - python_qt_binding
+  - rclpy
+  repository: https://github.com/ros/joint_state_publisher
+  tag: release/lyrical/joint_state_publisher_gui/2.4.3-1
   url: https://github.com/ros2-gbp/joint_state_publisher-release.git
-  version: 2.4.2
+  version: 2.4.3
 joint_state_topic_hardware_interface:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_ros
+  - angles
+  - control_msgs
+  - controller_manager
+  - forward_command_controller
+  - hardware_interface
+  - joint_state_broadcaster
+  - joint_trajectory_controller
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - rclcpp
+  - rclpy
+  - robot_state_publisher
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
+  - topic_tools
+  - xacro
+  repository: https://github.com/ros-controls/topic_based_hardware_interfaces
   tag: release/lyrical/joint_state_topic_hardware_interface/1.1.0-1
   url: https://github.com/ros2-gbp/topic_based_hardware-release.git
   version: 1.1.0
 joint_trajectory_controller:
-  tag: release/lyrical/joint_trajectory_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - angles
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - rsl
+  - trajectory_msgs
+  - urdf
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/joint_trajectory_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 joy:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - sdl2_vendor
+  - sensor_msgs
+  repository: https://github.com/ros-drivers/joystick_drivers
   tag: release/lyrical/joy/3.3.0-4
   url: https://github.com/ros2-gbp/joystick_drivers-release.git
   version: 3.3.0
 joy_linux:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - diagnostic_updater
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/ros-drivers/joystick_drivers
   tag: release/lyrical/joy_linux/3.3.0-4
   url: https://github.com/ros2-gbp/joystick_drivers-release.git
   version: 3.3.0
 joy_teleop:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - control_msgs
+  - example_interfaces
+  - geometry_msgs
+  - launch_ros
+  - launch_testing
+  - rclpy
+  - rosidl_runtime_py
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - teleop_tools_msgs
+  - test_msgs
+  - trajectory_msgs
+  repository: https://github.com/ros-teleop/teleop_tools
   tag: release/lyrical/joy_teleop/2.0.0-3
   url: https://github.com/ros2-gbp/teleop_tools-release.git
   version: 2.0.0
 joy_tester:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - rclpy
+  - sensor_msgs
+  repository: https://github.com/joshnewans/joy_tester
   tag: release/lyrical/joy_tester/0.0.2-5
   url: https://github.com/ros2-gbp/joy_tester-release.git
   version: 0.0.2
 jrl_cmakemodules:
-  tag: release/lyrical/jrl_cmakemodules/1.1.2-3
+  dependencies: []
+  repository: https://github.com/jrl-umi3218/jrl-cmakemodules
+  tag: release/lyrical/jrl_cmakemodules/2.3.0-1
   url: https://github.com/ros2-gbp/jrl_cmakemodules-release.git
-  version: 1.1.2
+  version: 2.3.0
+jsk_common_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - jsk_footstep_msgs
+  - jsk_gui_msgs
+  - jsk_hark_msgs
+  - posedetection_msgs
+  - ros_environment
+  - speech_recognition_msgs
+  repository: https://github.com/jsk-ros-pkg/jsk_common_msgs
+  tag: release/lyrical/jsk_common_msgs/5.0.1-3
+  url: https://github.com/tork-a/jsk_common_msgs-release.git
+  version: 5.0.1
+jsk_footstep_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/jsk-ros-pkg/jsk_common_msgs
+  tag: release/lyrical/jsk_footstep_msgs/5.0.1-3
+  url: https://github.com/tork-a/jsk_common_msgs-release.git
+  version: 5.0.1
+jsk_gui_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/jsk-ros-pkg/jsk_common_msgs
+  tag: release/lyrical/jsk_gui_msgs/5.0.1-3
+  url: https://github.com/tork-a/jsk_common_msgs-release.git
+  version: 5.0.1
+jsk_hark_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/jsk-ros-pkg/jsk_common_msgs
+  tag: release/lyrical/jsk_hark_msgs/5.0.1-3
+  url: https://github.com/tork-a/jsk_common_msgs-release.git
+  version: 5.0.1
 kartech_linear_actuator_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/astuff/astuff_sensor_msgs
   tag: release/lyrical/kartech_linear_actuator_msgs/4.0.0-5
   url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git
   version: 4.0.0
+kdl_inverse_dynamics_solver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - inverse_dynamics_solver
+  - kdl_parser
+  - pluginlib
+  - rclcpp
+  - ros_testing
+  - ur_description
+  repository: https://github.com/unisa-acg/inverse-dynamics-solver
+  tag: release/lyrical/kdl_inverse_dynamics_solver/3.0.0-1
+  url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git
+  version: 3.0.0
 kdl_parser:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  - rcutils
+  - urdf
+  - urdfdom_headers
+  repository: https://github.com/ros/kdl_parser
   tag: release/lyrical/kdl_parser/3.0.1-3
   url: https://github.com/ros2-gbp/kdl_parser-release.git
   version: 3.0.1
 kdl_parser_py:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - python_orocos_kdl_vendor
+  - urdfdom_py
+  repository: https://github.com/ros/kdl_parser_py
   tag: release/lyrical/kdl_parser_py/3.0.0-3
   url: https://github.com/ros2-gbp/kdl_parser_py-release.git
   version: 3.0.0
 key_teleop:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - geometry_msgs
+  - rclpy
+  repository: https://github.com/ros-teleop/teleop_tools
   tag: release/lyrical/key_teleop/2.0.0-3
   url: https://github.com/ros2-gbp/teleop_tools-release.git
   version: 2.0.0
 keyboard_handler:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros-tooling/keyboard_handler
   tag: release/lyrical/keyboard_handler/0.5.1-1
   url: https://github.com/ros2-gbp/keyboard_handler-release.git
   version: 0.5.1
 kinematics_interface:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  repository: https://github.com/ros-controls/kinematics_interface
   tag: release/lyrical/kinematics_interface/2.4.2-1
   url: https://github.com/ros2-gbp/kinematics_interface-release.git
   version: 2.4.2
 kinematics_interface_kdl:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - eigen3_cmake_module
+  - kdl_parser
+  - kinematics_interface
+  - pluginlib
+  - ros2_control_cmake
+  - tf2_eigen_kdl
+  repository: https://github.com/ros-controls/kinematics_interface
   tag: release/lyrical/kinematics_interface_kdl/2.4.2-1
   url: https://github.com/ros2-gbp/kinematics_interface-release.git
   version: 2.4.2
 kinematics_interface_pinocchio:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - eigen3_cmake_module
+  - kinematics_interface
+  - pinocchio
+  - pluginlib
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  repository: https://github.com/ros-controls/kinematics_interface
   tag: release/lyrical/kinematics_interface_pinocchio/2.4.2-1
   url: https://github.com/ros2-gbp/kinematics_interface-release.git
   version: 2.4.2
 kinova_gen3_6dof_robotiq_2f_85_moveit_config:
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - joint_trajectory_controller
+  - kortex_description
+  - moveit_configs_utils
+  - moveit_kinematics
+  - moveit_planners
+  - moveit_ros_move_group
+  - moveit_ros_visualization
+  - moveit_ros_warehouse
+  - moveit_setup_assistant
+  - moveit_simple_controller_manager
+  - picknik_reset_fault_controller
+  - picknik_twist_controller
+  - robot_state_publisher
+  - rviz2
+  - rviz_common
+  - rviz_default_plugins
+  - tf2_ros
+  - xacro
+  repository: https://github.com/Kinovarobotics/ros2_kortex
   tag: release/lyrical/kinova_gen3_6dof_robotiq_2f_85_moveit_config/0.2.5-4
   url: https://github.com/ros2-gbp/ros2_kortex-release.git
   version: 0.2.5
 kinova_gen3_7dof_robotiq_2f_85_moveit_config:
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - joint_trajectory_controller
+  - kortex_description
+  - moveit_configs_utils
+  - moveit_kinematics
+  - moveit_planners
+  - moveit_ros_move_group
+  - moveit_ros_visualization
+  - moveit_ros_warehouse
+  - moveit_setup_assistant
+  - moveit_simple_controller_manager
+  - picknik_reset_fault_controller
+  - picknik_twist_controller
+  - robot_state_publisher
+  - rviz2
+  - rviz_common
+  - rviz_default_plugins
+  - tf2_ros
+  - xacro
+  repository: https://github.com/Kinovarobotics/ros2_kortex
   tag: release/lyrical/kinova_gen3_7dof_robotiq_2f_85_moveit_config/0.2.5-4
   url: https://github.com/ros2-gbp/ros2_kortex-release.git
   version: 0.2.5
 kinova_gen3_lite_moveit_config:
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - kortex_description
+  - moveit_configs_utils
+  - moveit_kinematics
+  - moveit_planners
+  - moveit_ros_move_group
+  - moveit_ros_visualization
+  - moveit_ros_warehouse
+  - moveit_setup_assistant
+  - moveit_simple_controller_manager
+  - picknik_reset_fault_controller
+  - picknik_twist_controller
+  - robot_state_publisher
+  - rviz2
+  - rviz_common
+  - rviz_default_plugins
+  - tf2_ros
+  - xacro
+  repository: https://github.com/Kinovarobotics/ros2_kortex
   tag: release/lyrical/kinova_gen3_lite_moveit_config/0.2.5-4
   url: https://github.com/ros2-gbp/ros2_kortex-release.git
   version: 0.2.5
 kitti_metrics_eval:
+  dependencies:
+  - mola_common
+  - mrpt_libmath
+  - mrpt_libposes
+  - mrpt_libtclap
+  repository: https://github.com/MOLAorg/mola_academic_datasets
   tag: release/lyrical/kitti_metrics_eval/3.0.0-1
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.0.0
 kobuki_core:
+  dependencies:
+  - ament_cmake_ros
+  - ecl_build
+  - ecl_command_line
+  - ecl_config
+  - ecl_console
+  - ecl_converters
+  - ecl_devices
+  - ecl_geometry
+  - ecl_mobile_robot
+  - ecl_sigslots
+  - ecl_threads
+  - ecl_time
+  repository: https://github.com/kobuki-base/kobuki_core
   tag: release/lyrical/kobuki_core/1.4.0-5
   url: https://github.com/ros2-gbp/kobuki_core-release.git
   version: 1.4.0
 kobuki_ros_interfaces:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/kobuki-base/kobuki_ros_interfaces
   tag: release/lyrical/kobuki_ros_interfaces/1.0.0-6
   url: https://github.com/ros2-gbp/kobuki_ros_interfaces-release.git
   version: 1.0.0
 kobuki_velocity_smoother:
+  dependencies:
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_lint_cmake
+  - ament_cmake_pep257
+  - ament_cmake_ros
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ecl_build
+  - geometry_msgs
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - nav_msgs
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - ros2test
+  repository: https://github.com/kobuki-base/kobuki_velocity_smoother
   tag: release/lyrical/kobuki_velocity_smoother/0.15.1-3
   url: https://github.com/ros2-gbp/kobuki_velocity_smoother-release.git
   version: 0.15.1
 kompass:
+  dependencies:
+  - automatika_ros_sugar
+  - kompass_interfaces
+  repository: https://github.com/automatika-robotics/kompass
   tag: release/lyrical/kompass/0.6.0-1
   url: https://github.com/ros2-gbp/kompass-release.git
   version: 0.6.0
 kompass_interfaces:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/automatika-robotics/kompass
   tag: release/lyrical/kompass_interfaces/0.6.0-1
   url: https://github.com/ros2-gbp/kompass-release.git
   version: 0.6.0
 kortex_api:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/Kinovarobotics/ros2_kortex
   tag: release/lyrical/kortex_api/0.2.5-4
   url: https://github.com/ros2-gbp/ros2_kortex-release.git
   version: 0.2.5
 kortex_bringup:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - controller_manager
+  - joint_state_broadcaster
+  - joint_state_publisher
+  - joint_trajectory_controller
+  - kortex_description
+  - kortex_driver
+  - launch
+  - launch_ros
+  - parallel_gripper_controller
+  - rclpy
+  - robotiq_description
+  - ros_gz_bridge
+  - ros_gz_sim
+  - rviz2
+  - urdf
+  - xacro
+  repository: https://github.com/Kinovarobotics/ros2_kortex
   tag: release/lyrical/kortex_bringup/0.2.5-4
   url: https://github.com/ros2-gbp/ros2_kortex-release.git
   version: 0.2.5
 kortex_description:
+  dependencies:
+  - ament_cmake
+  - gz_ros2_control
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - joint_trajectory_controller
+  - parallel_gripper_controller
+  - picknik_reset_fault_controller
+  - picknik_twist_controller
+  - robot_state_publisher
+  - robotiq_description
+  - rviz2
+  repository: https://github.com/Kinovarobotics/ros2_kortex
   tag: release/lyrical/kortex_description/0.2.5-4
   url: https://github.com/ros2-gbp/ros2_kortex-release.git
   version: 0.2.5
 kortex_driver:
+  dependencies:
+  - ament_cmake
+  - hardware_interface
+  - kortex_api
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/Kinovarobotics/ros2_kortex
   tag: release/lyrical/kortex_driver/0.2.5-4
   url: https://github.com/ros2-gbp/ros2_kortex-release.git
   version: 0.2.5
 lanelet2:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_core
+  - lanelet2_examples
+  - lanelet2_io
+  - lanelet2_maps
+  - lanelet2_matching
+  - lanelet2_projection
+  - lanelet2_python
+  - lanelet2_routing
+  - lanelet2_traffic_rules
+  - lanelet2_validation
+  - ros_environment
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_core:
+  dependencies:
+  - ament_cmake_core
+  - mrt_cmake_modules
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_core/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_examples:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_core
+  - lanelet2_io
+  - lanelet2_matching
+  - lanelet2_projection
+  - lanelet2_python
+  - lanelet2_routing
+  - lanelet2_traffic_rules
+  - mrt_cmake_modules
+  - ros2cli
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_examples/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_io:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_core
+  - mrt_cmake_modules
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_io/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_maps:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_core
+  - mrt_cmake_modules
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_maps/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_matching:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_core
+  - lanelet2_io
+  - lanelet2_maps
+  - lanelet2_projection
+  - lanelet2_traffic_rules
+  - mrt_cmake_modules
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_matching/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_projection:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_io
+  - mrt_cmake_modules
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_projection/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_python:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_core
+  - lanelet2_io
+  - lanelet2_matching
+  - lanelet2_projection
+  - lanelet2_routing
+  - lanelet2_traffic_rules
+  - mrt_cmake_modules
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_python/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_routing:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_core
+  - lanelet2_traffic_rules
+  - mrt_cmake_modules
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_routing/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_traffic_rules:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_core
+  - mrt_cmake_modules
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_traffic_rules/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 lanelet2_validation:
+  dependencies:
+  - ament_cmake_core
+  - lanelet2_core
+  - lanelet2_io
+  - lanelet2_maps
+  - lanelet2_projection
+  - lanelet2_routing
+  - lanelet2_traffic_rules
+  - mrt_cmake_modules
+  repository: https://github.com/fzi-forschungszentrum-informatik/lanelet2
   tag: release/lyrical/lanelet2_validation/1.2.1-8
   url: https://github.com/ros2-gbp/lanelet2-release.git
   version: 1.2.1
 laser_filters:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - angles
+  - diagnostic_msgs
+  - diagnostic_updater
+  - filters
+  - laser_geometry
+  - launch_testing_ament_cmake
+  - message_filters
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_kdl
+  - tf2_ros
+  repository: https://github.com/ros-perception/laser_filters
   tag: release/lyrical/laser_filters/2.3.2-3
   url: https://github.com/ros2-gbp/laser_filters-release.git
   version: 2.3.2
 laser_geometry:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  - rclcpp
+  - rclpy
+  - sensor_msgs
+  - sensor_msgs_py
+  - tf2
+  repository: https://github.com/ros-perception/laser_geometry
   tag: release/lyrical/laser_geometry/2.11.3-6
   url: https://github.com/ros2-gbp/laser_geometry-release.git
   version: 2.11.3
 laser_proc:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - class_loader
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros-perception/laser_proc
   tag: release/lyrical/laser_proc/1.0.3-3
   url: https://github.com/ros2-gbp/laser_proc-release.git
   version: 1.0.3
 laser_segmentation:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - slg_msgs
+  - visualization_msgs
+  repository: https://github.com/ajtudela/laser_segmentation
   tag: release/lyrical/laser_segmentation/3.0.2-3
   url: https://github.com/ros2-gbp/laser_segmentation-release.git
   version: 3.0.2
 launch:
-  tag: release/lyrical/launch/3.9.7-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ros2/launch
+  tag: release/lyrical/launch/3.9.8-1
   url: https://github.com/ros2-gbp/launch-release.git
-  version: 3.9.7
+  version: 3.9.8
 launch_frontend_py:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_mypy
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_copyright
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  repository: https://github.com/ros-tooling/launch_frontend_py
   tag: release/lyrical/launch_frontend_py/0.1.0-4
   url: https://github.com/ros2-gbp/launch_frontend_py-release.git
   version: 0.1.0
 launch_pal:
-  tag: release/lyrical/launch_pal/0.20.3-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - launch
+  - launch_ros
+  repository: https://github.com/pal-robotics/launch_pal
+  tag: release/lyrical/launch_pal/0.22.1-1
   url: https://github.com/ros2-gbp/launch_pal-release.git
-  version: 0.20.3
+  version: 0.22.1
 launch_param_builder:
+  dependencies:
+  - ament_copyright
+  - ament_index_python
+  - rclpy
+  - xacro
+  repository: https://github.com/PickNikRobotics/launch_param_builder
   tag: release/lyrical/launch_param_builder/0.1.1-5
   url: https://github.com/ros2-gbp/launch_param_builder-release.git
   version: 0.1.1
 launch_pytest:
-  tag: release/lyrical/launch_pytest/3.9.7-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_testing
+  repository: https://github.com/ros2/launch
+  tag: release/lyrical/launch_pytest/3.9.8-1
   url: https://github.com/ros2-gbp/launch-release.git
-  version: 3.9.7
+  version: 3.9.8
 launch_ros:
-  tag: release/lyrical/launch_ros/0.29.8-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - composition_interfaces
+  - launch
+  - lifecycle_msgs
+  - rclpy
+  repository: https://github.com/ros2/launch_ros
+  tag: release/lyrical/launch_ros/0.29.9-1
   url: https://github.com/ros2-gbp/launch_ros-release.git
-  version: 0.29.8
+  version: 0.29.9
 launch_system_modes:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - launch
+  - osrf_pycommon
+  - rclpy
+  - system_modes_msgs
+  repository: https://github.com/micro-ROS/system_modes
   tag: release/lyrical/launch_system_modes/0.9.0-7
   url: https://github.com/ros2-gbp/system_modes-release.git
   version: 0.9.0
 launch_testing:
-  tag: release/lyrical/launch_testing/3.9.7-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_xml
+  - launch_yaml
+  repository: https://github.com/ros2/launch
+  tag: release/lyrical/launch_testing/3.9.8-1
   url: https://github.com/ros2-gbp/launch-release.git
-  version: 3.9.7
+  version: 3.9.8
 launch_testing_ament_cmake:
-  tag: release/lyrical/launch_testing_ament_cmake/3.9.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_test
+  - launch_testing
+  repository: https://github.com/ros2/launch
+  tag: release/lyrical/launch_testing_ament_cmake/3.9.8-1
   url: https://github.com/ros2-gbp/launch-release.git
-  version: 3.9.7
+  version: 3.9.8
 launch_testing_examples:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - demo_nodes_cpp
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - rcl_interfaces
+  - rclpy
+  - ros2bag
+  - std_msgs
+  repository: https://github.com/ros2/examples
   tag: release/lyrical/launch_testing_examples/0.21.5-3
   url: https://github.com/ros2-gbp/examples-release.git
   version: 0.21.5
 launch_testing_ros:
-  tag: release/lyrical/launch_testing_ros/0.29.8-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - launch_ros
+  - launch_testing
+  - rclpy
+  - rmw_test_fixture_implementation
+  - std_msgs
+  repository: https://github.com/ros2/launch_ros
+  tag: release/lyrical/launch_testing_ros/0.29.9-1
   url: https://github.com/ros2-gbp/launch_ros-release.git
-  version: 0.29.8
+  version: 0.29.9
 launch_xml:
-  tag: release/lyrical/launch_xml/3.9.7-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  repository: https://github.com/ros2/launch
+  tag: release/lyrical/launch_xml/3.9.8-1
   url: https://github.com/ros2-gbp/launch-release.git
-  version: 3.9.7
+  version: 3.9.8
 launch_yaml:
-  tag: release/lyrical/launch_yaml/3.9.7-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  repository: https://github.com/ros2/launch
+  tag: release/lyrical/launch_yaml/3.9.8-1
   url: https://github.com/ros2-gbp/launch-release.git
-  version: 3.9.7
+  version: 3.9.8
 ld08_driver:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/ROBOTIS-GIT/ld08_driver
   tag: release/lyrical/ld08_driver/1.1.4-3
   url: https://github.com/ros2-gbp/ld08_driver-release.git
   version: 1.1.4
 lely_core_libraries:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros-industrial/ros2_canopen
   tag: release/lyrical/lely_core_libraries/0.3.4-1
   url: https://github.com/ros2-gbp/ros2_canopen-release.git
   version: 0.3.4
 leo:
+  dependencies:
+  - ament_cmake
+  - leo_description
+  - leo_msgs
+  - leo_teleop
+  repository: https://github.com/LeoRover/leo_common-ros2
   tag: release/lyrical/leo/3.2.0-3
   url: https://github.com/ros2-gbp/leo_common-release.git
   version: 3.2.0
 leo_bringup:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_black
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_index_python
+  - ament_lint_auto
+  - geometry_msgs
+  - image_proc
+  - launch
+  - launch_ros
+  - leo_description
+  - leo_filters
+  - leo_fw
+  - leo_msgs
+  - rclpy
+  - robot_state_publisher
+  - rosapi
+  - rosbridge_server
+  - sensor_msgs
+  - tf_transformations
+  - web_video_server
+  - xacro
+  repository: https://github.com/LeoRover/leo_robot-ros2
   tag: release/lyrical/leo_bringup/2.6.1-1
   url: https://github.com/ros2-gbp/leo_robot-release.git
   version: 2.6.1
 leo_description:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - robot_state_publisher
+  - xacro
+  repository: https://github.com/LeoRover/leo_common-ros2
   tag: release/lyrical/leo_description/3.2.0-3
   url: https://github.com/ros2-gbp/leo_common-release.git
   version: 3.2.0
 leo_desktop:
+  dependencies:
+  - ament_cmake
+  - leo
+  - leo_viz
+  repository: https://github.com/LeoRover/leo_desktop-ros2
   tag: release/lyrical/leo_desktop/3.0.0-4
   url: https://github.com/ros2-gbp/leo_desktop-release.git
   version: 3.0.0
 leo_filters:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - generate_parameter_library
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/LeoRover/leo_robot-ros2
   tag: release/lyrical/leo_filters/2.6.1-1
   url: https://github.com/ros2-gbp/leo_robot-release.git
   version: 2.6.1
 leo_fw:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_black
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  - ament_cmake_mypy
+  - ament_cmake_pep257
+  - ament_cmake_python
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_index_python
+  - ament_lint_auto
+  - geometry_msgs
+  - leo_msgs
+  - nav_msgs
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - ros2cli
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/LeoRover/leo_robot-ros2
   tag: release/lyrical/leo_fw/2.6.1-1
   url: https://github.com/ros2-gbp/leo_robot-release.git
   version: 2.6.1
 leo_gz_bringup:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_black
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  - ament_cmake_mypy
+  - ament_cmake_xmllint
+  - ament_index_python
+  - ament_lint_auto
+  - launch
+  - launch_ros
+  - leo_description
+  - leo_gz_plugins
+  - leo_gz_worlds
+  - robot_state_publisher
+  - ros_gz_bridge
+  - ros_gz_image
+  - ros_gz_sim
+  - xacro
+  repository: https://github.com/LeoRover/leo_simulator-ros2
   tag: release/lyrical/leo_gz_bringup/2.0.2-3
   url: https://github.com/ros2-gbp/leo_simulator-release.git
   version: 2.0.2
 leo_gz_plugins:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_cpplint
+  - ament_cmake_lint_cmake
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - gz_plugin_vendor
+  - gz_sim_vendor
+  repository: https://github.com/LeoRover/leo_simulator-ros2
   tag: release/lyrical/leo_gz_plugins/2.0.2-3
   url: https://github.com/ros2-gbp/leo_simulator-release.git
   version: 2.0.2
 leo_gz_worlds:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  repository: https://github.com/LeoRover/leo_simulator-ros2
   tag: release/lyrical/leo_gz_worlds/2.0.2-3
   url: https://github.com/ros2-gbp/leo_simulator-release.git
   version: 2.0.2
 leo_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/LeoRover/leo_common-ros2
   tag: release/lyrical/leo_msgs/3.2.0-3
   url: https://github.com/ros2-gbp/leo_common-release.git
   version: 3.2.0
 leo_robot:
+  dependencies:
+  - ament_cmake
+  - leo
+  - leo_bringup
+  - leo_filters
+  - leo_fw
+  repository: https://github.com/LeoRover/leo_robot-ros2
   tag: release/lyrical/leo_robot/2.6.1-1
   url: https://github.com/ros2-gbp/leo_robot-release.git
   version: 2.6.1
 leo_simulator:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - leo_gz_bringup
+  - leo_gz_plugins
+  - leo_gz_worlds
+  repository: https://github.com/LeoRover/leo_simulator-ros2
   tag: release/lyrical/leo_simulator/2.0.2-3
   url: https://github.com/ros2-gbp/leo_simulator-release.git
   version: 2.0.2
 leo_teleop:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - joy_linux
+  - teleop_twist_joy
+  - teleop_twist_keyboard
+  repository: https://github.com/LeoRover/leo_common-ros2
   tag: release/lyrical/leo_teleop/3.2.0-3
   url: https://github.com/ros2-gbp/leo_common-release.git
   version: 3.2.0
 leo_viz:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - leo_description
+  - rviz2
+  repository: https://github.com/LeoRover/leo_desktop-ros2
   tag: release/lyrical/leo_viz/3.0.0-4
   url: https://github.com/ros2-gbp/leo_desktop-release.git
   version: 3.0.0
+lgdx_rplidar_c1:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://gitlab.com/lgdxrobotics/lgdxrobot2-rplidar-c1
+  tag: release/lyrical/lgdx_rplidar_c1/1.0.0-1
+  url: https://github.com/ros2-gbp/lgdxrobot2_rplidar_c1-release.git
+  version: 1.0.0
 lgsvl_msgs:
+  dependencies:
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/lgsvl/lgsvl_msgs
   tag: release/lyrical/lgsvl_msgs/0.0.4-6
   url: https://github.com/ros2-gbp/lgsvl_msgs-release.git
   version: 0.0.4
+libbno055_linux:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - geometry_msgs
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_srvs
+  repository: https://github.com/lazytatzv/libbno055-linux
+  tag: release/lyrical/libbno055_linux/1.7.2-1
+  url: https://github.com/lazytatzv/libbno055_linux-release.git
+  version: 1.7.2
 libcaer_driver:
-  tag: release/lyrical/libcaer_driver/1.5.5-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_clang_format
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_lint_cmake
+  - ament_cmake_ros
+  - ament_cmake_xmllint
+  - camera_info_manager
+  - event_camera_msgs
+  - image_transport
+  - libcaer_vendor
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - sensor_msgs
+  - std_srvs
+  repository: https://github.com/ros-event-camera/libcaer_driver
+  tag: release/lyrical/libcaer_driver/1.5.6-1
   url: https://github.com/ros2-gbp/libcaer_driver-release.git
-  version: 1.5.5
+  version: 1.5.6
 libcaer_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/ros-event-camera/libcaer_vendor
   tag: release/lyrical/libcaer_vendor/2.0.0-3
   url: https://github.com/ros2-gbp/libcaer_vendor-release.git
   version: 2.0.0
 libcamera:
-  tag: release/lyrical/libcamera/0.7.1-2
+  dependencies: []
+  repository: https://git.libcamera.org/libcamera/libcamera
+  tag: release/lyrical/libcamera/0.7.2-1
   url: https://github.com/ros2-gbp/libcamera-release.git
-  version: 0.7.1
+  version: 0.7.2
 libg2o:
+  dependencies:
+  - ament_cmake
   tag: release/lyrical/libg2o/2020.5.29-7
   url: https://github.com/ros2-gbp/libg2o-release.git
   version: 2020.5.29
 libmavconn:
-  tag: release/lyrical/libmavconn/2.14.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - mavlink
+  repository: https://github.com/mavlink/mavros
+  tag: release/lyrical/libmavconn/2.15.1-1
   url: https://github.com/ros2-gbp/mavros-release.git
-  version: 2.14.0
+  version: 2.15.1
 libphidget22:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/libphidget22/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 librealsense2:
-  tag: release/lyrical/librealsense2/2.57.7-7
+  dependencies: []
+  repository: https://github.com/IntelRealSense/librealsense
+  tag: release/lyrical/librealsense2/2.58.4-1
   url: https://github.com/ros2-gbp/librealsense2-release.git
-  version: 2.57.7
+  version: 2.58.4
 libstatistics_collector:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - performance_test_fixture
+  - rcl
+  - rcpputils
+  - rcutils
+  - rmw
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - statistics_msgs
+  - std_msgs
+  repository: https://github.com/ros-tooling/libstatistics_collector
   tag: release/lyrical/libstatistics_collector/2.1.2-1
   url: https://github.com/ros2-gbp/libstatistics_collector-release.git
   version: 2.1.2
 libtorch_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/rosidl_buffer_backends
   tag: release/lyrical/libtorch_vendor/0.1.2-1
   url: https://github.com/ros2-gbp/rosidl_buffer_backends-release.git
   version: 0.1.2
 libyaml_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - performance_test_fixture
+  repository: https://github.com/ros2/libyaml_vendor
   tag: release/lyrical/libyaml_vendor/1.8.1-3
   url: https://github.com/ros2-gbp/libyaml_vendor-release.git
   version: 1.8.1
 lifecycle:
-  tag: release/lyrical/lifecycle/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros_testing
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/lifecycle/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 lifecycle_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/lifecycle_msgs/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 lifecycle_py:
-  tag: release/lyrical/lifecycle_py/0.37.8-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - lifecycle
+  - lifecycle_msgs
+  - rclpy
+  - ros_testing
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/lifecycle_py/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 linear_feedback_controller:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_python
+  - ament_lint_auto
+  - control_toolbox
+  - controller_interface
+  - generate_parameter_library
+  - gmock_vendor
+  - gtest_vendor
+  - hardware_interface
+  - jrl_cmakemodules
+  - linear_feedback_controller_msgs
+  - message_filters
+  - nav_msgs
+  - pal_statistics
+  - pinocchio
+  - pluginlib
+  - rcl
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - rosidl_dynamic_typesupport
+  - sensor_msgs
+  repository: https://github.com/loco-3d/linear-feedback-controller
   tag: release/lyrical/linear_feedback_controller/4.0.1-1
   url: https://github.com/ros2-gbp/linear-feedback-controller-release.git
   version: 4.0.1
 linear_feedback_controller_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_gtest
+  - ament_cmake_pep257
+  - ament_cmake_pytest
+  - ament_cmake_uncrustify
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - jrl_cmakemodules
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - tf2_eigen
+  repository: https://github.com/loco-3d/linear-feedback-controller-msgs
   tag: release/lyrical/linear_feedback_controller_msgs/1.2.2-3
   url: https://github.com/ros2-gbp/linear-feedback-controller-msgs-release.git
   version: 1.2.2
 linux_isolate_process:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  repository: https://github.com/adityapande-1995/linux_isolate_process
   tag: release/lyrical/linux_isolate_process/0.0.2-4
   url: https://github.com/ros2-gbp/linux_isolate_process-release.git
   version: 0.0.2
 live555_vendor:
+  dependencies: []
+  repository: https://github.com/fkie/live555_vendor
   tag: release/lyrical/live555_vendor/0.20251106.0-3
   url: https://github.com/ros2-gbp/live555_vendor-release.git
   version: 0.20251106.0
 log_view:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rcl_interfaces
+  - rclcpp
+  repository: https://github.com/hatchbed/log_view
   tag: release/lyrical/log_view/0.3.0-3
   url: https://github.com/ros2-gbp/log_view-release.git
   version: 0.3.0
 logging_demo:
-  tag: release/lyrical/logging_demo/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - rclcpp_components
+  - rcutils
+  - rmw_implementation_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/logging_demo/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 lttngpy:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - rpyutils
+  repository: https://github.com/ros2/ros2_tracing
   tag: release/lyrical/lttngpy/8.10.2-1
   url: https://github.com/ros2-gbp/ros2_tracing-release.git
   version: 8.10.2
+lusb:
+  dependencies:
+  - ament_cmake
+  repository: https://bitbucket.org/dataspeedinc/lusb
+  tag: release/lyrical/lusb/2.0.3-1
+  url: https://github.com/DataspeedInc-release/lusb-release.git
+  version: 2.0.3
 lz4_cmake_module:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/lz4_cmake_module/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 magic_enum:
-  tag: release/lyrical/magic_enum/0.9.7-3
+  dependencies: []
+  repository: https://github.com/Neargye/magic_enum
+  tag: release/lyrical/magic_enum/0.9.8-1
   url: https://github.com/ros2-gbp/magic_enum-release.git
-  version: 0.9.7
+  version: 0.9.8
 magnetic_model:
-  tag: release/lyrical/magnetic_model/3.0.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - angles
+  - cras_cpp_common
+  - cras_lint
+  - geometry_msgs
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/ctu-vras/compass
+  tag: release/lyrical/magnetic_model/4.0.1-1
   url: https://github.com/ros2-gbp/compass-release.git
-  version: 3.0.3
+  version: 4.0.1
+magnetometer_broadcaster:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/magnetometer_broadcaster/6.9.0-1
+  url: https://github.com/ros2-gbp/ros2_controllers-release.git
+  version: 6.9.0
 magnetometer_compass:
-  tag: release/lyrical/magnetometer_compass/3.0.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - angles
+  - builtin_interfaces
+  - compass_conversions
+  - compass_interfaces
+  - cras_cpp_common
+  - cras_lint
+  - geometry_msgs
+  - magnetometer_pipeline
+  - message_filters
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - tf2_sensor_msgs
+  repository: https://github.com/ctu-vras/compass
+  tag: release/lyrical/magnetometer_compass/4.0.1-1
   url: https://github.com/ros2-gbp/compass-release.git
-  version: 3.0.3
+  version: 4.0.1
 magnetometer_pipeline:
-  tag: release/lyrical/magnetometer_pipeline/3.0.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - ament_cmake_ros
+  - cras_cpp_common
+  - cras_lint
+  - message_filters
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_eigen
+  repository: https://github.com/ctu-vras/compass
+  tag: release/lyrical/magnetometer_pipeline/4.0.1-1
   url: https://github.com/ros2-gbp/compass-release.git
-  version: 3.0.3
+  version: 4.0.1
 map_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-planning/navigation_msgs
   tag: release/lyrical/map_msgs/2.6.1-1
   url: https://github.com/ros2-gbp/navigation_msgs-release.git
   version: 2.6.1
+mapviz:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - image_transport
+  - mapviz_interfaces
+  - pluginlib
+  - rclcpp
+  - rqt_gui
+  - rqt_gui_cpp
+  - std_srvs
+  - swri_math_util
+  - swri_transform_util
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/swri-robotics/mapviz
+  tag: release/lyrical/mapviz/4.0.3-1
+  url: https://github.com/ros2-gbp/mapviz-release.git
+  version: 4.0.3
+mapviz_interfaces:
+  dependencies:
+  - builtin_interfaces
+  - marti_common_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/swri-robotics/mapviz
+  tag: release/lyrical/mapviz_interfaces/4.0.3-1
+  url: https://github.com/ros2-gbp/mapviz-release.git
+  version: 4.0.3
+mapviz_plugins:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - cv_bridge
+  - geometry_msgs
+  - gps_msgs
+  - image_transport
+  - map_msgs
+  - mapviz
+  - marti_common_msgs
+  - marti_nav_msgs
+  - marti_sensor_msgs
+  - marti_visualization_msgs
+  - pluginlib
+  - qt_gui_cpp
+  - rclcpp
+  - rclcpp_action
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - stereo_msgs
+  - swri_image_util
+  - swri_math_util
+  - swri_route_util
+  - swri_transform_util
+  - tf2
+  - urdf
+  - visualization_msgs
+  repository: https://github.com/swri-robotics/mapviz
+  tag: release/lyrical/mapviz_plugins/4.0.3-1
+  url: https://github.com/ros2-gbp/mapviz-release.git
+  version: 4.0.3
 marine_acoustic_msgs:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/apl-ocean-engineering/marine_msgs
   tag: release/lyrical/marine_acoustic_msgs/2.1.0-3
   url: https://github.com/ros2-gbp/marine_msgs-release.git
   version: 2.1.0
 marine_sensor_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/apl-ocean-engineering/marine_msgs
   tag: release/lyrical/marine_sensor_msgs/2.1.0-3
   url: https://github.com/ros2-gbp/marine_msgs-release.git
   version: 2.1.0
 marker_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tuw-robotics/marker_msgs
   tag: release/lyrical/marker_msgs/0.0.8-3
   url: https://github.com/ros2-gbp/marker_msgs-release.git
   version: 0.0.8
 marti_can_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/swri-robotics/marti_messages
   tag: release/lyrical/marti_can_msgs/1.6.1-4
   url: https://github.com/ros2-gbp/marti_messages-release.git
   version: 1.6.1
 marti_common_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/swri-robotics/marti_messages
   tag: release/lyrical/marti_common_msgs/1.6.1-4
   url: https://github.com/ros2-gbp/marti_messages-release.git
   version: 1.6.1
 marti_dbw_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/swri-robotics/marti_messages
   tag: release/lyrical/marti_dbw_msgs/1.6.1-4
   url: https://github.com/ros2-gbp/marti_messages-release.git
   version: 1.6.1
 marti_introspection_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/swri-robotics/marti_messages
   tag: release/lyrical/marti_introspection_msgs/1.6.1-4
   url: https://github.com/ros2-gbp/marti_messages-release.git
   version: 1.6.1
 marti_nav_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - geographic_msgs
+  - geometry_msgs
+  - marti_common_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/swri-robotics/marti_messages
   tag: release/lyrical/marti_nav_msgs/1.6.1-4
   url: https://github.com/ros2-gbp/marti_messages-release.git
   version: 1.6.1
 marti_perception_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/swri-robotics/marti_messages
   tag: release/lyrical/marti_perception_msgs/1.6.1-4
   url: https://github.com/ros2-gbp/marti_messages-release.git
   version: 1.6.1
 marti_sensor_msgs:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/swri-robotics/marti_messages
   tag: release/lyrical/marti_sensor_msgs/1.6.1-4
   url: https://github.com/ros2-gbp/marti_messages-release.git
   version: 1.6.1
 marti_status_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/swri-robotics/marti_messages
   tag: release/lyrical/marti_status_msgs/1.6.1-4
   url: https://github.com/ros2-gbp/marti_messages-release.git
   version: 1.6.1
 marti_visualization_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  repository: https://github.com/swri-robotics/marti_messages
   tag: release/lyrical/marti_visualization_msgs/1.6.1-4
   url: https://github.com/ros2-gbp/marti_messages-release.git
   version: 1.6.1
 mavlink:
-  tag: release/lyrical/mavlink/2026.6.6-1
+  dependencies:
+  - ament_cmake
+  - ros_environment
+  tag: release/lyrical/mavlink/2026.8.8-1
   url: https://github.com/ros2-gbp/mavlink-gbp-release.git
-  version: 2026.6.6
+  version: 2026.8.8
 mavros:
-  tag: release/lyrical/mavros/2.14.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_google_benchmark
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - diagnostic_msgs
+  - diagnostic_updater
+  - eigen3_cmake_module
+  - eigen_stl_containers
+  - geographic_msgs
+  - geometry_msgs
+  - libmavconn
+  - mavlink
+  - mavros_msgs
+  - message_filters
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - rcpputils
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_eigen
+  - tf2_ros
+  - trajectory_msgs
+  repository: https://github.com/mavlink/mavros
+  tag: release/lyrical/mavros/2.15.1-1
   url: https://github.com/ros2-gbp/mavros-release.git
-  version: 2.14.0
+  version: 2.15.1
 mavros_examples:
-  tag: release/lyrical/mavros_examples/2.14.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  - geometry_msgs
+  - mavros
+  - mavros_msgs
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - trajectory_msgs
+  repository: https://github.com/mavlink/mavros
+  tag: release/lyrical/mavros_examples/2.15.1-1
   url: https://github.com/ros2-gbp/mavros-release.git
-  version: 2.14.0
+  version: 2.15.1
 mavros_extras:
-  tag: release/lyrical/mavros_extras/2.14.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - diagnostic_msgs
+  - diagnostic_updater
+  - eigen3_cmake_module
+  - eigen_stl_containers
+  - geographic_msgs
+  - geometry_msgs
+  - libmavconn
+  - mavlink
+  - mavros
+  - mavros_msgs
+  - message_filters
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - rcpputils
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_eigen
+  - tf2_ros
+  - trajectory_msgs
+  - urdf
+  - visualization_msgs
+  - yaml_cpp_vendor
+  repository: https://github.com/mavlink/mavros
+  tag: release/lyrical/mavros_extras/2.15.1-1
   url: https://github.com/ros2-gbp/mavros-release.git
-  version: 2.14.0
+  version: 2.15.1
 mavros_msgs:
-  tag: release/lyrical/mavros_msgs/2.14.0-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geographic_msgs
+  - geometry_msgs
+  - rcl_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  repository: https://github.com/mavlink/mavros
+  tag: release/lyrical/mavros_msgs/2.15.1-1
   url: https://github.com/ros2-gbp/mavros-release.git
-  version: 2.14.0
+  version: 2.15.1
+mbf_abstract_core:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - std_msgs
+  repository: https://github.com/naturerobots/move_base_flex
+  tag: release/lyrical/mbf_abstract_core/1.2.1-1
+  url: https://github.com/ros2-gbp/move_base_flex-release.git
+  version: 1.2.1
+mbf_abstract_nav:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - geometry_msgs
+  - mbf_abstract_core
+  - mbf_msgs
+  - mbf_utility
+  - nav_msgs
+  - rclcpp
+  - rclcpp_action
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/naturerobots/move_base_flex
+  tag: release/lyrical/mbf_abstract_nav/1.2.1-1
+  url: https://github.com/ros2-gbp/move_base_flex-release.git
+  version: 1.2.1
+mbf_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - geometry_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/naturerobots/move_base_flex
+  tag: release/lyrical/mbf_msgs/1.2.1-1
+  url: https://github.com/ros2-gbp/move_base_flex-release.git
+  version: 1.2.1
+mbf_simple_core:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - mbf_abstract_core
+  - mbf_utility
+  - rclcpp
+  repository: https://github.com/naturerobots/move_base_flex
+  tag: release/lyrical/mbf_simple_core/1.2.1-1
+  url: https://github.com/ros2-gbp/move_base_flex-release.git
+  version: 1.2.1
+mbf_simple_nav:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - geometry_msgs
+  - mbf_abstract_core
+  - mbf_abstract_nav
+  - mbf_msgs
+  - mbf_simple_core
+  - mbf_test_utility
+  - mbf_utility
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/naturerobots/move_base_flex
+  tag: release/lyrical/mbf_simple_nav/1.2.1-1
+  url: https://github.com/ros2-gbp/move_base_flex-release.git
+  version: 1.2.1
+mbf_test_utility:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - mbf_msgs
+  - nav_msgs
+  - rclcpp
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/naturerobots/move_base_flex
+  tag: release/lyrical/mbf_test_utility/1.2.1-1
+  url: https://github.com/ros2-gbp/move_base_flex-release.git
+  version: 1.2.1
+mbf_utility:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - mbf_msgs
+  - rclcpp
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/naturerobots/move_base_flex
+  tag: release/lyrical/mbf_utility/1.2.1-1
+  url: https://github.com/ros2-gbp/move_base_flex-release.git
+  version: 1.2.1
 mcap_vendor:
+  dependencies:
+  - ament_cmake
+  - lz4_cmake_module
+  - zstd_cmake_module
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/mcap_vendor/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 mecanum_drive_controller:
-  tag: release/lyrical/mecanum_drive_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/mecanum_drive_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 menge_vendor:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/open-rmf/menge_vendor
   tag: release/lyrical/menge_vendor/1.3.0-3
   url: https://github.com/ros2-gbp/menge_vendor-release.git
   version: 1.3.0
 message_filters:
-  tag: release/lyrical/message_filters/7.4.1-1
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rclcpp
+  - rclcpp_lifecycle
+  - rclpy
+  - rcutils
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros2/message_filters
+  tag: release/lyrical/message_filters/7.4.2-1
   url: https://github.com/ros2-gbp/ros2_message_filters-release.git
-  version: 7.4.1
+  version: 7.4.2
 message_tf_frame_transformer:
-  tag: release/lyrical/message_tf_frame_transformer/1.1.3-3
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - rclcpp
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - tf2_sensor_msgs
+  repository: https://github.com/ika-rwth-aachen/message_tf_frame_transformer
+  tag: release/lyrical/message_tf_frame_transformer/1.1.3-4
   url: https://github.com/ros2-gbp/message_tf_frame_transformer-release.git
   version: 1.1.3
 metavision_driver:
-  tag: release/lyrical/metavision_driver/3.0.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_clang_format
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_lint_cmake
+  - ament_cmake_ros
+  - ament_cmake_xmllint
+  - event_camera_msgs
+  - openeb_vendor
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - std_srvs
+  repository: https://github.com/ros-event-camera/metavision_driver
+  tag: release/lyrical/metavision_driver/3.0.2-1
   url: https://github.com/ros2-gbp/metavision_driver-release.git
-  version: 3.0.0
+  version: 3.0.2
 micro_ros_diagnostic_bridge:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - micro_ros_diagnostic_msgs
+  - osrf_testing_tools_cpp
+  - rclcpp
+  - ros_environment
+  repository: https://github.com/micro-ROS/micro_ros_diagnostics
   tag: release/lyrical/micro_ros_diagnostic_bridge/0.3.0-7
   url: https://github.com/ros2-gbp/micro_ros_diagnostics-release.git
   version: 0.3.0
 micro_ros_diagnostic_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/micro-ROS/micro_ros_diagnostics
   tag: release/lyrical/micro_ros_diagnostic_msgs/0.3.0-7
   url: https://github.com/ros2-gbp/micro_ros_diagnostics-release.git
   version: 0.3.0
 micro_ros_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/micro-ROS/micro_ros_msgs
   tag: release/lyrical/micro_ros_msgs/1.0.0-6
   url: https://github.com/ros2-gbp/micro_ros_msgs-release.git
   version: 1.0.0
 microstrain_inertial_description:
+  dependencies:
+  - ament_cmake
+  - xacro
+  repository: https://github.com/LORD-MicroStrain/microstrain_inertial
   tag: release/lyrical/microstrain_inertial_description/4.8.0-3
   url: https://github.com/ros2-gbp/microstrain_inertial-release.git
   version: 4.8.0
 microstrain_inertial_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_target_dependencies
+  - ament_cpplint
+  - diagnostic_aggregator
+  - diagnostic_updater
+  - geometry_msgs
+  - lifecycle_msgs
+  - microstrain_inertial_msgs
+  - nav_msgs
+  - nmea_msgs
+  - rclcpp_lifecycle
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - rtcm_msgs
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/LORD-MicroStrain/microstrain_inertial
   tag: release/lyrical/microstrain_inertial_driver/4.8.0-3
   url: https://github.com/ros2-gbp/microstrain_inertial-release.git
   version: 4.8.0
 microstrain_inertial_examples:
+  dependencies:
+  - ament_cmake
+  - microstrain_inertial_driver
+  - rviz2
+  - rviz_imu_plugin
+  - sensor_msgs
+  - tf2_ros
+  repository: https://github.com/LORD-MicroStrain/microstrain_inertial
   tag: release/lyrical/microstrain_inertial_examples/4.8.0-3
   url: https://github.com/ros2-gbp/microstrain_inertial-release.git
   version: 4.8.0
 microstrain_inertial_msgs:
+  dependencies:
+  - geometry_msgs
+  - rosidl_default_generators
+  - std_msgs
+  repository: https://github.com/LORD-MicroStrain/microstrain_inertial
   tag: release/lyrical/microstrain_inertial_msgs/4.8.0-3
   url: https://github.com/ros2-gbp/microstrain_inertial-release.git
   version: 4.8.0
 microstrain_inertial_rqt:
+  dependencies:
+  - geometry_msgs
+  - microstrain_inertial_msgs
+  - nav_msgs
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  - std_msgs
+  repository: https://github.com/LORD-MicroStrain/microstrain_inertial
   tag: release/lyrical/microstrain_inertial_rqt/4.8.0-3
   url: https://github.com/ros2-gbp/microstrain_inertial-release.git
   version: 4.8.0
 mimick_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/mimick_vendor
   tag: release/lyrical/mimick_vendor/0.9.0-3
   url: https://github.com/ros2-gbp/mimick_vendor-release.git
   version: 0.9.0
+mobile_robot_simulator:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - rosgraph_msgs
+  - sensor_msgs
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/nobleo/mobile_robot_simulator
+  tag: release/lyrical/mobile_robot_simulator/2.0.1-1
+  url: https://github.com/nobleo/mobile_robot_simulator-release.git
+  version: 2.0.1
 mobileye_560_660_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/astuff/astuff_sensor_msgs
   tag: release/lyrical/mobileye_560_660_msgs/4.0.0-5
   url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git
   version: 4.0.0
 mola:
-  tag: release/lyrical/mola/2.9.0-1
+  dependencies:
+  - mola_bridge_ros2
+  - mola_demos
+  - mola_input_rawlog
+  - mola_input_rosbag2
+  - mola_input_video
+  - mola_kernel
+  - mola_launcher
+  - mola_metric_maps
+  - mola_pose_list
+  - mola_relocalization
+  - mola_traj_tools
+  - mola_viz
+  - mola_yaml
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_academic_datasets:
+  dependencies:
+  - kitti_metrics_eval
+  - mola_input_euroc_dataset
+  - mola_input_kitti360_dataset
+  - mola_input_kitti_dataset
+  - mola_input_mulran_dataset
+  - mola_input_paris_luco_dataset
+  repository: https://github.com/MOLAorg/mola_academic_datasets
   tag: release/lyrical/mola_academic_datasets/3.0.0-1
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.0.0
 mola_bridge_ros2:
-  tag: release/lyrical/mola_bridge_ros2/2.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_cmake
+  - diagnostic_msgs
+  - geographic_msgs
+  - geometry_msgs
+  - gps_msgs
+  - mola_common
+  - mola_kernel
+  - mola_msgs
+  - mrpt_libmaps
+  - mrpt_libros_bridge
+  - mrpt_nav_interfaces
+  - nav_msgs
+  - rclcpp
+  - ros_environment
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_bridge_ros2/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_common
+  - ros_environment
+  repository: https://github.com/MOLAorg/mola_common
   tag: release/lyrical/mola_common/0.6.1-1
   url: https://github.com/ros2-gbp/mola_common-release.git
   version: 0.6.1
 mola_demos:
-  tag: release/lyrical/mola_demos/2.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_pep257
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ros_environment
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_demos/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_georeferencing:
+  dependencies:
+  - gtsam
+  - mola_common
+  - mola_gtsam_factors
+  - mola_yaml
+  - mp2p_icp
+  - mrpt_libmaps
+  - mrpt_libtclap
+  repository: https://github.com/MOLAorg/mola_state_estimation
   tag: release/lyrical/mola_georeferencing/2.4.2-1
   url: https://github.com/ros2-gbp/mola_state_estimation-release.git
   version: 2.4.2
 mola_gnss_to_markers:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mrpt_libobs
+  - mrpt_nav_interfaces
+  - rclcpp
+  - std_msgs
+  - visualization_msgs
+  repository: https://github.com/MOLAorg/mola_gnss_to_markers
   tag: release/lyrical/mola_gnss_to_markers/0.1.2-3
   url: https://github.com/ros2-gbp/mola_gnss_to_markers-release.git
   version: 0.1.2
 mola_gtsam_factors:
+  dependencies:
+  - gtsam
+  - mola_common
+  - mrpt_libposes
+  repository: https://github.com/MOLAorg/mola_state_estimation
   tag: release/lyrical/mola_gtsam_factors/2.4.2-1
   url: https://github.com/ros2-gbp/mola_state_estimation-release.git
   version: 2.4.2
 mola_imu_preintegration:
-  tag: release/lyrical/mola_imu_preintegration/1.16.1-1
+  dependencies:
+  - mola_common
+  - mrpt_libobs
+  repository: https://github.com/MOLAorg/mola_imu_preintegration
+  tag: release/lyrical/mola_imu_preintegration/1.17.1-1
   url: https://github.com/ros2-gbp/mola_imu_preintegration-release.git
-  version: 1.16.1
+  version: 1.17.1
 mola_input_euroc_dataset:
+  dependencies:
+  - mola_common
+  - mola_kernel
+  - mrpt_libmath
+  - mrpt_libobs
+  repository: https://github.com/MOLAorg/mola_academic_datasets
   tag: release/lyrical/mola_input_euroc_dataset/3.0.0-1
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.0.0
 mola_input_kitti360_dataset:
+  dependencies:
+  - mola_common
+  - mola_kernel
+  - mrpt_libmaps
+  repository: https://github.com/MOLAorg/mola_academic_datasets
   tag: release/lyrical/mola_input_kitti360_dataset/3.0.0-1
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.0.0
 mola_input_kitti_dataset:
+  dependencies:
+  - mola_common
+  - mola_kernel
+  - mrpt_libmaps
+  repository: https://github.com/MOLAorg/mola_academic_datasets
   tag: release/lyrical/mola_input_kitti_dataset/3.0.0-1
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.0.0
 mola_input_lidar_bin_dataset:
-  tag: release/lyrical/mola_input_lidar_bin_dataset/2.9.0-1
+  dependencies:
+  - mola_common
+  - mola_kernel
+  - mrpt_libmaps
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_input_lidar_bin_dataset/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_input_mulran_dataset:
+  dependencies:
+  - mola_common
+  - mola_kernel
+  - mrpt_libmaps
+  - mrpt_libposes
+  repository: https://github.com/MOLAorg/mola_academic_datasets
   tag: release/lyrical/mola_input_mulran_dataset/3.0.0-1
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.0.0
 mola_input_ouster:
+  dependencies:
+  - mola_kernel
+  - mola_yaml
+  - mrpt_libmaps
+  - mrpt_libobs
+  repository: https://github.com/MOLAorg/mola_input_ouster
   tag: release/lyrical/mola_input_ouster/0.1.0-1
   url: https://github.com/ros2-gbp/mola_input_ouster-release.git
   version: 0.1.0
 mola_input_paris_luco_dataset:
+  dependencies:
+  - mola_common
+  - mola_kernel
+  - mrpt_libmaps
+  repository: https://github.com/MOLAorg/mola_academic_datasets
   tag: release/lyrical/mola_input_paris_luco_dataset/3.0.0-1
   url: https://github.com/ros2-gbp/mola_academic_datasets-release.git
   version: 3.0.0
 mola_input_rawlog:
-  tag: release/lyrical/mola_input_rawlog/2.9.0-1
+  dependencies:
+  - mola_kernel
+  - mrpt_libobs
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_input_rawlog/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
+mola_input_rosbag1:
+  dependencies:
+  - geometry_msgs
+  - mola_common
+  - mola_kernel
+  - mrpt_libmaps
+  - mrpt_libobs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/MOLAorg/mola_input_rosbag1
+  tag: release/lyrical/mola_input_rosbag1/0.4.0-1
+  url: https://github.com/ros2-gbp/mola_input_rosbag1-release.git
+  version: 0.4.0
 mola_input_rosbag2:
-  tag: release/lyrical/mola_input_rosbag2/2.9.0-1
+  dependencies:
+  - cv_bridge
+  - gps_msgs
+  - mola_kernel
+  - mrpt_libobs
+  - mrpt_libros_bridge
+  - rosbag2_cpp
+  - sensor_msgs
+  - tf2_geometry_msgs
+  - tf2_msgs
+  - tf2_ros
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_input_rosbag2/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_input_video:
-  tag: release/lyrical/mola_input_video/2.9.0-1
+  dependencies:
+  - mola_kernel
+  - mrpt_libhwdrivers
+  - mrpt_libobs
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_input_video/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_kernel:
-  tag: release/lyrical/mola_kernel/2.9.0-1
+  dependencies:
+  - mola_common
+  - mola_yaml
+  - mrpt_libmaps
+  - mrpt_libobs
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_kernel/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_launcher:
-  tag: release/lyrical/mola_launcher/2.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pep257
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mola_kernel
+  - mrpt_libbase
+  - ros_environment
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_launcher/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_lidar_odometry:
-  tag: release/lyrical/mola_lidar_odometry/2.2.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_cmake
+  - mola_bridge_ros2
+  - mola_common
+  - mola_imu_preintegration
+  - mola_input_kitti360_dataset
+  - mola_input_kitti_dataset
+  - mola_input_mulran_dataset
+  - mola_input_paris_luco_dataset
+  - mola_input_rawlog
+  - mola_input_rosbag2
+  - mola_kernel
+  - mola_launcher
+  - mola_metric_maps
+  - mola_pose_list
+  - mola_state_estimation_simple
+  - mola_state_estimation_smoother
+  - mola_test_datasets
+  - mola_viz
+  - mola_viz_imgui
+  - mola_yaml
+  - mp2p_icp
+  - mrpt_libmaps
+  - ros_environment
+  - rosbag2_storage_mcap
+  repository: https://github.com/MOLAorg/mola_lidar_odometry
+  tag: release/lyrical/mola_lidar_odometry/3.2.0-1
   url: https://github.com/ros2-gbp/mola_lidar_odometry-release.git
-  version: 2.2.1
+  version: 3.2.0
 mola_metric_maps:
-  tag: release/lyrical/mola_metric_maps/2.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_common
+  - mola_common
+  - mola_kernel
+  - mp2p_icp
+  - mrpt_libmaps
+  - nanoflann_vendor
+  - ros_environment
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_metric_maps/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_msgs:
-  tag: release/lyrical/mola_msgs/2.9.0-1
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - mrpt_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_msgs/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_pose_list:
-  tag: release/lyrical/mola_pose_list/2.9.0-1
+  dependencies:
+  - mola_common
+  - mrpt_libmaps
+  - mrpt_libposes
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_pose_list/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_relocalization:
-  tag: release/lyrical/mola_relocalization/2.9.0-1
+  dependencies:
+  - mola_common
+  - mola_pose_list
+  - mola_test_datasets
+  - mp2p_icp
+  - mrpt_libmaps
+  - mrpt_libobs
+  - mrpt_libslam
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_relocalization/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_sm_loop_closure:
-  tag: release/lyrical/mola_sm_loop_closure/1.2.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_pep257
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - gtsam
+  - mola_common
+  - mola_georeferencing
+  - mola_gtsam_factors
+  - mola_metric_maps
+  - mola_pose_list
+  - mola_relocalization
+  - mola_test_datasets
+  - mola_yaml
+  - mp2p_icp
+  - mrpt_libgui
+  - mrpt_libmaps
+  - mrpt_libtclap
+  - ros_environment
+  repository: https://github.com/MOLAorg/mola_sm_loop_closure
+  tag: release/lyrical/mola_sm_loop_closure/1.2.2-1
   url: https://github.com/ros2-gbp/mola_sm_loop_closure-release.git
-  version: 1.2.0
+  version: 1.2.2
 mola_state_estimation:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_cmake
+  - mola_state_estimation_simple
+  - mola_state_estimation_smoother
+  repository: https://github.com/MOLAorg/mola_state_estimation
   tag: release/lyrical/mola_state_estimation/2.4.2-1
   url: https://github.com/ros2-gbp/mola_state_estimation-release.git
   version: 2.4.2
 mola_state_estimation_simple:
+  dependencies:
+  - mola_common
+  - mola_imu_preintegration
+  - mola_kernel
+  - mrpt_libobs
+  repository: https://github.com/MOLAorg/mola_state_estimation
   tag: release/lyrical/mola_state_estimation_simple/2.4.2-1
   url: https://github.com/ros2-gbp/mola_state_estimation-release.git
   version: 2.4.2
 mola_state_estimation_smoother:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_xmllint
+  - geometry_msgs
+  - gtsam
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - mola_bridge_ros2
+  - mola_common
+  - mola_gtsam_factors
+  - mola_imu_preintegration
+  - mola_kernel
+  - mola_launcher
+  - mrpt_libobs
+  - nav_msgs
+  - rclpy
+  - ros_environment
+  - sensor_msgs
+  - tf2_ros
+  repository: https://github.com/MOLAorg/mola_state_estimation
   tag: release/lyrical/mola_state_estimation_smoother/2.4.2-1
   url: https://github.com/ros2-gbp/mola_state_estimation-release.git
   version: 2.4.2
 mola_test_datasets:
-  tag: release/lyrical/mola_test_datasets/0.4.2-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_pep257
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ros_environment
+  repository: https://github.com/MOLAorg/mola_test_datasets
+  tag: release/lyrical/mola_test_datasets/0.5.0-1
   url: https://github.com/ros2-gbp/mola_test_datasets-release.git
-  version: 0.4.2
+  version: 0.5.0
 mola_traj_tools:
-  tag: release/lyrical/mola_traj_tools/2.9.0-1
+  dependencies:
+  - mola_common
+  - mrpt_libposes
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_traj_tools/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_viz:
-  tag: release/lyrical/mola_viz/2.9.0-1
+  dependencies:
+  - mola_kernel
+  - mrpt_libgui
+  - mrpt_libmaps
+  - mrpt_libopengl
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_viz/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_viz_imgui:
-  tag: release/lyrical/mola_viz_imgui/2.9.0-1
+  dependencies:
+  - mola_kernel
+  - mrpt_libgui
+  - mrpt_libmaps
+  - mrpt_libobs
+  - mrpt_libopengl
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_viz_imgui/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 mola_yaml:
-  tag: release/lyrical/mola_yaml/2.9.0-1
+  dependencies:
+  - mola_common
+  - mrpt_libbase
+  repository: https://github.com/MOLAorg/mola
+  tag: release/lyrical/mola_yaml/3.2.0-1
   url: https://github.com/ros2-gbp/mola-release.git
-  version: 2.9.0
+  version: 3.2.0
 motion_capture_tracking:
-  tag: release/lyrical/motion_capture_tracking/1.0.8-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  - motion_capture_tracking_interfaces
+  - rclcpp
+  - sensor_msgs
+  - tf2_ros
+  repository: https://github.com/IMRCLab/motion_capture_tracking
+  tag: release/lyrical/motion_capture_tracking/1.0.9-1
   url: https://github.com/ros2-gbp/motion_capture_tracking-release.git
-  version: 1.0.8
+  version: 1.0.9
 motion_capture_tracking_interfaces:
-  tag: release/lyrical/motion_capture_tracking_interfaces/1.0.8-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/IMRCLab/motion_capture_tracking
+  tag: release/lyrical/motion_capture_tracking_interfaces/1.0.9-1
   url: https://github.com/ros2-gbp/motion_capture_tracking-release.git
-  version: 1.0.8
+  version: 1.0.9
 motion_primitives_controllers:
-  tag: release/lyrical/motion_primitives_controllers/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/motion_primitives_controllers/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 mouse_teleop:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - geometry_msgs
+  - rclpy
+  repository: https://github.com/ros-teleop/teleop_tools
   tag: release/lyrical/mouse_teleop/2.0.0-3
   url: https://github.com/ros2-gbp/teleop_tools-release.git
   version: 2.0.0
+move_base_flex:
+  dependencies:
+  - ament_cmake
+  - mbf_abstract_core
+  - mbf_abstract_nav
+  - mbf_msgs
+  - mbf_simple_nav
+  - mbf_utility
+  repository: https://github.com/naturerobots/move_base_flex
+  tag: release/lyrical/move_base_flex/1.2.1-1
+  url: https://github.com/ros2-gbp/move_base_flex-release.git
+  version: 1.2.1
 moveit:
-  tag: release/lyrical/moveit/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - moveit_core
+  - moveit_planners
+  - moveit_plugins
+  - moveit_ros
+  - moveit_setup_assistant
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_common:
-  tag: release/lyrical/moveit_common/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - backward_ros
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_common/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_configs_utils:
-  tag: release/lyrical/moveit_configs_utils/2.14.1-3
+  dependencies:
+  - ament_index_python
+  - launch
+  - launch_param_builder
+  - launch_ros
+  - srdfdom
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_configs_utils/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_core:
-  tag: release/lyrical/moveit_core/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_google_benchmark
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - angles
+  - common_interfaces
+  - eigen3_cmake_module
+  - eigen_stl_containers
+  - generate_parameter_library
+  - geometric_shapes
+  - geometry_msgs
+  - google_benchmark_vendor
+  - kdl_parser
+  - launch_testing_ament_cmake
+  - moveit_common
+  - moveit_msgs
+  - moveit_resources_panda_moveit_config
+  - moveit_resources_pr2_description
+  - octomap_msgs
+  - orocos_kdl_vendor
+  - osqp_vendor
+  - pluginlib
+  - random_numbers
+  - rcl_interfaces
+  - rclcpp
+  - rclpy
+  - rsl
+  - ruckig
+  - sensor_msgs
+  - shape_msgs
+  - srdfdom
+  - std_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_kdl
+  - trajectory_msgs
+  - urdf
+  - urdfdom
+  - urdfdom_headers
+  - visualization_msgs
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_core/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_hybrid_planning:
-  tag: release/lyrical/moveit_hybrid_planning/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - controller_manager
+  - forward_command_controller
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_msgs
+  - moveit_planners_ompl
+  - moveit_resources_panda_moveit_config
+  - moveit_ros_planning
+  - moveit_ros_planning_interface
+  - moveit_simple_controller_manager
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - robot_state_publisher
+  - ros_testing
+  - rviz2
+  - std_msgs
+  - std_srvs
+  - tf2_ros
+  - trajectory_msgs
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_hybrid_planning/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_kinematics:
-  tag: release/lyrical/moveit_kinematics/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - class_loader
+  - generate_parameter_library
+  - launch_param_builder
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_msgs
+  - moveit_resources_fanuc_description
+  - moveit_resources_fanuc_moveit_config
+  - moveit_resources_panda_description
+  - moveit_resources_panda_moveit_config
+  - moveit_ros_planning
+  - orocos_kdl_vendor
+  - pluginlib
+  - ros_testing
+  - rsl
+  - tf2
+  - tf2_kdl
+  - urdfdom
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_kinematics/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_msgs:
-  tag: release/lyrical/moveit_msgs/2.7.1-3
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_cmake
+  - geometry_msgs
+  - object_recognition_msgs
+  - octomap_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - shape_msgs
+  - std_msgs
+  - trajectory_msgs
+  repository: https://github.com/ros-planning/moveit_msgs
+  tag: release/lyrical/moveit_msgs/2.7.2-1
   url: https://github.com/ros2-gbp/moveit_msgs-release.git
-  version: 2.7.1
+  version: 2.7.2
 moveit_planners:
-  tag: release/lyrical/moveit_planners/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - moveit_planners_chomp
+  - moveit_planners_ompl
+  - moveit_planners_stomp
+  - pilz_industrial_motion_planner
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_planners/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_planners_chomp:
-  tag: release/lyrical/moveit_planners_chomp/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - chomp_motion_planner
+  - moveit_common
+  - moveit_core
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_planners_chomp/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_planners_ompl:
-  tag: release/lyrical/moveit_planners_ompl/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - eigen3_cmake_module
+  - moveit_common
+  - moveit_core
+  - moveit_msgs
+  - moveit_resources_fanuc_moveit_config
+  - moveit_resources_panda_moveit_config
+  - moveit_resources_pr2_description
+  - moveit_ros_planning
+  - ompl
+  - pluginlib
+  - rclcpp
+  - tf2_eigen
+  - tf2_ros
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_planners_ompl/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_planners_stomp:
-  tag: release/lyrical/moveit_planners_stomp/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - generate_parameter_library
+  - moveit_common
+  - moveit_core
+  - rsl
+  - std_msgs
+  - stomp
+  - tf2_eigen
+  - visualization_msgs
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_planners_stomp/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_plugins:
-  tag: release/lyrical/moveit_plugins/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - moveit_simple_controller_manager
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_plugins/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_py:
-  tag: release/lyrical/moveit_py/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_index_python
+  - geometry_msgs
+  - moveit_core
+  - moveit_ros_planning
+  - moveit_ros_planning_interface
+  - octomap_msgs
+  - rclcpp
+  - rclpy
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_py/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_resources:
-  tag: release/lyrical/moveit_resources/3.1.1-3
+  dependencies:
+  - ament_cmake
+  - joint_state_publisher
+  - moveit_resources_fanuc_description
+  - moveit_resources_fanuc_moveit_config
+  - moveit_resources_panda_description
+  - moveit_resources_panda_moveit_config
+  - moveit_resources_pr2_description
+  - robot_state_publisher
+  repository: https://github.com/ros-planning/moveit_resources
+  tag: release/lyrical/moveit_resources/3.2.0-1
   url: https://github.com/ros2-gbp/moveit_resources-release.git
-  version: 3.1.1
+  version: 3.2.0
 moveit_resources_fanuc_description:
-  tag: release/lyrical/moveit_resources_fanuc_description/3.1.1-3
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros-planning/moveit_resources
+  tag: release/lyrical/moveit_resources_fanuc_description/3.2.0-1
   url: https://github.com/ros2-gbp/moveit_resources-release.git
-  version: 3.1.1
+  version: 3.2.0
 moveit_resources_fanuc_moveit_config:
-  tag: release/lyrical/moveit_resources_fanuc_moveit_config/3.1.1-3
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - joint_state_publisher
+  - moveit_resources_fanuc_description
+  - robot_state_publisher
+  - ros2cli_common_extensions
+  - tf2_ros
+  - xacro
+  repository: https://github.com/ros-planning/moveit_resources
+  tag: release/lyrical/moveit_resources_fanuc_moveit_config/3.2.0-1
   url: https://github.com/ros2-gbp/moveit_resources-release.git
-  version: 3.1.1
+  version: 3.2.0
 moveit_resources_panda_description:
-  tag: release/lyrical/moveit_resources_panda_description/3.1.1-3
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros-planning/moveit_resources
+  tag: release/lyrical/moveit_resources_panda_description/3.2.0-1
   url: https://github.com/ros2-gbp/moveit_resources-release.git
-  version: 3.1.1
+  version: 3.2.0
 moveit_resources_panda_moveit_config:
-  tag: release/lyrical/moveit_resources_panda_moveit_config/3.1.1-3
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - moveit_resources_panda_description
+  - parallel_gripper_controller
+  - robot_state_publisher
+  - ros2cli_common_extensions
+  - topic_tools
+  - xacro
+  repository: https://github.com/ros-planning/moveit_resources
+  tag: release/lyrical/moveit_resources_panda_moveit_config/3.2.0-1
   url: https://github.com/ros2-gbp/moveit_resources-release.git
-  version: 3.1.1
+  version: 3.2.0
 moveit_resources_pr2_description:
-  tag: release/lyrical/moveit_resources_pr2_description/3.1.1-3
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros-planning/moveit_resources
+  tag: release/lyrical/moveit_resources_pr2_description/3.2.0-1
   url: https://github.com/ros2-gbp/moveit_resources-release.git
-  version: 3.1.1
+  version: 3.2.0
 moveit_resources_prbt_ikfast_manipulator_plugin:
-  tag: release/lyrical/moveit_resources_prbt_ikfast_manipulator_plugin/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - generate_parameter_library
+  - moveit_core
+  - pluginlib
+  - rclcpp
+  - tf2_eigen
+  - tf2_eigen_kdl
+  - tf2_geometry_msgs
+  - tf2_kdl
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_resources_prbt_ikfast_manipulator_plugin/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_resources_prbt_moveit_config:
-  tag: release/lyrical/moveit_resources_prbt_moveit_config/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - joint_state_publisher
+  - moveit_resources_prbt_ikfast_manipulator_plugin
+  - moveit_resources_prbt_support
+  - moveit_ros_move_group
+  - robot_state_publisher
+  - rviz2
+  - xacro
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_resources_prbt_moveit_config/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_resources_prbt_pg70_support:
-  tag: release/lyrical/moveit_resources_prbt_pg70_support/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - moveit_resources_prbt_ikfast_manipulator_plugin
+  - moveit_resources_prbt_moveit_config
+  - moveit_resources_prbt_support
+  - xacro
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_resources_prbt_pg70_support/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_resources_prbt_support:
-  tag: release/lyrical/moveit_resources_prbt_support/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - xacro
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_resources_prbt_support/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros:
-  tag: release/lyrical/moveit_ros/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - moveit_ros_benchmarks
+  - moveit_ros_move_group
+  - moveit_ros_planning
+  - moveit_ros_planning_interface
+  - moveit_ros_robot_interaction
+  - moveit_ros_visualization
+  - moveit_ros_warehouse
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_benchmarks:
-  tag: release/lyrical/moveit_ros_benchmarks/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - launch_param_builder
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_ros_planning
+  - moveit_ros_warehouse
+  - pluginlib
+  - rclcpp
+  - tf2_eigen
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_benchmarks/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_control_interface:
-  tag: release/lyrical/moveit_ros_control_interface/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - controller_manager_msgs
+  - moveit_common
+  - moveit_core
+  - moveit_simple_controller_manager
+  - pluginlib
+  - rclcpp_action
+  - trajectory_msgs
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_control_interface/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_move_group:
-  tag: release/lyrical/moveit_ros_move_group/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_kinematics
+  - moveit_resources_fanuc_moveit_config
+  - moveit_resources_panda_moveit_config
+  - moveit_ros_occupancy_map_monitor
+  - moveit_ros_planning
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - ros_testing
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_move_group/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_occupancy_map_monitor:
-  tag: release/lyrical/moveit_ros_occupancy_map_monitor/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - eigen3_cmake_module
+  - geometric_shapes
+  - moveit_common
+  - moveit_core
+  - moveit_msgs
+  - pluginlib
+  - rclcpp
+  - tf2_ros
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_occupancy_map_monitor/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_perception:
-  tag: release/lyrical/moveit_ros_perception/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  - image_transport
+  - message_filters
+  - moveit_common
+  - moveit_core
+  - moveit_msgs
+  - moveit_ros_occupancy_map_monitor
+  - moveit_ros_planning
+  - object_recognition_msgs
+  - pluginlib
+  - rclcpp
+  - sensor_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_ros
+  - urdf
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_perception/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_planning:
-  tag: release/lyrical/moveit_ros_planning/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - eigen3_cmake_module
+  - generate_parameter_library
+  - launch_testing_ament_cmake
+  - message_filters
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_msgs
+  - moveit_resources_panda_moveit_config
+  - moveit_ros_occupancy_map_monitor
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - ros_testing
+  - srdfdom
+  - std_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_msgs
+  - tf2_ros
+  - urdf
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_planning/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_planning_interface:
-  tag: release/lyrical/moveit_ros_planning_interface/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - eigen3_cmake_module
+  - geometry_msgs
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_msgs
+  - moveit_resources_fanuc_moveit_config
+  - moveit_resources_panda_moveit_config
+  - moveit_ros_move_group
+  - moveit_ros_planning
+  - moveit_ros_warehouse
+  - moveit_simple_controller_manager
+  - rclcpp
+  - rclcpp_action
+  - rclpy
+  - ros_testing
+  - rviz2
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_planning_interface/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_robot_interaction:
-  tag: release/lyrical/moveit_ros_robot_interaction/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - interactive_markers
+  - moveit_common
+  - moveit_core
+  - moveit_ros_planning
+  - rclcpp
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_robot_interaction/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_tests:
-  tag: release/lyrical/moveit_ros_tests/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_planners_chomp
+  - moveit_planners_ompl
+  - moveit_planners_stomp
+  - moveit_resources_panda_moveit_config
+  - moveit_ros_move_group
+  - moveit_ros_planning
+  - moveit_ros_planning_interface
+  - moveit_simple_controller_manager
+  - pilz_industrial_motion_planner
+  - rclcpp
+  - ros_testing
+  - tf2_ros
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_tests/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_trajectory_cache:
-  tag: release/lyrical/moveit_ros_trajectory_cache/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_uncrustify
+  - geometry_msgs
+  - launch_pytest
+  - launch_testing_ament_cmake
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_planners_ompl
+  - moveit_resources
+  - moveit_ros
+  - moveit_ros_planning_interface
+  - rclcpp
+  - rclcpp_action
+  - rmf_utils
+  - robot_state_publisher
+  - ros2_control
+  - tf2_ros
+  - trajectory_msgs
+  - warehouse_ros_sqlite
+  - xacro
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_trajectory_cache/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_visualization:
-  tag: release/lyrical/moveit_ros_visualization/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - class_loader
+  - geometric_shapes
+  - interactive_markers
+  - moveit_common
+  - moveit_ros_planning_interface
+  - moveit_ros_robot_interaction
+  - moveit_ros_warehouse
+  - object_recognition_msgs
+  - pluginlib
+  - rclcpp
+  - rclpy
+  - rviz2
+  - tf2_eigen
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_visualization/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_ros_warehouse:
-  tag: release/lyrical/moveit_ros_warehouse/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - moveit_common
+  - moveit_core
+  - moveit_ros_planning
+  - rclcpp
+  - tf2_eigen
+  - tf2_ros
+  - warehouse_ros
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_ros_warehouse/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_runtime:
-  tag: release/lyrical/moveit_runtime/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - moveit_core
+  - moveit_planners
+  - moveit_plugins
+  - moveit_ros_move_group
+  - moveit_ros_perception
+  - moveit_ros_planning
+  - moveit_ros_planning_interface
+  - moveit_ros_warehouse
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_runtime/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_servo:
-  tag: release/lyrical/moveit_servo/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - control_msgs
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - joint_state_broadcaster
+  - joint_trajectory_controller
+  - joy
+  - launch_param_builder
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_msgs
+  - moveit_resources_panda_moveit_config
+  - moveit_ros_planning
+  - moveit_ros_planning_interface
+  - moveit_ros_visualization
+  - pluginlib
+  - realtime_tools
+  - robot_state_publisher
+  - ros_testing
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_eigen
+  - tf2_ros
+  - trajectory_msgs
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_servo/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_setup_app_plugins:
-  tag: release/lyrical/moveit_setup_app_plugins/2.14.1-3
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - moveit_configs_utils
+  - moveit_ros_visualization
+  - moveit_setup_framework
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_setup_app_plugins/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_setup_assistant:
-  tag: release/lyrical/moveit_setup_assistant/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - moveit_configs_utils
+  - moveit_resources_panda_moveit_config
+  - moveit_setup_app_plugins
+  - moveit_setup_controllers
+  - moveit_setup_core_plugins
+  - moveit_setup_framework
+  - moveit_setup_srdf_plugins
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_setup_assistant/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_setup_controllers:
-  tag: release/lyrical/moveit_setup_controllers/2.14.1-3
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - moveit_configs_utils
+  - moveit_resources_fanuc_moveit_config
+  - moveit_resources_panda_moveit_config
+  - moveit_setup_framework
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_setup_controllers/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_setup_core_plugins:
-  tag: release/lyrical/moveit_setup_core_plugins/2.14.1-3
+  dependencies:
+  - ament_cmake_ros
+  - ament_index_cpp
+  - moveit_ros_visualization
+  - moveit_setup_framework
+  - pluginlib
+  - rclcpp
+  - srdfdom
+  - urdf
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_setup_core_plugins/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_setup_framework:
-  tag: release/lyrical/moveit_setup_framework/2.14.1-3
+  dependencies:
+  - ament_cmake_ros
+  - ament_index_cpp
+  - moveit_common
+  - moveit_core
+  - moveit_ros_planning
+  - moveit_ros_visualization
+  - pluginlib
+  - rclcpp
+  - rviz_common
+  - rviz_rendering
+  - srdfdom
+  - urdf
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_setup_framework/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_setup_srdf_plugins:
-  tag: release/lyrical/moveit_setup_srdf_plugins/2.14.1-3
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - moveit_resources_fanuc_description
+  - moveit_setup_framework
+  - pluginlib
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_setup_srdf_plugins/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_simple_controller_manager:
-  tag: release/lyrical/moveit_simple_controller_manager/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - control_msgs
+  - moveit_common
+  - moveit_core
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/moveit_simple_controller_manager/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 moveit_task_constructor_capabilities:
-  tag: release/lyrical/moveit_task_constructor_capabilities/0.1.5-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - controller_manager
+  - launch_testing
+  - launch_testing_ament_cmake
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_resources_panda_moveit_config
+  - moveit_ros_move_group
+  - moveit_ros_planning
+  - moveit_task_constructor_core
+  - moveit_task_constructor_msgs
+  - pluginlib
+  - rclcpp_action
+  - std_msgs
+  repository: https://github.com/moveit/moveit_task_constructor
+  tag: release/lyrical/moveit_task_constructor_capabilities/0.2.0-1
   url: https://github.com/ros2-gbp/moveit_task_constructor-release.git
-  version: 0.1.5
+  version: 0.2.0
 moveit_task_constructor_core:
-  tag: release/lyrical/moveit_task_constructor_core/0.1.5-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - geometry_msgs
+  - launch_testing_ament_cmake
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_planners_ompl
+  - moveit_py
+  - moveit_resources_fanuc_moveit_config
+  - moveit_ros_planning
+  - moveit_ros_planning_interface
+  - moveit_task_constructor_msgs
+  - py_binding_tools
+  - rclcpp
+  - rviz_marker_tools
+  - tf2_eigen
+  - visualization_msgs
+  repository: https://github.com/moveit/moveit_task_constructor
+  tag: release/lyrical/moveit_task_constructor_core/0.2.0-1
   url: https://github.com/ros2-gbp/moveit_task_constructor-release.git
-  version: 0.1.5
+  version: 0.2.0
 moveit_task_constructor_demo:
-  tag: release/lyrical/moveit_task_constructor_demo/0.1.5-3
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - generate_parameter_library
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_resources_panda_moveit_config
+  - moveit_ros_planning_interface
+  - moveit_task_constructor_capabilities
+  - moveit_task_constructor_core
+  - moveit_task_constructor_visualization
+  - py_binding_tools
+  repository: https://github.com/moveit/moveit_task_constructor
+  tag: release/lyrical/moveit_task_constructor_demo/0.2.0-1
   url: https://github.com/ros2-gbp/moveit_task_constructor-release.git
-  version: 0.1.5
+  version: 0.2.0
 moveit_task_constructor_msgs:
-  tag: release/lyrical/moveit_task_constructor_msgs/0.1.5-3
+  dependencies:
+  - ament_cmake
+  - moveit_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - visualization_msgs
+  repository: https://github.com/moveit/moveit_task_constructor
+  tag: release/lyrical/moveit_task_constructor_msgs/0.2.0-1
   url: https://github.com/ros2-gbp/moveit_task_constructor-release.git
-  version: 0.1.5
+  version: 0.2.0
 moveit_task_constructor_visualization:
-  tag: release/lyrical/moveit_task_constructor_visualization/0.1.5-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - launch
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - libyaml_vendor
+  - moveit_core
+  - moveit_ros_visualization
+  - moveit_task_constructor_core
+  - moveit_task_constructor_msgs
+  - rclcpp
+  - rviz2
+  repository: https://github.com/moveit/moveit_task_constructor
+  tag: release/lyrical/moveit_task_constructor_visualization/0.2.0-1
   url: https://github.com/ros2-gbp/moveit_task_constructor-release.git
-  version: 0.1.5
+  version: 0.2.0
 moveit_visual_tools:
-  tag: release/lyrical/moveit_visual_tools/4.1.2-3
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - geometric_shapes
+  - geometry_msgs
+  - graph_msgs
+  - interactive_markers
+  - moveit_common
+  - moveit_core
+  - moveit_msgs
+  - moveit_ros_planning
+  - rclcpp
+  - rviz_visual_tools
+  - std_msgs
+  - tf2_eigen
+  - tf2_ros
+  - trajectory_msgs
+  - visualization_msgs
+  repository: https://github.com/ros-planning/moveit_visual_tools
+  tag: release/lyrical/moveit_visual_tools/4.2.0-1
   url: https://github.com/ros2-gbp/moveit_visual_tools-release.git
-  version: 4.1.2
+  version: 4.2.0
 mp2p_icp:
-  tag: release/lyrical/mp2p_icp/2.10.3-1
+  dependencies:
+  - mp2p_icp_core
+  - mp2p_icp_viz
+  repository: https://github.com/MOLAorg/mp2p_icp
+  tag: release/lyrical/mp2p_icp/2.13.1-1
+  url: https://github.com/ros2-gbp/mp2p_icp-release.git
+  version: 2.13.1
+mp2p_icp_core:
+  dependencies:
+  - mola_common
+  - mola_imu_preintegration
+  - mrpt_libbase
+  - mrpt_libmaps
+  - mrpt_libobs
+  - mrpt_libposes
+  - ros_environment
+  repository: https://github.com/MOLAorg/mp2p_icp
+  tag: release/lyrical/mp2p_icp_core/2.13.1-1
   url: https://github.com/ros2-gbp/mp2p_icp-release.git
-  version: 2.10.3
+  version: 2.13.1
+mp2p_icp_viz:
+  dependencies:
+  - mola_common
+  - mp2p_icp_core
+  - mrpt_libgui
+  - ros_environment
+  repository: https://github.com/MOLAorg/mp2p_icp
+  tag: release/lyrical/mp2p_icp_viz/2.13.1-1
+  url: https://github.com/ros2-gbp/mp2p_icp-release.git
+  version: 2.13.1
 mp_units_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/nobleo/mp_units_vendor
   tag: release/lyrical/mp_units_vendor/2.5.0-4
   url: https://github.com/ros2-gbp/mp_units_vendor-release.git
   version: 2.5.0
 mqtt_client:
-  tag: release/lyrical/mqtt_client/2.4.1-4
+  dependencies:
+  - ament_cmake
+  - mqtt_client_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rcpputils
+  - rosx_introspection
+  - std_msgs
+  repository: https://github.com/ika-rwth-aachen/mqtt_client
+  tag: release/lyrical/mqtt_client/2.5.0-1
   url: https://github.com/ros2-gbp/mqtt_client-release.git
-  version: 2.4.1
+  version: 2.5.0
 mqtt_client_interfaces:
-  tag: release/lyrical/mqtt_client_interfaces/2.4.1-4
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ika-rwth-aachen/mqtt_client
+  tag: release/lyrical/mqtt_client_interfaces/2.5.0-1
   url: https://github.com/ros2-gbp/mqtt_client-release.git
-  version: 2.4.1
+  version: 2.5.0
 mrpt_apps:
-  tag: release/lyrical/mrpt_apps/2.15.18-1
+  dependencies:
+  - ament_cmake
+  - mrpt_libapps
+  - mrpt_libnav
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_apps/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
+mrpt_apps_cli:
+  dependencies:
+  - mrpt_common
+  - mrpt_libapps_cli
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_apps_cli/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_apps_gui:
+  dependencies:
+  - mrpt_common
+  - mrpt_graphslam
+  - mrpt_kinematics
+  - mrpt_libapps_gui
+  - mrpt_nav
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_apps_gui/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_bayes:
+  dependencies:
+  - mrpt_common
+  - mrpt_config
+  - mrpt_math
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_bayes/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_common:
+  dependencies: []
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_common/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_comms:
+  dependencies:
+  - mrpt_common
+  - mrpt_io
+  - mrpt_poses
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_comms/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_config:
+  dependencies:
+  - mrpt_common
+  - mrpt_expr
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_config/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_containers:
+  dependencies:
+  - mrpt_common
+  - mrpt_core
+  - mrpt_typemeta
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_containers/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_core:
+  dependencies:
+  - mrpt_common
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_core/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_data:
+  dependencies: []
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_data/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_examples_cpp:
+  dependencies:
+  - mrpt_common
+  - mrpt_data
+  - mrpt_graphslam
+  - mrpt_gui
+  - mrpt_imgui
+  - mrpt_libapps_cli
+  - mrpt_libapps_gui
+  - mrpt_nav
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_examples_cpp/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_expr:
+  dependencies:
+  - mrpt_common
+  - mrpt_system
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_expr/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrpt_generic_sensor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mrpt_msgs
+  - mrpt_sensorlib
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/mrpt-ros-pkg/mrpt_sensors
   tag: release/lyrical/mrpt_generic_sensor/0.3.0-1
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.3.0
+mrpt_graphs:
+  dependencies:
+  - mrpt_common
+  - mrpt_io
+  - mrpt_poses
+  - mrpt_viz
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_graphs/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_graphslam:
+  dependencies:
+  - mrpt_gui
+  - mrpt_slam
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_graphslam/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_gui:
+  dependencies:
+  - mrpt_opengl
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_gui/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_hwdrivers:
+  dependencies:
+  - mrpt_comms
+  - mrpt_maps
+  - mrpt_viz
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_hwdrivers/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_img:
+  dependencies:
+  - mrpt_common
+  - mrpt_config
+  - mrpt_io
+  - mrpt_math
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_img/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_imgui:
+  dependencies:
+  - mrpt_opengl
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_imgui/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_io:
+  dependencies:
+  - mrpt_common
+  - mrpt_system
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_io/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_kinematics:
+  dependencies:
+  - mrpt_common
+  - mrpt_viz
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_kinematics/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrpt_libapps:
-  tag: release/lyrical/mrpt_libapps/2.15.18-1
+  dependencies:
+  - mrpt_libgui
+  - mrpt_libhwdrivers
+  - mrpt_libmaps
+  - mrpt_libslam
+  - mrpt_libtclap
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libapps/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
+mrpt_libapps_cli:
+  dependencies:
+  - mrpt_hwdrivers
+  - mrpt_slam
+  - mrpt_topography
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_libapps_cli/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_libapps_gui:
+  dependencies:
+  - mrpt_gui
+  - mrpt_libapps_cli
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_libapps_gui/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrpt_libbase:
-  tag: release/lyrical/mrpt_libbase/2.15.18-1
+  dependencies:
+  - nanoflann_vendor
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libbase/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libgui:
-  tag: release/lyrical/mrpt_libgui/2.15.18-1
+  dependencies:
+  - mrpt_libopengl
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libgui/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libhwdrivers:
-  tag: release/lyrical/mrpt_libhwdrivers/2.15.18-1
+  dependencies:
+  - mrpt_libgui
+  - mrpt_libmaps
+  - mrpt_libslam
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libhwdrivers/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libmaps:
-  tag: release/lyrical/mrpt_libmaps/2.15.18-1
+  dependencies:
+  - mrpt_libobs
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libmaps/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libmath:
-  tag: release/lyrical/mrpt_libmath/2.15.18-1
+  dependencies:
+  - mrpt_libbase
+  - nanoflann_vendor
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libmath/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libnav:
-  tag: release/lyrical/mrpt_libnav/2.15.18-1
+  dependencies:
+  - mrpt_libmaps
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libnav/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libobs:
-  tag: release/lyrical/mrpt_libobs/2.15.18-1
+  dependencies:
+  - mrpt_libopengl
+  - mrpt_libposes
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libobs/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libopengl:
-  tag: release/lyrical/mrpt_libopengl/2.15.18-1
+  dependencies:
+  - mrpt_libbase
+  - mrpt_libposes
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libopengl/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libposes:
-  tag: release/lyrical/mrpt_libposes/2.15.18-1
+  dependencies:
+  - mrpt_libbase
+  - mrpt_libmath
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libposes/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libros_bridge:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - cv_bridge
+  - geometry_msgs
+  - gps_msgs
+  - mrpt_libmaps
+  - mrpt_libobs
+  - nav_msgs
+  - ros_environment
+  - rosbag2_cpp
+  - sensor_msgs
+  - std_msgs
+  - stereo_msgs
+  - tf2
+  - tf2_geometry_msgs
+  repository: https://github.com/MRPT/mrpt_ros_bridge
   tag: release/lyrical/mrpt_libros_bridge/3.5.3-1
   url: https://github.com/ros2-gbp/mrpt_ros_bridge-release.git
   version: 3.5.3
 mrpt_libslam:
-  tag: release/lyrical/mrpt_libslam/2.15.18-1
+  dependencies:
+  - mrpt_libmaps
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libslam/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_libtclap:
-  tag: release/lyrical/mrpt_libtclap/2.15.18-1
+  dependencies:
+  - mrpt_libbase
+  - nanoflann_vendor
+  repository: https://github.com/MRPT/mrpt_ros
+  tag: release/lyrical/mrpt_libtclap/2.15.21-1
   url: https://github.com/ros2-gbp/mrpt_ros-release.git
-  version: 2.15.18
+  version: 2.15.21
 mrpt_map_server:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mp2p_icp
+  - mrpt_libmaps
+  - mrpt_libobs
+  - mrpt_libros_bridge
+  - mrpt_msgs
+  - mrpt_nav_interfaces
+  - rclcpp_components
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/mrpt-ros-pkg/mrpt_navigation
   tag: release/lyrical/mrpt_map_server/2.5.0-1
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.5.0
+mrpt_maps:
+  dependencies:
+  - mrpt_graphs
+  - mrpt_obs
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_maps/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_math:
+  dependencies:
+  - mrpt_common
+  - mrpt_io
+  - mrpt_random
+  - mrpt_serialization
+  - mrpt_system
+  - nanoflann_vendor
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_math/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrpt_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cppcheck
+  - ament_cpplint
+  - ament_lint_auto
+  - ament_lint_cmake
+  - ament_lint_common
+  - geometry_msgs
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/mrpt-ros-pkg/mrpt_msgs
   tag: release/lyrical/mrpt_msgs/0.6.0-3
   url: https://github.com/ros2-gbp/mrpt_msgs-release.git
   version: 0.6.0
 mrpt_msgs_bridge:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - geometry_msgs
+  - mrpt_libobs
+  - mrpt_libros_bridge
+  - mrpt_msgs
+  - rclcpp
+  - ros_environment
+  - tf2
+  repository: https://github.com/mrpt-ros-pkg/mrpt_navigation
   tag: release/lyrical/mrpt_msgs_bridge/2.5.0-1
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.5.0
+mrpt_nav:
+  dependencies:
+  - mrpt_kinematics
+  - mrpt_maps
+  - mrpt_viz
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_nav/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrpt_nav_interfaces:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - geometry_msgs
+  - mrpt_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/mrpt-ros-pkg/mrpt_navigation
   tag: release/lyrical/mrpt_nav_interfaces/2.5.0-1
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.5.0
 mrpt_navigation:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mrpt_map_server
+  - mrpt_msgs_bridge
+  - mrpt_nav_interfaces
+  - mrpt_pf_localization
+  - mrpt_pointcloud_pipeline
+  - mrpt_reactivenav2d
+  - mrpt_tps_astar_planner
+  - mrpt_tutorials
+  repository: https://github.com/mrpt-ros-pkg/mrpt_navigation
   tag: release/lyrical/mrpt_navigation/2.5.0-1
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.5.0
+mrpt_obs:
+  dependencies:
+  - mrpt_common
+  - mrpt_tfest
+  - mrpt_viz
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_obs/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_opengl:
+  dependencies:
+  - mrpt_img
+  - mrpt_poses
+  - mrpt_viz
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_opengl/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrpt_path_planning:
-  tag: release/lyrical/mrpt_path_planning/0.3.0-3
+  dependencies:
+  - mrpt_libgui
+  - mrpt_libmaps
+  - mrpt_libnav
+  - mrpt_libtclap
+  - mvsim
+  repository: https://github.com/MRPT/mrpt_path_planning
+  tag: release/lyrical/mrpt_path_planning/1.0.1-1
   url: https://github.com/ros2-gbp/mrpt_path_planning-release.git
-  version: 0.3.0
+  version: 1.0.1
 mrpt_pf_localization:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mola_relocalization
+  - mp2p_icp
+  - mrpt_libgui
+  - mrpt_libros_bridge
+  - mrpt_libslam
+  - mrpt_msgs
+  - mrpt_msgs_bridge
+  - mrpt_tutorials
+  - nav_msgs
+  - pose_cov_ops
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  repository: https://github.com/mrpt-ros-pkg/mrpt_navigation
   tag: release/lyrical/mrpt_pf_localization/2.5.0-1
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.5.0
 mrpt_pointcloud_pipeline:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mp2p_icp
+  - mrpt_libgui
+  - mrpt_libmaps
+  - mrpt_libobs
+  - mrpt_libros_bridge
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  repository: https://github.com/mrpt-ros-pkg/mrpt_navigation
   tag: release/lyrical/mrpt_pointcloud_pipeline/2.5.0-1
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.5.0
+mrpt_poses:
+  dependencies:
+  - mrpt_bayes
+  - mrpt_common
+  - mrpt_io
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_poses/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_random:
+  dependencies:
+  - mrpt_common
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_random/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrpt_reactivenav2d:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - geometry_msgs
+  - mrpt_libnav
+  - mrpt_libros_bridge
+  - mrpt_nav_interfaces
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - stereo_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/mrpt-ros-pkg/mrpt_navigation
   tag: release/lyrical/mrpt_reactivenav2d/2.5.0-1
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.5.0
+mrpt_rtti:
+  dependencies:
+  - mrpt_common
+  - mrpt_core
+  - mrpt_typemeta
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_rtti/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrpt_sensor_bumblebee_stereo:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mrpt_libhwdrivers
+  - mrpt_libros_bridge
+  - mrpt_msgs
+  - mrpt_sensorlib
+  - rclcpp_components
+  - ros_environment
+  - tf2_ros
+  repository: https://github.com/mrpt-ros-pkg/mrpt_sensors
   tag: release/lyrical/mrpt_sensor_bumblebee_stereo/0.3.0-1
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.3.0
 mrpt_sensor_gnss_nmea:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mrpt_libhwdrivers
+  - mrpt_libros_bridge
+  - mrpt_msgs
+  - mrpt_sensorlib
+  - nmea_msgs
+  - rclcpp_components
+  - ros_environment
+  - tf2_ros
+  repository: https://github.com/mrpt-ros-pkg/mrpt_sensors
   tag: release/lyrical/mrpt_sensor_gnss_nmea/0.3.0-1
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.3.0
 mrpt_sensor_gnss_novatel:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mrpt_libhwdrivers
+  - mrpt_libros_bridge
+  - mrpt_msgs
+  - mrpt_sensorlib
+  - novatel_oem6_msgs
+  - rclcpp_components
+  - ros_environment
+  - tf2_ros
+  repository: https://github.com/mrpt-ros-pkg/mrpt_sensors
   tag: release/lyrical/mrpt_sensor_gnss_novatel/0.3.0-1
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.3.0
 mrpt_sensor_imu_taobotics:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mrpt_libhwdrivers
+  - mrpt_libros_bridge
+  - mrpt_msgs
+  - mrpt_sensorlib
+  - rclcpp_components
+  - ros_environment
+  - tf2_ros
+  repository: https://github.com/mrpt-ros-pkg/mrpt_sensors
   tag: release/lyrical/mrpt_sensor_imu_taobotics/0.3.0-1
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.3.0
 mrpt_sensorlib:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - diagnostic_updater
+  - mrpt_libhwdrivers
+  - mrpt_libros_bridge
+  - mrpt_msgs
+  - rclcpp_components
+  - ros_environment
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/mrpt-ros-pkg/mrpt_sensors
   tag: release/lyrical/mrpt_sensorlib/0.3.0-1
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.3.0
 mrpt_sensors:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mrpt_generic_sensor
+  - mrpt_sensor_bumblebee_stereo
+  - mrpt_sensor_gnss_nmea
+  - mrpt_sensor_gnss_novatel
+  - mrpt_sensor_imu_taobotics
+  - mrpt_sensorlib
+  repository: https://github.com/mrpt-ros-pkg/mrpt_sensors
   tag: release/lyrical/mrpt_sensors/0.3.0-1
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.3.0
+mrpt_serialization:
+  dependencies:
+  - mrpt_common
+  - mrpt_rtti
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_serialization/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_slam:
+  dependencies:
+  - mrpt_maps
+  - mrpt_topography
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_slam/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_system:
+  dependencies:
+  - mrpt_common
+  - mrpt_containers
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_system/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_tfest:
+  dependencies:
+  - mrpt_common
+  - mrpt_poses
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_tfest/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_topography:
+  dependencies:
+  - mrpt_common
+  - mrpt_math
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_topography/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrpt_tps_astar_planner:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mrpt_libgui
+  - mrpt_libmaps
+  - mrpt_libnav
+  - mrpt_libros_bridge
+  - mrpt_msgs
+  - mrpt_nav_interfaces
+  - mrpt_path_planning
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/mrpt-ros-pkg/mrpt_navigation
   tag: release/lyrical/mrpt_tps_astar_planner/2.5.0-1
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.5.0
 mrpt_tutorials:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - mvsim
+  - teleop_twist_keyboard
+  repository: https://github.com/mrpt-ros-pkg/mrpt_navigation
   tag: release/lyrical/mrpt_tutorials/2.5.0-1
   url: https://github.com/ros2-gbp/mrpt_navigation-release.git
   version: 2.5.0
+mrpt_typemeta:
+  dependencies:
+  - mrpt_common
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_typemeta/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
+mrpt_viz:
+  dependencies:
+  - mrpt_common
+  - mrpt_img
+  - mrpt_poses
+  repository: https://github.com/MRPT/mrpt
+  tag: release/lyrical/mrpt_viz/3.1.3-1
+  url: https://github.com/ros2-gbp/mrpt3-release.git
+  version: 3.1.3
 mrt_cmake_modules:
+  dependencies:
+  - ament_cmake_core
+  - gtest_vendor
+  - ros_environment
+  repository: https://github.com/KIT-MRT/mrt_cmake_modules
   tag: release/lyrical/mrt_cmake_modules/1.0.11-3
   url: https://github.com/ros2-gbp/mrt_cmake_modules-release.git
   version: 1.0.11
+mujoco_3d_lidar:
+  dependencies:
+  - ament_cmake
+  - mujoco_vendor
+  repository: https://github.com/ros-controls/mujoco_ros2_control
+  tag: release/lyrical/mujoco_3d_lidar/0.1.1-1
+  url: https://github.com/ros2-gbp/mujoco_ros2_control-release.git
+  version: 0.1.1
 mujoco_ros2_control:
-  tag: release/lyrical/mujoco_ros2_control/0.0.2-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_index_cpp
+  - ament_index_python
+  - backward_ros
+  - control_toolbox
+  - controller_manager
+  - geometry_msgs
+  - hardware_interface
+  - mujoco_ros2_control_msgs
+  - mujoco_ros2_control_plugins
+  - mujoco_vendor
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2pkg
+  - rosgraph_msgs
+  - sensor_msgs
+  - std_msgs
+  - tinyxml2_vendor
+  - transmission_interface
+  - urdfdom_py
+  repository: https://github.com/ros-controls/mujoco_ros2_control
+  tag: release/lyrical/mujoco_ros2_control/0.1.1-1
   url: https://github.com/ros2-gbp/mujoco_ros2_control-release.git
-  version: 0.0.2
+  version: 0.1.1
 mujoco_ros2_control_demos:
-  tag: release/lyrical/mujoco_ros2_control_demos/0.0.2-3
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - forward_command_controller
+  - joint_state_broadcaster
+  - launch
+  - launch_ros
+  - mujoco_ros2_control
+  - mujoco_ros2_control_msgs
+  - pose_broadcaster
+  - robot_state_publisher
+  - rviz2
+  - xacro
+  repository: https://github.com/ros-controls/mujoco_ros2_control
+  tag: release/lyrical/mujoco_ros2_control_demos/0.1.1-1
   url: https://github.com/ros2-gbp/mujoco_ros2_control-release.git
-  version: 0.0.2
+  version: 0.1.1
 mujoco_ros2_control_msgs:
-  tag: release/lyrical/mujoco_ros2_control_msgs/0.0.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-controls/mujoco_ros2_control
+  tag: release/lyrical/mujoco_ros2_control_msgs/0.1.1-1
   url: https://github.com/ros2-gbp/mujoco_ros2_control-release.git
-  version: 0.0.2
+  version: 0.1.1
 mujoco_ros2_control_plugins:
-  tag: release/lyrical/mujoco_ros2_control_plugins/0.0.2-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - backward_ros
+  - geometry_msgs
+  - mujoco_3d_lidar
+  - mujoco_ros2_control_msgs
+  - mujoco_vendor
+  - pluginlib
+  - rclcpp
+  - realtime_tools
+  - ros2_control_cmake
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - visualization_msgs
+  repository: https://github.com/ros-controls/mujoco_ros2_control
+  tag: release/lyrical/mujoco_ros2_control_plugins/0.1.1-1
   url: https://github.com/ros2-gbp/mujoco_ros2_control-release.git
-  version: 0.0.2
+  version: 0.1.1
 mujoco_vendor:
-  tag: release/lyrical/mujoco_vendor/0.0.8-4
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/pal-robotics/mujoco_vendor
+  tag: release/lyrical/mujoco_vendor/0.1.0-1
   url: https://github.com/ros2-gbp/mujoco_vendor-release.git
-  version: 0.0.8
+  version: 0.1.0
+multires_image:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - gps_msgs
+  - mapviz
+  - mapviz_interfaces
+  - marti_common_msgs
+  - pluginlib
+  - qt_gui_cpp
+  - rclcpp
+  - rclpy
+  - swri_math_util
+  - swri_transform_util
+  - tf2
+  repository: https://github.com/swri-robotics/mapviz
+  tag: release/lyrical/multires_image/4.0.3-1
+  url: https://github.com/ros2-gbp/mapviz-release.git
+  version: 4.0.3
 mvsim:
-  tag: release/lyrical/mvsim/1.3.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_common
+  - mrpt_libgui
+  - mrpt_libmaps
+  - mrpt_libposes
+  - mrpt_libros_bridge
+  - mrpt_libtclap
+  - nav_msgs
+  - ros2launch
+  - ros_environment
+  - sensor_msgs
+  - stereo_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - visualization_msgs
+  repository: https://github.com/MRPT/mvsim
+  tag: release/lyrical/mvsim/1.4.0-1
   url: https://github.com/ros2-gbp/mvsim-release.git
-  version: 1.3.0
+  version: 1.4.0
 nanoeigenpy:
+  dependencies: []
+  repository: https://github.com/Simple-Robotics/nanoeigenpy
   tag: release/lyrical/nanoeigenpy/0.5.0-3
   url: https://github.com/ros2-gbp/nanoeigenpy-release.git
   version: 0.5.0
-nanoflann:
-  tag: release/lyrical/nanoflann/1.10.1-1
+nanoflann_vendor:
+  dependencies: []
+  repository: https://github.com/jlblancoc/nanoflann
+  tag: release/lyrical/nanoflann_vendor/1.12.1-1
   url: https://github.com/ros2-gbp/nanoflann-release.git
-  version: 1.10.1
+  version: 1.12.1
 nao_button_sim:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - nao_lola_sensor_msgs
+  repository: https://github.com/ijnek/nao_button_sim
   tag: release/lyrical/nao_button_sim/1.0.1-3
   url: https://github.com/ros2-gbp/nao_button_sim-release.git
   version: 1.0.1
 nao_command_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ijnek/nao_interfaces
   tag: release/lyrical/nao_command_msgs/1.0.0-4
   url: https://github.com/ros2-gbp/nao_interfaces-release.git
   version: 1.0.0
 nao_lola:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - nao_command_msgs
+  - nao_sensor_msgs
+  - rclcpp
+  repository: https://github.com/ros-sports/nao_lola
   tag: release/lyrical/nao_lola/1.3.0-3
   url: https://github.com/ros2-gbp/nao_lola-release.git
   version: 1.3.0
 nao_lola_client:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - nao_lola_command_msgs
+  - nao_lola_sensor_msgs
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros-sports/nao_lola
   tag: release/lyrical/nao_lola_client/1.3.0-3
   url: https://github.com/ros2-gbp/nao_lola-release.git
   version: 1.3.0
 nao_lola_command_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-sports/nao_lola
   tag: release/lyrical/nao_lola_command_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/nao_lola-release.git
   version: 1.3.0
 nao_lola_sensor_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-sports/nao_lola
   tag: release/lyrical/nao_lola_sensor_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/nao_lola-release.git
   version: 1.3.0
 nao_sensor_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ijnek/nao_interfaces
   tag: release/lyrical/nao_sensor_msgs/1.0.0-4
   url: https://github.com/ros2-gbp/nao_interfaces-release.git
   version: 1.0.0
+nav2_amcl:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - message_filters
+  - nav2_common
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_amcl/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_behavior_tree:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - behaviortree_cpp
+  - geometry_msgs
+  - lifecycle_msgs
+  - nav2_common
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - test_msgs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_behavior_tree/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_behaviors:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_behaviors/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_bringup:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - ament_mypy
+  - backward_ros
+  - diff_drive_controller
+  - joint_state_broadcaster
+  - launch
+  - launch_ros
+  - launch_testing
+  - nav2_common
+  - nav2_loopback_sim
+  - nav2_minimal_tb3_sim
+  - nav2_minimal_tb4_sim
+  - navigation2
+  - ros_gz_bridge
+  - ros_gz_sim
+  - slam_toolbox
+  - xacro
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_bringup/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_bt_navigator:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - nav2_behavior_tree
+  - nav2_common
+  - nav2_core
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_bt_navigator/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_collision_monitor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - launch_testing_ament_cmake
+  - nav2_common
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - point_cloud_transport
+  - point_cloud_transport_plugins
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - rosgraph_msgs
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_collision_monitor/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_common:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_cmake_ros
+  - ament_cmake_test
+  - ament_lint_auto
+  - ament_lint_common
+  - ament_mypy
+  - backward_ros
+  - launch
+  - launch_ros
+  - osrf_pycommon
+  - rclpy
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_common/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_constrained_smoother:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_constrained_smoother/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - lifecycle_msgs
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_controller/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_core:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - nav2_behavior_tree
+  - nav2_common
+  - nav2_costmap_2d
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_core/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_costmap_2d:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_google_benchmark
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - laser_geometry
+  - launch
+  - launch_testing
+  - map_msgs
+  - message_filters
+  - nav2_common
+  - nav2_lifecycle_manager
+  - nav2_map_server
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav2_voxel_grid
+  - nav_msgs
+  - pluginlib
+  - point_cloud_transport
+  - point_cloud_transport_plugins
+  - rclcpp
+  - rclcpp_lifecycle
+  - rmw
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - tf2_sensor_msgs
+  - visualization_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_costmap_2d/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_dwb_controller:
+  dependencies:
+  - ament_cmake
+  - backward_ros
+  - costmap_queue
+  - dwb_core
+  - dwb_critics
+  - dwb_msgs
+  - dwb_plugins
+  - nav2_common
+  - nav_2d_msgs
+  - nav_2d_utils
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_dwb_controller/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_graceful_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_controller
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_lifecycle
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_graceful_controller/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_lifecycle_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - bondcpp
+  - diagnostic_updater
+  - geometry_msgs
+  - lifecycle_msgs
+  - nav2_common
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - std_srvs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_lifecycle_manager/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_loopback_sim:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - rosgraph_msgs
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_loopback_sim/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_map_server:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - launch
+  - launch_ros
+  - launch_testing
+  - lifecycle_msgs
+  - nav2_common
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_msgs
+  - tf2
+  - tf2_ros
+  - yaml_cpp_vendor
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_map_server/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
 nav2_minimal_tb3_sim:
-  tag: release/lyrical/nav2_minimal_tb3_sim/1.2.0-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - robot_state_publisher
+  - ros_gz_bridge
+  - ros_gz_image
+  - ros_gz_interfaces
+  - ros_gz_sim
+  - xacro
+  repository: https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation
+  tag: release/lyrical/nav2_minimal_tb3_sim/1.3.0-1
   url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git
-  version: 1.2.0
+  version: 1.3.0
 nav2_minimal_tb4_description:
-  tag: release/lyrical/nav2_minimal_tb4_description/1.2.0-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - joint_state_publisher
+  - robot_state_publisher
+  - urdf
+  - xacro
+  repository: https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation
+  tag: release/lyrical/nav2_minimal_tb4_description/1.3.0-1
   url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git
-  version: 1.2.0
+  version: 1.3.0
 nav2_minimal_tb4_sim:
-  tag: release/lyrical/nav2_minimal_tb4_sim/1.2.0-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - nav2_minimal_tb4_description
+  - robot_state_publisher
+  - ros_gz_bridge
+  - ros_gz_image
+  - ros_gz_interfaces
+  - ros_gz_sim
+  - xacro
+  repository: https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation
+  tag: release/lyrical/nav2_minimal_tb4_sim/1.3.0-1
   url: https://github.com/ros2-gbp/nav2_minimal_turtlebot_simulation-release.git
-  version: 1.2.0
+  version: 1.3.0
+nav2_mppi_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_mppi_controller/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - backward_ros
+  - builtin_interfaces
+  - geographic_msgs
+  - geometry_msgs
+  - nav2_common
+  - nav_msgs
+  - rclcpp
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - unique_identifier_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_msgs/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_navfn_planner:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - builtin_interfaces
+  - geometry_msgs
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_navfn_planner/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_planner:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - lifecycle_msgs
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - tf2
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_planner/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_regulated_pure_pursuit_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_controller
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_regulated_pure_pursuit_controller/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_ros_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - bond
+  - bondcpp
+  - builtin_interfaces
+  - geometry_msgs
+  - lifecycle_msgs
+  - map_msgs
+  - nav2_common
+  - nav2_msgs
+  - nav_msgs
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - test_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_ros_common/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_rotation_shim_controller:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_controller
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_regulated_pure_pursuit_controller
+  - nav2_ros_common
+  - nav2_util
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_lifecycle
+  - tf2
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_rotation_shim_controller/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_route:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - launch
+  - launch_testing
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_route/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_rviz_plugins:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_lifecycle_manager
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_route
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_ogre_vendor
+  - rviz_rendering
+  - std_msgs
+  - tf2_geometry_msgs
+  - visualization_msgs
+  - yaml_cpp_vendor
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_rviz_plugins/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_simple_commander:
+  dependencies:
+  - action_msgs
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - geometry_msgs
+  - lifecycle_msgs
+  - nav2_msgs
+  - rclpy
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_simple_commander/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_smac_planner:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - ompl
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_lifecycle
+  - tf2
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_smac_planner/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_smoother:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - tf2
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_smoother/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_system_tests:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - launch
+  - launch_ros
+  - launch_testing
+  - nav2_amcl
+  - nav2_behavior_tree
+  - nav2_bringup
+  - nav2_common
+  - nav2_lifecycle_manager
+  - nav2_map_server
+  - nav2_minimal_tb3_sim
+  - nav2_msgs
+  - nav2_navfn_planner
+  - nav2_planner
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - navigation2
+  - rclcpp
+  - rclcpp_lifecycle
+  - rclpy
+  - robot_state_publisher
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_system_tests/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_theta_star_planner:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_lifecycle
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_theta_star_planner/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_util:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - bond
+  - bondcpp
+  - builtin_interfaces
+  - geometry_msgs
+  - lifecycle_msgs
+  - nav2_common
+  - nav2_msgs
+  - nav2_ros_common
+  - nav_msgs
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_util/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_velocity_smoother:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_velocity_smoother/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_voxel_grid:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - nav2_common
+  - rclcpp
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_voxel_grid/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav2_waypoint_follower:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - cv_bridge
+  - geographic_msgs
+  - geometry_msgs
+  - image_transport
+  - nav2_common
+  - nav2_core
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - robot_localization
+  - sensor_msgs
+  - std_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav2_waypoint_follower/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav_2d_msgs:
+  dependencies:
+  - ament_cmake
+  - backward_ros
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav_2d_msgs/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+nav_2d_utils:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_msgs
+  - nav2_util
+  - nav_2d_msgs
+  - nav_msgs
+  - rclcpp
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/nav_2d_utils/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
 nav_msgs:
-  tag: release/lyrical/nav_msgs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/nav_msgs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
+navigation2:
+  dependencies:
+  - ament_cmake
+  - nav2_amcl
+  - nav2_behavior_tree
+  - nav2_behaviors
+  - nav2_bt_navigator
+  - nav2_collision_monitor
+  - nav2_common
+  - nav2_constrained_smoother
+  - nav2_controller
+  - nav2_core
+  - nav2_costmap_2d
+  - nav2_dwb_controller
+  - nav2_graceful_controller
+  - nav2_lifecycle_manager
+  - nav2_loopback_sim
+  - nav2_map_server
+  - nav2_mppi_controller
+  - nav2_msgs
+  - nav2_navfn_planner
+  - nav2_planner
+  - nav2_regulated_pure_pursuit_controller
+  - nav2_ros_common
+  - nav2_rotation_shim_controller
+  - nav2_route
+  - nav2_rviz_plugins
+  - nav2_simple_commander
+  - nav2_smac_planner
+  - nav2_smoother
+  - nav2_theta_star_planner
+  - nav2_util
+  - nav2_velocity_smoother
+  - nav2_voxel_grid
+  - nav2_waypoint_follower
+  - opennav_docking
+  - opennav_docking_bt
+  - opennav_docking_core
+  - opennav_following
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/navigation2/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+navmap_core:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  repository: https://github.com/EasyNavigation/NavMap
+  tag: release/lyrical/navmap_core/0.5.1-1
+  url: https://github.com/EasyNavigation/NavMap-release.git
+  version: 0.5.1
+navmap_examples:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - nav_msgs
+  - navmap_core
+  - navmap_ros
+  - navmap_ros_interfaces
+  - rclcpp
+  repository: https://github.com/EasyNavigation/NavMap
+  tag: release/lyrical/navmap_examples/0.5.1-1
+  url: https://github.com/EasyNavigation/NavMap-release.git
+  version: 0.5.1
+navmap_ros:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - nav_msgs
+  - navmap_core
+  - navmap_ros_interfaces
+  - pcl_conversions
+  - pcl_ros
+  - rclcpp
+  - sensor_msgs
+  - std_srvs
+  repository: https://github.com/EasyNavigation/NavMap
+  tag: release/lyrical/navmap_ros/0.5.1-1
+  url: https://github.com/EasyNavigation/NavMap-release.git
+  version: 0.5.1
+navmap_ros_interfaces:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - std_msgs
+  repository: https://github.com/EasyNavigation/NavMap
+  tag: release/lyrical/navmap_ros_interfaces/0.5.1-1
+  url: https://github.com/EasyNavigation/NavMap-release.git
+  version: 0.5.1
+navmap_rviz_plugin:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - navmap_core
+  - navmap_ros
+  - navmap_ros_interfaces
+  - pluginlib
+  - rclcpp
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_rendering
+  - sensor_msgs
+  - std_msgs
+  - visualization_msgs
+  repository: https://github.com/EasyNavigation/NavMap
+  tag: release/lyrical/navmap_rviz_plugin/0.5.1-1
+  url: https://github.com/EasyNavigation/NavMap-release.git
+  version: 0.5.1
+ndcurves:
+  dependencies:
+  - ament_cmake
+  - eigenpy
+  - jrl_cmakemodules
+  - pinocchio
+  repository: https://github.com/loco-3d/ndcurves
+  tag: release/lyrical/ndcurves/2.3.0-1
+  url: https://github.com/ros2-gbp/ndcurves-release.git
+  version: 2.3.0
 neobotix_usboard_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/astuff/astuff_sensor_msgs
   tag: release/lyrical/neobotix_usboard_msgs/4.0.0-5
   url: https://github.com/ros2-gbp/astuff_sensor_msgs-release.git
   version: 4.0.0
 network_bridge:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - pluginlib
+  - rclcpp
+  - std_msgs
+  - tf2_msgs
+  - tf2_ros
+  repository: https://github.com/brow1633/network_bridge
   tag: release/lyrical/network_bridge/3.0.0-3
   url: https://github.com/ros2-gbp/network_bridge-release.git
   version: 3.0.0
 nlohmann_json_schema_validator_vendor:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/open-rmf/nlohmann_json_schema_validator_vendor
   tag: release/lyrical/nlohmann_json_schema_validator_vendor/0.5.0-3
   url: https://github.com/ros2-gbp/nlohmann_json_schema_validator_vendor-release.git
   version: 0.5.0
 nmea_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-drivers/nmea_msgs
   tag: release/lyrical/nmea_msgs/2.1.0-4
   url: https://github.com/ros2-gbp/nmea_msgs-release.git
   version: 2.1.0
 nmea_navsat_driver:
+  dependencies:
+  - geometry_msgs
+  - nmea_msgs
+  - rclpy
+  - sensor_msgs
+  - tf_transformations
+  repository: https://github.com/ros-drivers/nmea_navsat_driver
   tag: release/lyrical/nmea_navsat_driver/2.0.1-4
   url: https://github.com/ros2-gbp/nmea_navsat_driver-release.git
   version: 2.0.1
 nobleo_socketcan_bridge:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_lint_cmake
+  - ament_cmake_ros
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - can_msgs
+  - diagnostic_msgs
+  - diagnostic_updater
+  - rclcpp
+  - rclcpp_components
+  repository: https://github.com/nobleo/nobleo_socketcan_bridge
   tag: release/lyrical/nobleo_socketcan_bridge/1.0.4-3
   url: https://github.com/ros2-gbp/nobleo_socketcan_bridge-release.git
   version: 1.0.4
 nodl_python:
+  dependencies:
+  - ament_flake8
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - ament_mypy
+  repository: https://github.com/ros-tooling/nodl
   tag: release/lyrical/nodl_python/0.3.1-6
   url: https://github.com/ros2-gbp/nodl-release.git
   version: 0.3.1
 nodl_to_policy:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_lint_auto
+  - ament_mypy
+  - ament_pep257
+  - ament_pycodestyle
+  - nodl_python
+  - ros2cli
+  - ros2nodl
+  - ros2run
+  - ros_testing
+  - sros2
+  - test_msgs
+  repository: https://github.com/osrf/nodl_to_policy
   tag: release/lyrical/nodl_to_policy/1.0.0-6
   url: https://github.com/ros2-gbp/nodl_to_policy-release.git
   version: 1.0.0
+nonpersistent_voxel_layer:
+  dependencies:
+  - ament_cmake
+  - laser_geometry
+  - nav2_costmap_2d
+  - nav2_msgs
+  - nav2_voxel_grid
+  - pluginlib
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/SteveMacenski/nonpersistent_voxel_layer
+  tag: release/lyrical/nonpersistent_voxel_layer/2.7.0-1
+  url: https://github.com/SteveMacenski/nonpersistent_voxel_layer-release.git
+  version: 2.7.0
 novatel_gps_driver:
-  tag: release/lyrical/novatel_gps_driver/4.3.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - diagnostic_msgs
+  - diagnostic_updater
+  - gps_msgs
+  - nav_msgs
+  - novatel_gps_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - swri_math_util
+  - swri_serial_util
+  - tf2
+  - tf2_geometry_msgs
+  repository: https://github.com/swri-robotics/novatel_gps_driver
+  tag: release/lyrical/novatel_gps_driver/4.3.1-1
   url: https://github.com/ros2-gbp/novatel_gps_driver-release.git
-  version: 4.3.0
+  version: 4.3.1
 novatel_gps_msgs:
-  tag: release/lyrical/novatel_gps_msgs/4.3.0-1
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/swri-robotics/novatel_gps_driver
+  tag: release/lyrical/novatel_gps_msgs/4.3.1-1
   url: https://github.com/ros2-gbp/novatel_gps_driver-release.git
-  version: 4.3.0
+  version: 4.3.1
 novatel_oem6_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/mrpt-ros-pkg/mrpt_sensors
   tag: release/lyrical/novatel_oem6_msgs/0.3.0-1
   url: https://github.com/ros2-gbp/mrpt_sensors-release.git
   version: 0.3.0
 ntpd_driver:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/vooon/ntpd_driver
   tag: release/lyrical/ntpd_driver/2.3.0-3
   url: https://github.com/ros2-gbp/ntpd_driver-release.git
   version: 2.3.0
 ntrip_client:
+  dependencies:
+  - nmea_msgs
+  - rclpy
+  - rtcm_msgs
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/LORD-MicroStrain/ntrip_client
   tag: release/lyrical/ntrip_client/1.4.1-3
   url: https://github.com/ros2-gbp/ntrip_client-release.git
   version: 1.4.1
 ntrip_client_node:
-  tag: release/lyrical/ntrip_client_node/0.7.4-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_uncrustify
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - rtcm_msgs
+  - std_msgs
+  repository: https://github.com/aussierobots/ublox_dgnss
+  tag: release/lyrical/ntrip_client_node/0.7.5-1
   url: https://github.com/ros2-gbp/ublox_dgnss-release.git
-  version: 0.7.4
+  version: 0.7.5
 object_recognition_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - shape_msgs
+  - std_msgs
+  repository: https://github.com/wg-perception/object_recognition_msgs
   tag: release/lyrical/object_recognition_msgs/2.0.0-6
   url: https://github.com/ros2-gbp/object_recognition_msgs-release.git
   version: 2.0.0
 octomap_mapping:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - octomap_server
+  repository: https://github.com/OctoMap/octomap_mapping
   tag: release/lyrical/octomap_mapping/2.3.1-3
   url: https://github.com/ros2-gbp/octomap_mapping-release.git
   version: 2.3.1
 octomap_msgs:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/octomap/octomap_msgs
   tag: release/lyrical/octomap_msgs/2.0.1-3
   url: https://github.com/ros2-gbp/octomap_msgs-release.git
   version: 2.0.1
 octomap_ros:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - octomap_msgs
+  - sensor_msgs
+  - tf2
+  repository: https://github.com/OctoMap/octomap_ros
   tag: release/lyrical/octomap_ros/0.4.5-3
   url: https://github.com/ros2-gbp/octomap_ros-release.git
   version: 0.4.5
 octomap_rviz_plugins:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - octomap_msgs
+  - rclcpp
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_rendering
+  repository: https://github.com/OctoMap/octomap_rviz_plugins
   tag: release/lyrical/octomap_rviz_plugins/2.2.0-3
   url: https://github.com/ros2-gbp/octomap_rviz_plugins-release.git
   version: 2.2.0
 octomap_server:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - message_filters
+  - nav_msgs
+  - octomap_msgs
+  - octomap_ros
+  - pcl_conversions
+  - pcl_ros
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/OctoMap/octomap_mapping
   tag: release/lyrical/octomap_server/2.3.1-3
   url: https://github.com/ros2-gbp/octomap_mapping-release.git
   version: 2.3.1
 odom_to_tf_ros2:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/gstavrinos/odom_to_tf_ros2
   tag: release/lyrical/odom_to_tf_ros2/1.0.8-3
   url: https://github.com/ros2-gbp/odom_to_tf_ros2-release.git
   version: 1.0.8
 odri_master_board_sdk:
+  dependencies: []
   tag: release/lyrical/odri_master_board_sdk/1.0.7-4
   url: https://github.com/ros2-gbp/odri_master_board_sdk-release.git
   version: 1.0.7
 off_highway_can:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - can_msgs
+  - diagnostic_updater
+  - rclcpp
+  - ros2_socketcan_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_can/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_general_purpose_radar:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - can_msgs
+  - off_highway_can
+  - off_highway_general_purpose_radar_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_general_purpose_radar/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_general_purpose_radar_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_general_purpose_radar_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_mm7p10:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - can_msgs
+  - off_highway_can
+  - off_highway_mm7p10_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_mm7p10/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_mm7p10_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_mm7p10_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_premium_radar:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - asio_cmake_module
+  - diagnostic_updater
+  - io_context
+  - off_highway_premium_radar_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_premium_radar/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_premium_radar_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_premium_radar_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_premium_radar_sample:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - asio_cmake_module
+  - diagnostic_updater
+  - io_context
+  - off_highway_premium_radar_sample_msgs
+  - pcl_conversions
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_premium_radar_sample/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_premium_radar_sample_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_premium_radar_sample_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_radar:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - can_msgs
+  - off_highway_can
+  - off_highway_radar_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_radar/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_radar_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_radar_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_sensor_drivers:
+  dependencies:
+  - ament_cmake
+  - off_highway_can
+  - off_highway_general_purpose_radar
+  - off_highway_general_purpose_radar_msgs
+  - off_highway_premium_radar
+  - off_highway_premium_radar_msgs
+  - off_highway_premium_radar_sample
+  - off_highway_premium_radar_sample_msgs
+  - off_highway_radar
+  - off_highway_radar_msgs
+  - off_highway_uss
+  - off_highway_uss_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_sensor_drivers/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_sensor_drivers_examples:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - nav_msgs
+  - off_highway_premium_radar
+  - off_highway_radar
+  - rclcpp
+  - rclcpp_components
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_sensor_drivers_examples/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_uss:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - can_msgs
+  - off_highway_can
+  - off_highway_uss_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_uss/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 off_highway_uss_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/bosch-engineering/off_highway_sensor_drivers
   tag: release/lyrical/off_highway_uss_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
   version: 1.3.0
 om_gravity_compensation_controller:
+  dependencies:
+  - ament_cmake
+  - angles
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - generate_parameter_library
+  - hardware_interface
+  - kdl_parser
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - rsl
+  - urdf
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/om_gravity_compensation_controller/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 om_joint_trajectory_command_broadcaster:
+  dependencies:
+  - ament_cmake
+  - backward_ros
+  - builtin_interfaces
+  - control_msgs
+  - controller_interface
+  - generate_parameter_library
+  - pluginlib
+  - rclcpp_lifecycle
+  - rcutils
+  - realtime_tools
+  - sensor_msgs
+  - trajectory_msgs
+  - urdf
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/om_joint_trajectory_command_broadcaster/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 om_spring_actuator_controller:
+  dependencies:
+  - ament_cmake
+  - controller_interface
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - urdf
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/om_spring_actuator_controller/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 omni_wheel_drive_controller:
-  tag: release/lyrical/omni_wheel_drive_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2
+  - tf2_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/omni_wheel_drive_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 ompl:
-  tag: release/lyrical/ompl/1.7.0-4
+  dependencies: []
+  repository: https://github.com/ompl/ompl
+  tag: release/lyrical/ompl/2.0.2-1
   url: https://github.com/ros2-gbp/ompl-release.git
-  version: 1.7.0
+  version: 2.0.2
+onnxruntime_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/ros-controls/onnxruntime_vendor
+  tag: release/lyrical/onnxruntime_vendor/0.1.0-2
+  url: https://github.com/ros2-gbp/onnxruntime_vendor-release.git
+  version: 0.1.0
 open3d_vendor:
+  dependencies: []
+  repository: https://github.com/christian-rauch/open3d_colcon
   tag: release/lyrical/open3d_vendor/0.19.0-3
   url: https://github.com/ros2-gbp/open3d_vendor-release.git
   version: 0.19.0
 open_manipulator:
+  dependencies:
+  - ament_cmake
+  - om_gravity_compensation_controller
+  - om_joint_trajectory_command_broadcaster
+  - om_spring_actuator_controller
+  - open_manipulator_bringup
+  - open_manipulator_collision
+  - open_manipulator_description
+  - open_manipulator_gui
+  - open_manipulator_moveit_config
+  - open_manipulator_playground
+  - open_manipulator_teleop
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/open_manipulator/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 open_manipulator_bringup:
+  dependencies:
+  - dynamixel_hardware_interface
+  - gz_ros2_control
+  - open_manipulator_description
+  - rclpy
+  - robot_state_publisher
+  - ros2_control
+  - ros2_controllers
+  - ros_gz_bridge
+  - ros_gz_image
+  - ros_gz_sim
+  - rviz2
+  - xacro
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/open_manipulator_bringup/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 open_manipulator_collision:
+  dependencies:
+  - ament_cmake
+  - kdl_parser
+  - rclcpp
+  - sensor_msgs
+  - std_msgs
+  - urdf
+  - visualization_msgs
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/open_manipulator_collision/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 open_manipulator_description:
+  dependencies:
+  - ament_cmake
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - robot_state_publisher
+  - rviz2
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/open_manipulator_description/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 open_manipulator_gui:
+  dependencies:
+  - ament_cmake
+  - eigen3_cmake_module
+  - geometry_msgs
+  - moveit_core
+  - moveit_msgs
+  - moveit_ros_planning
+  - moveit_ros_planning_interface
+  - rclcpp
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/open_manipulator_gui/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 open_manipulator_moveit_config:
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - moveit_configs_utils
+  - moveit_kinematics
+  - moveit_planners
+  - moveit_ros_move_group
+  - moveit_ros_visualization
+  - moveit_ros_warehouse
+  - moveit_setup_assistant
+  - moveit_simple_controller_manager
+  - open_manipulator_description
+  - robot_state_publisher
+  - rviz2
+  - rviz_common
+  - rviz_default_plugins
+  - tf2_ros
+  - warehouse_ros_sqlite
+  - xacro
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/open_manipulator_moveit_config/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 open_manipulator_playground:
+  dependencies:
+  - ament_cmake
+  - moveit_ros_planning_interface
+  - rclcpp
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/open_manipulator_playground/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 open_manipulator_teleop:
+  dependencies:
+  - control_msgs
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  - trajectory_msgs
+  repository: https://github.com/ROBOTIS-GIT/open_manipulator
   tag: release/lyrical/open_manipulator_teleop/4.1.2-3
   url: https://github.com/ros2-gbp/open_manipulator-release.git
   version: 4.1.2
 openeb_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/ros-event-camera/openeb_vendor
   tag: release/lyrical/openeb_vendor/2.0.3-1
   url: https://github.com/ros2-gbp/openeb_vendor-release.git
   version: 2.0.3
+opennav_docking:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_graceful_controller
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - opennav_docking_core
+  - pluginlib
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - yaml_cpp_vendor
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/opennav_docking/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+opennav_docking_bt:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - behaviortree_cpp
+  - geometry_msgs
+  - nav2_behavior_tree
+  - nav2_common
+  - nav2_core
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - nav_msgs
+  - rclcpp
+  - rclcpp_action
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/opennav_docking_bt/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+opennav_docking_core:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - geometry_msgs
+  - nav2_common
+  - nav2_ros_common
+  - rclcpp_lifecycle
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/opennav_docking_core/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
+opennav_following:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - geometry_msgs
+  - nav2_common
+  - nav2_msgs
+  - nav2_ros_common
+  - nav2_util
+  - opennav_docking
+  - opennav_docking_core
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/navigation2
+  tag: release/lyrical/opennav_following/1.5.1-1
+  url: https://github.com/ros2-gbp/navigation2-release.git
+  version: 1.5.1
 openni2_camera:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - camera_info_manager
+  - depth_image_proc
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  repository: https://github.com/ros-drivers/openni2_camera
   tag: release/lyrical/openni2_camera/2.3.0-3
   url: https://github.com/ros2-gbp/openni2_camera-release.git
   version: 2.3.0
+openvdb_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/SteveMacenski/spatio_temporal_voxel_layer
+  tag: release/lyrical/openvdb_vendor/2.7.0-1
+  url: https://github.com/SteveMacenski/spatio_temporal_voxel_layer-release.git
+  version: 2.7.0
 orocos_kdl_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  repository: https://github.com/ros2/orocos_kdl_vendor
   tag: release/lyrical/orocos_kdl_vendor/0.8.0-3
   url: https://github.com/ros2-gbp/orocos_kdl_vendor-release.git
   version: 0.8.0
 ortools_vendor:
-  tag: release/lyrical/ortools_vendor/9.9.0-11
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  repository: https://github.com/Fields2Cover/ortools_vendor
+  tag: release/lyrical/ortools_vendor/9.9.1-3
   url: https://github.com/ros2-gbp/ortools_vendor-release.git
-  version: 9.9.0
+  version: 9.9.1
 osqp_vendor:
-  tag: release/lyrical/osqp_vendor/0.2.0-5
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - ros_environment
+  repository: https://github.com/moveit/osqp_vendor
+  tag: release/lyrical/osqp_vendor/1.0.0-1
   url: https://github.com/ros2-gbp/osqp_vendor-release.git
-  version: 0.2.0
+  version: 1.0.0
 osrf_pycommon:
+  dependencies: []
+  repository: https://github.com/osrf/osrf_pycommon
   tag: release/lyrical/osrf_pycommon/2.1.7-3
   url: https://github.com/ros2-gbp/osrf_pycommon-release.git
   version: 2.1.7
 osrf_testing_tools_cpp:
+  dependencies: []
+  repository: https://github.com/osrf/osrf_testing_tools_cpp
   tag: release/lyrical/osrf_testing_tools_cpp/2.3.1-1
   url: https://github.com/ros2-gbp/osrf_testing_tools_cpp-release.git
   version: 2.3.1
 ouster_ros:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - class_loader
+  - cv_bridge
+  - geometry_msgs
+  - launch
+  - launch_ros
+  - ouster_sensor_msgs
+  - pcl_conversions
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_eigen
+  - tf2_ros
+  repository: https://github.com/ouster-lidar/ouster-ros
   tag: release/lyrical/ouster_ros/0.14.2-3
   url: https://github.com/ros2-gbp/ouster-ros-release.git
   version: 0.14.2
 ouster_sensor_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ouster-lidar/ouster-ros
   tag: release/lyrical/ouster_sensor_msgs/0.14.2-3
   url: https://github.com/ros2-gbp/ouster-ros-release.git
   version: 0.14.2
 ouxt_common:
+  dependencies:
+  - ament_cmake
+  - ouxt_lint_common
+  repository: https://github.com/OUXT-Polaris/ouxt_common
   tag: release/lyrical/ouxt_common/0.0.8-6
   url: https://github.com/ros2-gbp/ouxt_common-release.git
   version: 0.0.8
 ouxt_lint_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_copyright
+  - ament_cmake_pep257
+  - ament_cmake_xmllint
+  repository: https://github.com/OUXT-Polaris/ouxt_common
   tag: release/lyrical/ouxt_lint_common/0.0.8-6
   url: https://github.com/ros2-gbp/ouxt_common-release.git
   version: 0.0.8
 pal_statistics:
-  tag: release/lyrical/pal_statistics/2.7.0-3
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - pal_statistics_msgs
+  - rclcpp
+  - rclcpp_lifecycle
+  - rclpy
+  repository: https://github.com/pal-robotics/pal_statistics
+  tag: release/lyrical/pal_statistics/2.8.2-1
   url: https://github.com/ros2-gbp/pal_statistics-release.git
-  version: 2.7.0
+  version: 2.8.2
 pal_statistics_msgs:
-  tag: release/lyrical/pal_statistics_msgs/2.7.0-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/pal-robotics/pal_statistics
+  tag: release/lyrical/pal_statistics_msgs/2.8.2-1
   url: https://github.com/ros2-gbp/pal_statistics-release.git
-  version: 2.7.0
+  version: 2.8.2
+pal_urdf_utils:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - realsense2_description
+  - xacro
+  repository: https://github.com/pal-robotics/pal_urdf_utils
+  tag: release/lyrical/pal_urdf_utils/2.9.2-1
+  url: https://github.com/ros2-gbp/pal_urdf_utils-release.git
+  version: 2.9.2
 pangolin:
-  tag: release/lyrical/pangolin/0.9.5-3
+  dependencies: []
+  repository: https://github.com/stevenlovegrove/Pangolin
+  tag: release/lyrical/pangolin/0.9.6-1
   url: https://github.com/ros2-gbp/Pangolin-release.git
-  version: 0.9.5
+  version: 0.9.6
 parallel_gripper_controller:
-  tag: release/lyrical/parallel_gripper_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/parallel_gripper_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 parameter_expression:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_clang_format
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - std_msgs
+  repository: https://github.com/ForteFibre/parameter_expression
   tag: release/lyrical/parameter_expression/0.0.2-3
   url: https://github.com/ros2-gbp/parameter_expression-release.git
   version: 0.0.2
 pcl_conversions:
-  tag: release/lyrical/pcl_conversions/2.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - message_filters
+  - pcl_msgs
+  - rclcpp
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-perception/perception_pcl
+  tag: release/lyrical/pcl_conversions/2.10.0-1
   url: https://github.com/ros2-gbp/perception_pcl-release.git
-  version: 2.9.0
+  version: 2.10.0
 pcl_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-perception/pcl_msgs
   tag: release/lyrical/pcl_msgs/1.0.0-10
   url: https://github.com/ros2-gbp/pcl_msgs-release.git
   version: 1.0.0
 pcl_ros:
-  tag: release/lyrical/pcl_ros/2.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - pcl_conversions
+  - rclcpp
+  - rclcpp_components
+  - rosbag2_transport
+  - sensor_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/ros-perception/perception_pcl
+  tag: release/lyrical/pcl_ros/2.10.0-1
   url: https://github.com/ros2-gbp/perception_pcl-release.git
-  version: 2.9.0
+  version: 2.10.0
 pendulum_control:
-  tag: release/lyrical/pendulum_control/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - pendulum_msgs
+  - rclcpp
+  - rmw_implementation_cmake
+  - ros2run
+  - rttest
+  - tlsf_cpp
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/pendulum_control/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 pendulum_msgs:
-  tag: release/lyrical/pendulum_msgs/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/pendulum_msgs/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 perception:
+  dependencies:
+  - ament_cmake
+  - image_common
+  - image_pipeline
+  - image_transport_plugins
+  - laser_filters
+  - laser_geometry
+  - perception_pcl
+  - ros_base
+  - vision_opencv
+  repository: https://github.com/ros2/variants
   tag: release/lyrical/perception/0.13.0-3
   url: https://github.com/ros2-gbp/variants-release.git
   version: 0.13.0
 perception_pcl:
-  tag: release/lyrical/perception_pcl/2.9.0-1
+  dependencies:
+  - ament_cmake
+  - pcl_conversions
+  - pcl_msgs
+  - pcl_ros
+  repository: https://github.com/ros-perception/perception_pcl
+  tag: release/lyrical/perception_pcl/2.10.0-1
   url: https://github.com/ros2-gbp/perception_pcl-release.git
-  version: 2.9.0
+  version: 2.10.0
 performance_test:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rmw_implementation
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://gitlab.com/ApexAI/performance_test
   tag: release/lyrical/performance_test/2.3.0-3
   url: https://github.com/ros2-gbp/performance_test-release.git
   version: 2.3.0
 performance_test_fixture:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_export_dependencies
+  - ament_cmake_export_targets
+  - ament_cmake_google_benchmark
+  - ament_cmake_test
+  - ament_lint_auto
+  - ament_lint_common
+  - google_benchmark_vendor
+  - osrf_testing_tools_cpp
+  repository: https://github.com/ros2/performance_test_fixture
   tag: release/lyrical/performance_test_fixture/0.4.1-3
   url: https://github.com/ros2-gbp/performance_test_fixture-release.git
   version: 0.4.1
 persist_parameter_server:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  - launch_ros
+  - rclcpp
+  - rclcpp_components
+  - rcutils
+  - rmw
+  - rmw_implementation_cmake
+  - std_msgs
+  - std_srvs
+  - yaml_cpp_vendor
+  repository: https://github.com/fujitatomoya/ros2_persist_parameter_server
   tag: release/lyrical/persist_parameter_server/4.0.0-2
   url: https://github.com/ros2-gbp/persist_parameter_server-release.git
   version: 4.0.0
+pfs:
+  dependencies: []
+  repository: https://github.com/dtrugman/pfs
+  tag: release/lyrical/pfs/0.15.0-1
+  url: https://github.com/ros2-gbp/pfs-release.git
+  version: 0.15.0
 phidgets_accelerometer:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_accelerometer/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_analog_inputs:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_analog_inputs/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_analog_outputs:
+  dependencies:
+  - ament_cmake_ros
+  - phidgets_api
+  - phidgets_msgs
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_analog_outputs/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_api:
+  dependencies:
+  - ament_cmake_ros
+  - libphidget22
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_api/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_digital_inputs:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_digital_inputs/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_digital_outputs:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - phidgets_msgs
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_digital_outputs/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_drivers:
+  dependencies:
+  - ament_cmake
+  - libphidget22
+  - phidgets_accelerometer
+  - phidgets_analog_inputs
+  - phidgets_api
+  - phidgets_digital_inputs
+  - phidgets_digital_outputs
+  - phidgets_gyroscope
+  - phidgets_high_speed_encoder
+  - phidgets_ik
+  - phidgets_magnetometer
+  - phidgets_motors
+  - phidgets_msgs
+  - phidgets_spatial
+  - phidgets_temperature
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_drivers/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_gyroscope:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_gyroscope/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_high_speed_encoder:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - phidgets_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_high_speed_encoder/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_ik:
+  dependencies:
+  - ament_cmake
+  - launch
+  - phidgets_analog_inputs
+  - phidgets_digital_inputs
+  - phidgets_digital_outputs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_ik/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_magnetometer:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_magnetometer/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_motors:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - phidgets_msgs
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_motors/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_msgs/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_spatial:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_spatial/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_stepper:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - phidgets_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_stepper/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 phidgets_temperature:
+  dependencies:
+  - ament_cmake_ros
+  - launch
+  - phidgets_api
+  - rclcpp
+  - rclcpp_components
+  - std_msgs
+  repository: https://github.com/ros-drivers/phidgets_drivers
   tag: release/lyrical/phidgets_temperature/2.4.0-3
   url: https://github.com/ros2-gbp/phidgets_drivers-release.git
   version: 2.4.0
 pick_ik:
-  tag: release/lyrical/pick_ik/1.1.1-3
+  dependencies:
+  - ament_cmake_ros
+  - generate_parameter_library
+  - moveit_core
+  - moveit_resources_panda_moveit_config
+  - pluginlib
+  - rclcpp
+  - rsl
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_kdl
+  repository: https://github.com/PickNikRobotics/pick_ik
+  tag: release/lyrical/pick_ik/1.1.3-1
   url: https://github.com/ros2-gbp/pick_ik-release.git
-  version: 1.1.1
+  version: 1.1.3
 picknik_ament_copyright:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
   tag: release/lyrical/picknik_ament_copyright/0.0.2-6
   url: https://github.com/ros2-gbp/picknik_ament_copyright-release.git
   version: 0.0.2
 picknik_reset_fault_controller:
+  dependencies:
+  - ament_cmake_ros
+  - controller_interface
+  - example_interfaces
+  - geometry_msgs
+  - rclcpp
+  - realtime_tools
+  repository: https://github.com/PickNikRobotics/picknik_controllers
   tag: release/lyrical/picknik_reset_fault_controller/0.0.4-4
   url: https://github.com/ros2-gbp/picknik_controllers-release.git
   version: 0.0.4
 picknik_twist_controller:
+  dependencies:
+  - ament_cmake_ros
+  - controller_interface
+  - example_interfaces
+  - geometry_msgs
+  - rclcpp
+  - realtime_tools
+  repository: https://github.com/PickNikRobotics/picknik_controllers
   tag: release/lyrical/picknik_twist_controller/0.0.4-4
   url: https://github.com/ros2-gbp/picknik_controllers-release.git
   version: 0.0.4
 pid_controller:
-  tag: release/lyrical/pid_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - angles
+  - backward_ros
+  - control_msgs
+  - control_toolbox
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/pid_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 pilz_industrial_motion_planner:
-  tag: release/lyrical/pilz_industrial_motion_planner/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - eigen3_cmake_module
+  - generate_parameter_library
+  - geometry_msgs
+  - launch_param_builder
+  - moveit_common
+  - moveit_configs_utils
+  - moveit_core
+  - moveit_msgs
+  - moveit_resources_panda_moveit_config
+  - moveit_resources_prbt_moveit_config
+  - moveit_resources_prbt_pg70_support
+  - moveit_resources_prbt_support
+  - moveit_ros_move_group
+  - moveit_ros_planning
+  - orocos_kdl_vendor
+  - pilz_industrial_motion_planner_testutils
+  - pluginlib
+  - rclcpp
+  - ros_testing
+  - tf2
+  - tf2_eigen
+  - tf2_eigen_kdl
+  - tf2_geometry_msgs
+  - tf2_kdl
+  - tf2_ros
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/pilz_industrial_motion_planner/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 pilz_industrial_motion_planner_testutils:
-  tag: release/lyrical/pilz_industrial_motion_planner_testutils/2.14.1-3
+  dependencies:
+  - ament_cmake
+  - eigen3_cmake_module
+  - moveit_common
+  - moveit_core
+  - moveit_msgs
+  - rclcpp
+  - tf2_eigen
+  repository: https://github.com/ros-planning/moveit2
+  tag: release/lyrical/pilz_industrial_motion_planner_testutils/2.15.1-1
   url: https://github.com/ros2-gbp/moveit2-release.git
-  version: 2.14.1
+  version: 2.15.1
 pinocchio:
-  tag: release/lyrical/pinocchio/4.0.0-2
+  dependencies:
+  - coal
+  - eigenpy
+  - jrl_cmakemodules
+  - ros_environment
+  - urdfdom
+  repository: https://github.com/stack-of-tasks/pinocchio
+  tag: release/lyrical/pinocchio/4.1.0-1
   url: https://github.com/ros2-gbp/pinocchio-release.git
-  version: 4.0.0
+  version: 4.1.0
+plansys2:
+  dependencies:
+  - ament_cmake
+  - plansys2_bringup
+  - plansys2_bt_actions
+  - plansys2_core
+  - plansys2_domain_expert
+  - plansys2_executor
+  - plansys2_lifecycle_manager
+  - plansys2_msgs
+  - plansys2_pddl_parser
+  - plansys2_planner
+  - plansys2_popf_plan_solver
+  - plansys2_problem_expert
+  - plansys2_support_py
+  - plansys2_terminal
+  - plansys2_tools
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_bringup:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  - launch_ros
+  - launch_testing
+  - plansys2_domain_expert
+  - plansys2_executor
+  - plansys2_lifecycle_manager
+  - plansys2_planner
+  - plansys2_problem_expert
+  - rclcpp
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_bringup/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_bt_actions:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - behaviortree_cpp
+  - geometry_msgs
+  - lifecycle_msgs
+  - plansys2_executor
+  - plansys2_msgs
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - std_msgs
+  - test_msgs
+  - tf2_geometry_msgs
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_bt_actions/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_core:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - plansys2_msgs
+  - plansys2_pddl_parser
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_core/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_domain_expert:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - lifecycle_msgs
+  - plansys2_core
+  - plansys2_msgs
+  - plansys2_pddl_parser
+  - plansys2_popf_plan_solver
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_msgs
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_domain_expert/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_executor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - behaviortree_cpp
+  - eigen3_cmake_module
+  - lifecycle_msgs
+  - plansys2_core
+  - plansys2_domain_expert
+  - plansys2_msgs
+  - plansys2_pddl_parser
+  - plansys2_planner
+  - plansys2_problem_expert
+  - pluginlib
+  - popf
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_cascade_lifecycle
+  - rclcpp_lifecycle
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_executor/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_lifecycle_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - lifecycle_msgs
+  - rclcpp
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_lifecycle_manager/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - builtin_interfaces
+  - rclcpp
+  - rosidl_default_generators
+  - std_msgs
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_msgs/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_pddl_parser:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - plansys2_msgs
+  - rclcpp
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_pddl_parser/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_planner:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - lifecycle_msgs
+  - plansys2_core
+  - plansys2_domain_expert
+  - plansys2_msgs
+  - plansys2_pddl_parser
+  - plansys2_popf_plan_solver
+  - plansys2_problem_expert
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2run
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_planner/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_popf_plan_solver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - plansys2_core
+  - pluginlib
+  - popf
+  - rclcpp
+  - ros2run
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_popf_plan_solver/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_problem_expert:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - lifecycle_msgs
+  - plansys2_domain_expert
+  - plansys2_msgs
+  - plansys2_pddl_parser
+  - rclcpp
+  - rclcpp_lifecycle
+  - std_msgs
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_problem_expert/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_support_py:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - lifecycle_msgs
+  - plansys2_msgs
+  - rclpy
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_support_py/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_terminal:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - plansys2_domain_expert
+  - plansys2_executor
+  - plansys2_msgs
+  - plansys2_pddl_parser
+  - plansys2_planner
+  - plansys2_problem_expert
+  - rclcpp
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_terminal/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_tests:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - plansys2_domain_expert
+  - plansys2_executor
+  - plansys2_msgs
+  - plansys2_pddl_parser
+  - plansys2_planner
+  - plansys2_problem_expert
+  - popf
+  - rclcpp
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_tests/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_tools:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - plansys2_msgs
+  - plansys2_problem_expert
+  - qt_gui_cpp
+  - rclcpp
+  - rclcpp_lifecycle
+  - rqt_gui
+  - rqt_gui_cpp
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_tools/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
+plansys2_tui_cli:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - plansys2_msgs
+  - rclpy
+  - ros2cli
+  repository: https://github.com/PlanSys2/ros2_planning_system
+  tag: release/lyrical/plansys2_tui_cli/3.1.0-1
+  url: https://github.com/ros2-gbp/ros2_planning_system-release.git
+  version: 3.1.0
 play_motion2:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - controller_manager_msgs
+  - hardware_interface
+  - joint_state_broadcaster
+  - joint_trajectory_controller
+  - launch
+  - launch_ros
+  - launch_testing_ament_cmake
+  - lifecycle_msgs
+  - moveit_ros_planning_interface
+  - play_motion2_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - realtime_tools
+  - robot_state_publisher
+  - sensor_msgs
+  - std_msgs
+  - trajectory_msgs
+  - xacro
+  repository: https://github.com/pal-robotics/play_motion2
   tag: release/lyrical/play_motion2/1.8.4-3
   url: https://github.com/ros2-gbp/play_motion2-release.git
   version: 1.8.4
 play_motion2_cli:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - play_motion2
+  - rclpy
+  - ros2cli
+  repository: https://github.com/pal-robotics/play_motion2
   tag: release/lyrical/play_motion2_cli/1.8.4-3
   url: https://github.com/ros2-gbp/play_motion2-release.git
   version: 1.8.4
 play_motion2_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/pal-robotics/play_motion2
   tag: release/lyrical/play_motion2_msgs/1.8.4-3
   url: https://github.com/ros2-gbp/play_motion2-release.git
   version: 1.8.4
 play_motion_builder:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - play_motion2
+  - play_motion2_msgs
+  - play_motion_builder_msgs
+  - rclcpp
+  - rclcpp_action
+  - sensor_msgs
+  repository: https://github.com/pal-robotics/play_motion_builder
   tag: release/lyrical/play_motion_builder/1.4.1-3
   url: https://github.com/ros2-gbp/play_motion_builder-release.git
   version: 1.4.1
 play_motion_builder_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/pal-robotics/play_motion_builder
   tag: release/lyrical/play_motion_builder_msgs/1.4.1-3
   url: https://github.com/ros2-gbp/play_motion_builder-release.git
   version: 1.4.1
 plotjuggler:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - data_tamer_cpp
+  repository: https://github.com/facontidavide/PlotJuggler
   tag: release/lyrical/plotjuggler/3.17.2-1
   url: https://github.com/ros2-gbp/plotjuggler-release.git
   version: 3.17.2
 plotjuggler_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/facontidavide/plotjuggler_msgs
   tag: release/lyrical/plotjuggler_msgs/0.2.3-6
   url: https://github.com/ros2-gbp/plotjuggler_msgs-release.git
   version: 0.2.3
 plotjuggler_ros:
+  dependencies:
+  - ament_cmake
+  - plotjuggler
+  - plotjuggler_msgs
+  - rclcpp
+  - rcpputils
+  - rosbag2_transport
+  - tf2_msgs
+  - tf2_ros
+  repository: https://github.com/PlotJuggler/plotjuggler-ros-plugins
   tag: release/lyrical/plotjuggler_ros/2.3.1-3
   url: https://github.com/ros2-gbp/plotjuggler-ros-plugins-release.git
   version: 2.3.1
 pluginlib:
-  tag: release/lyrical/pluginlib/5.8.4-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - class_loader
+  - rcpputils
+  - rcutils
+  repository: https://github.com/ros/pluginlib
+  tag: release/lyrical/pluginlib/5.8.5-1
   url: https://github.com/ros2-gbp/pluginlib-release.git
-  version: 5.8.4
+  version: 5.8.5
 point_cloud_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-perception/point_cloud_transport_plugins
   tag: release/lyrical/point_cloud_interfaces/6.2.0-1
   url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git
   version: 6.2.0
 point_cloud_msg_wrapper:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - sensor_msgs
+  repository: https://gitlab.com/ApexAI/point_cloud_msg_wrapper
   tag: release/lyrical/point_cloud_msg_wrapper/1.0.7-6
   url: https://github.com/ros2-gbp/point_cloud_msg_wrapper-release.git
   version: 1.0.7
 point_cloud_transport:
-  tag: release/lyrical/point_cloud_transport/5.4.2-1
+  dependencies:
+  - ament_cmake_gen_version_h
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - message_filters
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rcpputils
+  - rmw
+  - sensor_msgs
+  repository: https://github.com/ros-perception/point_cloud_transport
+  tag: release/lyrical/point_cloud_transport/5.4.3-1
   url: https://github.com/ros2-gbp/point_cloud_transport-release.git
-  version: 5.4.2
+  version: 5.4.3
 point_cloud_transport_plugins:
+  dependencies:
+  - ament_cmake
+  - draco_point_cloud_transport
+  - point_cloud_interfaces
+  - zlib_point_cloud_transport
+  - zstd_point_cloud_transport
+  repository: https://github.com/ros-perception/point_cloud_transport_plugins
   tag: release/lyrical/point_cloud_transport_plugins/6.2.0-1
   url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git
   version: 6.2.0
 point_cloud_transport_py:
-  tag: release/lyrical/point_cloud_transport_py/5.4.2-1
+  dependencies:
+  - ament_cmake_python
+  - ament_cmake_ros
+  - pluginlib
+  - point_cloud_transport
+  - rclcpp
+  - rpyutils
+  - sensor_msgs
+  repository: https://github.com/ros-perception/point_cloud_transport
+  tag: release/lyrical/point_cloud_transport_py/5.4.3-1
   url: https://github.com/ros2-gbp/point_cloud_transport-release.git
-  version: 5.4.2
+  version: 5.4.3
 point_cloud_transport_tutorial:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_lint_cmake
+  - ament_cmake_ros
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - point_cloud_transport
+  - point_cloud_transport_plugins
+  - rclcpp
+  - rosbag2_cpp
+  - sensor_msgs
+  repository: https://github.com/ros-perception/point_cloud_transport_tutorial
   tag: release/lyrical/point_cloud_transport_tutorial/0.0.9-3
   url: https://github.com/ros2-gbp/point_cloud_transport_tutorial-release.git
   version: 0.0.9
+pointcloud_conversions:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - pcl_conversions
+  - rclcpp
+  - rclpy
+  - sensor_msgs
+  - sensor_msgs_py
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - yaml_cpp_vendor
+  repository: https://github.com/li9i/pointcloud-conversions
+  tag: release/lyrical/pointcloud_conversions/0.0.4-3
+  url: https://github.com/li9i/pointcloud-conversions-release.git
+  version: 0.0.4
 pointcloud_to_laserscan:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_lint_cmake
+  - ament_cmake_pep257
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - laser_geometry
+  - launch
+  - launch_ros
+  - message_filters
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - tf2
+  - tf2_ros
+  - tf2_sensor_msgs
+  repository: https://github.com/ros-perception/pointcloud_to_laserscan
   tag: release/lyrical/pointcloud_to_laserscan/2.1.0-3
   url: https://github.com/ros2-gbp/pointcloud_to_laserscan-release.git
   version: 2.1.0
 polygon_demos:
+  dependencies:
+  - ament_cmake
+  - angles
+  - color_util
+  - geometry_msgs
+  - polygon_msgs
+  - polygon_rviz_plugins
+  - polygon_utils
+  - rclcpp
+  - rviz2
+  - rviz_common
+  - rviz_default_plugins
+  repository: https://github.com/MetroRobots/polygon_ros
   tag: release/lyrical/polygon_demos/1.3.0-3
   url: https://github.com/ros2-gbp/polygon_ros-release.git
   version: 1.3.0
 polygon_msgs:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/MetroRobots/polygon_ros
   tag: release/lyrical/polygon_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/polygon_ros-release.git
   version: 1.3.0
 polygon_rviz_plugins:
+  dependencies:
+  - ament_cmake_ros
+  - color_util
+  - geometry_msgs
+  - pluginlib
+  - polygon_msgs
+  - polygon_utils
+  - rviz_common
+  - std_msgs
+  repository: https://github.com/MetroRobots/polygon_ros
   tag: release/lyrical/polygon_rviz_plugins/1.3.0-3
   url: https://github.com/ros2-gbp/polygon_ros-release.git
   version: 1.3.0
 polygon_utils:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - geometry_msgs
+  - polygon_msgs
+  repository: https://github.com/MetroRobots/polygon_ros
   tag: release/lyrical/polygon_utils/1.3.0-3
   url: https://github.com/ros2-gbp/polygon_ros-release.git
   version: 1.3.0
+popf:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  repository: https://github.com/fmrico/popf
+  tag: release/lyrical/popf/0.0.20-1
+  url: https://github.com/ros2-gbp/popf-release.git
+  version: 0.0.20
 pose_broadcaster:
-  tag: release/lyrical/pose_broadcaster/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - tf2_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/pose_broadcaster/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 pose_cov_ops:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - geometry_msgs
+  - mrpt_libposes
+  - mrpt_libros_bridge
+  - nav_msgs
+  - rclcpp
+  - ros_environment
+  - sensor_msgs
+  - std_msgs
+  - stereo_msgs
+  - tf2
+  repository: https://github.com/mrpt-ros-pkg/pose_cov_ops
   tag: release/lyrical/pose_cov_ops/0.4.0-3
   url: https://github.com/ros2-gbp/pose_cov_ops-release.git
   version: 0.4.0
+posedetection_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - geometry_msgs
+  - message_filters
+  - rclcpp
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/jsk-ros-pkg/jsk_common_msgs
+  tag: release/lyrical/posedetection_msgs/5.0.1-3
+  url: https://github.com/tork-a/jsk_common_msgs-release.git
+  version: 5.0.1
 protobuf_comm:
-  tag: release/lyrical/protobuf_comm/0.9.3-3
+  dependencies: []
+  repository: https://github.com/fawkesrobotics/protobuf_comm
+  tag: release/lyrical/protobuf_comm/0.9.4-1
   url: https://github.com/ros2-gbp/protobuf_comm-release.git
-  version: 0.9.3
+  version: 0.9.4
 proxsuite:
-  tag: release/lyrical/proxsuite/0.6.5-3
+  dependencies: []
+  repository: https://github.com/Simple-Robotics/proxsuite
+  tag: release/lyrical/proxsuite/0.7.3-1
   url: https://github.com/ros2-gbp/proxsuite-release.git
-  version: 0.6.5
+  version: 0.7.3
 py_binding_tools:
-  tag: release/lyrical/py_binding_tools/2.1.2-4
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - geometry_msgs
+  - rclcpp
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros-planning/py_binding_tools
+  tag: release/lyrical/py_binding_tools/2.1.4-1
   url: https://github.com/ros2-gbp/py_binding_tools-release.git
-  version: 2.1.2
+  version: 2.1.4
 py_trees:
-  tag: release/lyrical/py_trees/2.4.0-4
+  dependencies: []
+  repository: https://github.com/splintered-reality/py_trees
+  tag: release/lyrical/py_trees/2.5.0-1
   url: https://github.com/ros2-gbp/py_trees-release.git
-  version: 2.4.0
+  version: 2.5.0
 py_trees_js:
-  tag: release/lyrical/py_trees_js/0.6.6-4
+  dependencies: []
+  repository: https://github.com/splintered-reality/py_trees_js
+  tag: release/lyrical/py_trees_js/0.6.7-1
   url: https://github.com/ros2-gbp/py_trees_js-release.git
-  version: 0.6.6
+  version: 0.6.7
 py_trees_ros:
-  tag: release/lyrical/py_trees_ros/2.4.0-4
+  dependencies:
+  - geometry_msgs
+  - py_trees
+  - py_trees_ros_interfaces
+  - rcl_interfaces
+  - rclpy
+  - ros2topic
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_ros_py
+  - unique_identifier_msgs
+  repository: https://github.com/splintered-reality/py_trees_ros
+  tag: release/lyrical/py_trees_ros/2.5.0-1
   url: https://github.com/ros2-gbp/py_trees_ros-release.git
-  version: 2.4.0
+  version: 2.5.0
 py_trees_ros_interfaces:
-  tag: release/lyrical/py_trees_ros_interfaces/2.1.1-4
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - diagnostic_msgs
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - unique_identifier_msgs
+  repository: https://github.com/splintered-reality/py_trees_ros_interfaces
+  tag: release/lyrical/py_trees_ros_interfaces/2.1.2-1
   url: https://github.com/ros2-gbp/py_trees_ros_interfaces-release.git
-  version: 2.1.1
+  version: 2.1.2
 py_trees_ros_tutorials:
-  tag: release/lyrical/py_trees_ros_tutorials/2.4.0-4
+  dependencies:
+  - action_msgs
+  - geometry_msgs
+  - launch
+  - launch_ros
+  - py_trees
+  - py_trees_ros
+  - py_trees_ros_interfaces
+  - rcl_interfaces
+  - rclpy
+  - ros2launch
+  - ros2param
+  - ros2run
+  - ros2service
+  - ros2topic
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/splintered-reality/py_trees_ros_tutorials
+  tag: release/lyrical/py_trees_ros_tutorials/2.5.0-1
   url: https://github.com/ros2-gbp/py_trees_ros_tutorials-release.git
-  version: 2.4.0
+  version: 2.5.0
 py_trees_ros_viewer:
-  tag: release/lyrical/py_trees_ros_viewer/0.2.5-4
+  dependencies:
+  - py_trees_js
+  - py_trees_ros_interfaces
+  - rclpy
+  - unique_identifier_msgs
+  repository: https://github.com/splintered-reality/py_trees_ros_viewer
+  tag: release/lyrical/py_trees_ros_viewer/0.3.0-1
   url: https://github.com/ros2-gbp/py_trees_ros_viewer-release.git
-  version: 0.2.5
+  version: 0.3.0
 pybind11_json_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - pybind11_vendor
+  repository: https://github.com/open-rmf/pybind11_json_vendor
   tag: release/lyrical/pybind11_json_vendor/0.7.0-1
   url: https://github.com/ros2-gbp/pybind11_json_vendor-release.git
   version: 0.7.0
 pybind11_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/ros2/pybind11_vendor
   tag: release/lyrical/pybind11_vendor/3.3.1-3
   url: https://github.com/ros2-gbp/pybind11_vendor-release.git
   version: 3.3.1
 pyhri:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - cv_bridge
+  - geometry_msgs
+  - hri
+  - hri_msgs
+  - pybind11_vendor
+  - rclcpp
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  - tf2_ros_py
+  repository: https://github.com/ros4hri/libhri
   tag: release/lyrical/pyhri/2.9.0-3
   url: https://github.com/ros2-gbp/libhri-release.git
   version: 2.9.0
 pymoveit2:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_python
+  - control_msgs
+  - geometry_msgs
+  - moveit_msgs
+  - rclpy
+  - sensor_msgs
+  - shape_msgs
+  - std_srvs
+  - trajectory_msgs
+  repository: https://github.com/AndrejOrsula/pymoveit2
   tag: release/lyrical/pymoveit2/4.2.0-3
   url: https://github.com/ros2-gbp/pymoveit2-release.git
   version: 4.2.0
 python_cmake_module:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/python_cmake_module
   tag: release/lyrical/python_cmake_module/0.12.0-3
   url: https://github.com/ros2-gbp/python_cmake_module-release.git
   version: 0.12.0
 python_mrpt:
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  - mrpt_libapps
+  - mrpt_libgui
+  - mrpt_libnav
+  - mrpt_libslam
+  - rclcpp
+  - ros_environment
+  - rosbag2_storage
+  repository: https://github.com/MRPT/python_mrpt_ros
   tag: release/lyrical/python_mrpt/2.15.3-3
   url: https://github.com/ros2-gbp/python_mrpt_ros-release.git
   version: 2.15.3
 python_orocos_kdl_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - orocos_kdl_vendor
+  - pybind11_vendor
+  repository: https://github.com/ros2/orocos_kdl_vendor
   tag: release/lyrical/python_orocos_kdl_vendor/0.8.0-3
   url: https://github.com/ros2-gbp/orocos_kdl_vendor-release.git
   version: 0.8.0
 python_qt_binding:
-  tag: release/lyrical/python_qt_binding/2.5.4-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros-visualization/python_qt_binding
+  tag: release/lyrical/python_qt_binding/2.5.5-1
   url: https://github.com/ros2-gbp/python_qt_binding-release.git
-  version: 2.5.4
+  version: 2.5.5
 qml6_ros2_plugin:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - example_interfaces
+  - image_transport
+  - rclcpp
+  - ros_babel_fish
+  - ros_babel_fish_test_msgs
+  - std_srvs
+  - tf2_ros
+  repository: https://github.com/StefanFabian/qml6_ros2_plugin
   tag: release/lyrical/qml6_ros2_plugin/4.26.42-3
   url: https://github.com/ros2-gbp/qml6_ros2_plugin-release.git
   version: 4.26.42
 qml_ros2_plugin:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - example_interfaces
+  - image_transport
+  - rclcpp
+  - ros_babel_fish
+  - ros_babel_fish_test_msgs
+  - std_srvs
+  - tf2_ros
+  repository: https://github.com/StefanFabian/qml_ros2_plugin
   tag: release/lyrical/qml_ros2_plugin/3.26.30-3
   url: https://github.com/ros2-gbp/qml_ros2_plugin-release.git
   version: 3.26.30
 qpoases_vendor:
+  dependencies:
+  - ament_cmake_auto
+  repository: https://github.com/Autoware-AI/qpoases_vendor
   tag: release/lyrical/qpoases_vendor/3.2.3-6
   url: https://github.com/ros2-gbp/qpoases_vendor-release.git
   version: 3.2.3
 qt_dotgraph:
-  tag: release/lyrical/qt_dotgraph/2.11.0-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  repository: https://github.com/ros-visualization/qt_gui_core
+  tag: release/lyrical/qt_dotgraph/2.11.1-1
   url: https://github.com/ros2-gbp/qt_gui_core-release.git
-  version: 2.11.0
+  version: 2.11.1
 qt_gui:
-  tag: release/lyrical/qt_gui/2.11.0-1
+  dependencies:
+  - ament_cmake
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - python_qt_binding
+  - tango_icons_vendor
+  repository: https://github.com/ros-visualization/qt_gui_core
+  tag: release/lyrical/qt_gui/2.11.1-1
   url: https://github.com/ros2-gbp/qt_gui_core-release.git
-  version: 2.11.0
+  version: 2.11.1
 qt_gui_app:
-  tag: release/lyrical/qt_gui_app/2.11.0-1
+  dependencies:
+  - ament_cmake
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - qt_gui
+  repository: https://github.com/ros-visualization/qt_gui_core
+  tag: release/lyrical/qt_gui_app/2.11.1-1
   url: https://github.com/ros2-gbp/qt_gui_core-release.git
-  version: 2.11.0
+  version: 2.11.1
 qt_gui_core:
-  tag: release/lyrical/qt_gui_core/2.11.0-1
+  dependencies:
+  - ament_cmake
+  - qt_dotgraph
+  - qt_gui
+  - qt_gui_app
+  - qt_gui_cpp
+  - qt_gui_py_common
+  repository: https://github.com/ros-visualization/qt_gui_core
+  tag: release/lyrical/qt_gui_core/2.11.1-1
   url: https://github.com/ros2-gbp/qt_gui_core-release.git
-  version: 2.11.0
+  version: 2.11.1
 qt_gui_cpp:
-  tag: release/lyrical/qt_gui_cpp/2.11.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - python_qt_binding
+  - qt_gui
+  repository: https://github.com/ros-visualization/qt_gui_core
+  tag: release/lyrical/qt_gui_cpp/2.11.1-1
   url: https://github.com/ros2-gbp/qt_gui_core-release.git
-  version: 2.11.0
+  version: 2.11.1
 qt_gui_py_common:
-  tag: release/lyrical/qt_gui_py_common/2.11.0-1
+  dependencies:
+  - ament_cmake
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - python_qt_binding
+  repository: https://github.com/ros-visualization/qt_gui_core
+  tag: release/lyrical/qt_gui_py_common/2.11.1-1
   url: https://github.com/ros2-gbp/qt_gui_core-release.git
-  version: 2.11.0
+  version: 2.11.1
 quality_of_service_demo_cpp:
-  tag: release/lyrical/quality_of_service_demo_cpp/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch
+  - launch_ros
+  - launch_testing
+  - rclcpp
+  - rclcpp_components
+  - rcutils
+  - rmw
+  - rmw_implementation_cmake
+  - sensor_msgs
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/quality_of_service_demo_cpp/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 quality_of_service_demo_py:
-  tag: release/lyrical/quality_of_service_demo_py/0.37.8-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - rclpy
+  - sensor_msgs
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/quality_of_service_demo_py/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 r2r_spl_7:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - rclpy
+  - splsm_7_conversion
+  repository: https://github.com/ros-sports/r2r_spl
   tag: release/lyrical/r2r_spl_7/3.0.1-5
   url: https://github.com/ros2-gbp/r2r_spl-release.git
   version: 3.0.1
 radar_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - std_msgs
+  - unique_identifier_msgs
   tag: release/lyrical/radar_msgs/0.2.2-5
   url: https://github.com/ros2-gbp/radar_msgs-release.git
   version: 0.2.2
 random_numbers:
-  tag: release/lyrical/random_numbers/2.0.4-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_lint_auto
+  - ament_lint_cmake
+  repository: https://github.com/ros-planning/random_numbers
+  tag: release/lyrical/random_numbers/2.0.5-1
   url: https://github.com/ros2-gbp/random_numbers-release.git
-  version: 2.0.4
+  version: 2.0.5
 range_sensor_broadcaster:
-  tag: release/lyrical/range_sensor_broadcaster/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - sensor_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/range_sensor_broadcaster/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 raspimouse:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - lifecycle_msgs
+  - nav_msgs
+  - raspimouse_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/rt-net/raspimouse2
   tag: release/lyrical/raspimouse/2.0.0-3
   url: https://github.com/ros2-gbp/raspimouse2-release.git
   version: 2.0.0
 raspimouse_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/rt-net/raspimouse2
   tag: release/lyrical/raspimouse_msgs/2.0.0-3
   url: https://github.com/ros2-gbp/raspimouse2-release.git
   version: 2.0.0
 rc_common_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/roboception/rc_common_msgs_ros2
   tag: release/lyrical/rc_common_msgs/0.5.3-7
   url: https://github.com/ros2-gbp/rc_common_msgs_ros2-release.git
   version: 0.5.3
 rc_dynamics_api:
+  dependencies: []
+  repository: https://github.com/roboception/rc_dynamics_api
   tag: release/lyrical/rc_dynamics_api/0.10.5-3
   url: https://github.com/ros2-gbp/rc_dynamics_api-release.git
   version: 0.10.5
 rc_genicam_api:
+  dependencies: []
+  repository: https://github.com/roboception/rc_genicam_api
   tag: release/lyrical/rc_genicam_api/2.8.6-1
   url: https://github.com/ros2-gbp/rc_genicam_api-release.git
   version: 2.8.6
 rc_genicam_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - diagnostic_updater
+  - image_transport
+  - rc_common_msgs
+  - rc_genicam_api
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - stereo_msgs
+  repository: https://github.com/roboception/rc_genicam_driver_ros2
   tag: release/lyrical/rc_genicam_driver/0.4.0-3
   url: https://github.com/ros2-gbp/rc_genicam_driver_ros2-release.git
   version: 0.4.0
 rc_reason_clients:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - geometry_msgs
+  - rc_reason_msgs
+  - rclpy
+  - ros2pkg
+  - tf2_msgs
+  - visualization_msgs
+  repository: https://github.com/roboception/rc_reason_clients_ros2
   tag: release/lyrical/rc_reason_clients/0.5.0-3
   url: https://github.com/ros2-gbp/rc_reason_clients-release.git
   version: 0.5.0
 rc_reason_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - geometry_msgs
+  - rc_common_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - shape_msgs
+  - std_msgs
+  repository: https://github.com/roboception/rc_reason_clients_ros2
   tag: release/lyrical/rc_reason_msgs/0.5.0-3
   url: https://github.com/ros2-gbp/rc_reason_clients-release.git
   version: 0.5.0
 rcdiscover:
+  dependencies: []
+  repository: https://github.com/roboception/rcdiscover
   tag: release/lyrical/rcdiscover/2.1.2-1
   url: https://github.com/ros2-gbp/rcdiscover-release.git
   version: 2.1.2
 rcl:
-  tag: release/lyrical/rcl/10.4.4-1
+  dependencies:
+  - ament_cmake_gen_version_h
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  - launch_testing
+  - launch_testing_ament_cmake
+  - libyaml_vendor
+  - mimick_vendor
+  - osrf_testing_tools_cpp
+  - rcl_interfaces
+  - rcl_logging_implementation
+  - rcl_logging_interface
+  - rcl_logging_spdlog
+  - rcl_yaml_param_parser
+  - rcutils
+  - rmw
+  - rmw_implementation
+  - rmw_implementation_cmake
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - service_msgs
+  - test_msgs
+  - tracetools
+  - type_description_interfaces
+  repository: https://github.com/ros2/rcl
+  tag: release/lyrical/rcl/10.4.5-1
   url: https://github.com/ros2-gbp/rcl-release.git
-  version: 10.4.4
+  version: 10.4.5
 rcl_action:
-  tag: release/lyrical/rcl_action/10.4.4-1
+  dependencies:
+  - action_msgs
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - osrf_testing_tools_cpp
+  - rcl
+  - rcutils
+  - rmw
+  - rmw_implementation_cmake
+  - rosidl_runtime_c
+  - test_msgs
+  repository: https://github.com/ros2/rcl
+  tag: release/lyrical/rcl_action/10.4.5-1
   url: https://github.com/ros2-gbp/rcl-release.git
-  version: 10.4.4
+  version: 10.4.5
 rcl_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/rcl_interfaces/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 rcl_lifecycle:
-  tag: release/lyrical/rcl_lifecycle/10.4.4-1
+  dependencies:
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - lifecycle_msgs
+  - osrf_testing_tools_cpp
+  - rcl
+  - rcutils
+  - rmw
+  - rosidl_runtime_c
+  - tracetools
+  repository: https://github.com/ros2/rcl
+  tag: release/lyrical/rcl_lifecycle/10.4.5-1
   url: https://github.com/ros2-gbp/rcl-release.git
-  version: 10.4.4
+  version: 10.4.5
 rcl_logging_implementation:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rcl_logging_interface
+  - rcl_logging_noop
+  - rcl_logging_spdlog
+  - rcpputils
+  - rcutils
+  repository: https://github.com/ros2/rcl_logging
   tag: release/lyrical/rcl_logging_implementation/3.4.1-3
   url: https://github.com/ros2-gbp/rcl_logging-release.git
   version: 3.4.1
 rcl_logging_interface:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rcpputils
+  - rcutils
+  repository: https://github.com/ros2/rcl_logging
   tag: release/lyrical/rcl_logging_interface/3.4.1-3
   url: https://github.com/ros2-gbp/rcl_logging-release.git
   version: 3.4.1
 rcl_logging_noop:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rcl_logging_interface
+  - rcutils
+  repository: https://github.com/ros2/rcl_logging
   tag: release/lyrical/rcl_logging_noop/3.4.1-3
   url: https://github.com/ros2-gbp/rcl_logging-release.git
   version: 3.4.1
 rcl_logging_spdlog:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - performance_test_fixture
+  - rcl_logging_interface
+  - rcpputils
+  - rcutils
+  - spdlog_vendor
+  repository: https://github.com/ros2/rcl_logging
   tag: release/lyrical/rcl_logging_spdlog/3.4.1-3
   url: https://github.com/ros2-gbp/rcl_logging-release.git
   version: 3.4.1
 rcl_logging_syslog:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - performance_test_fixture
+  - rcl_logging_interface
+  - rcpputils
+  - rcutils
+  repository: https://github.com/fujitatomoya/rcl_logging_syslog
   tag: release/lyrical/rcl_logging_syslog/0.1.2-3
   url: https://github.com/ros2-gbp/rcl_logging_syslog-release.git
   version: 0.1.2
 rcl_yaml_param_parser:
-  tag: release/lyrical/rcl_yaml_param_parser/10.4.4-1
+  dependencies:
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - libyaml_vendor
+  - mimick_vendor
+  - osrf_testing_tools_cpp
+  - performance_test_fixture
+  - rcutils
+  - rmw
+  repository: https://github.com/ros2/rcl
+  tag: release/lyrical/rcl_yaml_param_parser/10.4.5-1
   url: https://github.com/ros2-gbp/rcl-release.git
-  version: 10.4.4
+  version: 10.4.5
 rclc:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch_testing
+  - osrf_testing_tools_cpp
+  - rcl
+  - rcl_action
+  - rclcpp
+  - rclcpp_action
+  - rcutils
+  - rosidl_generator_c
+  - rosidl_typesupport_c
+  - std_msgs
+  - test_msgs
+  repository: https://github.com/ros2/rclc
   tag: release/lyrical/rclc/6.3.0-3
   url: https://github.com/ros2-gbp/rclc-release.git
   version: 6.3.0
 rclc_examples:
+  dependencies:
+  - ament_cmake_ros
+  - example_interfaces
+  - lifecycle_msgs
+  - rcl
+  - rclc
+  - rclc_lifecycle
+  - rclc_parameter
+  - std_msgs
+  repository: https://github.com/ros2/rclc
   tag: release/lyrical/rclc_examples/6.3.0-3
   url: https://github.com/ros2-gbp/rclc-release.git
   version: 6.3.0
 rclc_lifecycle:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - lifecycle_msgs
+  - osrf_testing_tools_cpp
+  - rcl_lifecycle
+  - rclc
+  - std_msgs
+  repository: https://github.com/ros2/rclc
   tag: release/lyrical/rclc_lifecycle/6.3.0-3
   url: https://github.com/ros2-gbp/rclc-release.git
   version: 6.3.0
 rclc_parameter:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - example_interfaces
+  - osrf_testing_tools_cpp
+  - rcl
+  - rcl_interfaces
+  - rclc
+  - rclcpp
+  - rcutils
+  - rosidl_runtime_c
+  - std_msgs
+  repository: https://github.com/ros2/rclc
   tag: release/lyrical/rclc_parameter/6.3.0-3
   url: https://github.com/ros2-gbp/rclc-release.git
   version: 6.3.0
 rclcpp:
-  tag: release/lyrical/rclcpp/32.0.0-1
+  dependencies:
+  - ament_cmake_gen_version_h
+  - ament_cmake_google_benchmark
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_cmake_ros_core
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - libstatistics_collector
+  - mimick_vendor
+  - performance_test_fixture
+  - rcl
+  - rcl_interfaces
+  - rcl_logging_interface
+  - rcl_yaml_param_parser
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_implementation_cmake
+  - rosgraph_msgs
+  - rosidl_default_generators
+  - rosidl_dynamic_typesupport
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_c
+  - rosidl_typesupport_cpp
+  - statistics_msgs
+  - test_msgs
+  - tracetools
+  repository: https://github.com/ros2/rclcpp
+  tag: release/lyrical/rclcpp/32.0.3-1
   url: https://github.com/ros2-gbp/rclcpp-release.git
-  version: 32.0.0
+  version: 32.0.3
 rclcpp_action:
-  tag: release/lyrical/rclcpp_action/32.0.0-1
+  dependencies:
+  - action_msgs
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - mimick_vendor
+  - performance_test_fixture
+  - rcl
+  - rcl_action
+  - rclcpp
+  - rcpputils
+  - rosidl_runtime_c
+  - test_msgs
+  repository: https://github.com/ros2/rclcpp
+  tag: release/lyrical/rclcpp_action/32.0.3-1
   url: https://github.com/ros2-gbp/rclcpp-release.git
-  version: 32.0.0
+  version: 32.0.3
 rclcpp_cascade_lifecycle:
-  tag: release/lyrical/rclcpp_cascade_lifecycle/2.0.4-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - cascade_lifecycle_msgs
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/fmrico/cascade_lifecycle
+  tag: release/lyrical/rclcpp_cascade_lifecycle/2.0.6-1
   url: https://github.com/ros2-gbp/cascade_lifecycle-release.git
-  version: 2.0.4
+  version: 2.0.6
 rclcpp_components:
-  tag: release/lyrical/rclcpp_components/32.0.0-1
+  dependencies:
+  - ament_cmake_google_benchmark
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - class_loader
+  - composition_interfaces
+  - rcl_interfaces
+  - rclcpp
+  - rcpputils
+  - rmw
+  repository: https://github.com/ros2/rclcpp
+  tag: release/lyrical/rclcpp_components/32.0.3-1
   url: https://github.com/ros2-gbp/rclcpp-release.git
-  version: 32.0.0
+  version: 32.0.3
 rclcpp_lifecycle:
-  tag: release/lyrical/rclcpp_lifecycle/32.0.0-1
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - lifecycle_msgs
+  - mimick_vendor
+  - performance_test_fixture
+  - rcl
+  - rcl_interfaces
+  - rcl_lifecycle
+  - rclcpp
+  - rcpputils
+  - rcutils
+  - rmw
+  - rosidl_typesupport_cpp
+  - test_msgs
+  repository: https://github.com/ros2/rclcpp
+  tag: release/lyrical/rclcpp_lifecycle/32.0.3-1
   url: https://github.com/ros2-gbp/rclcpp-release.git
-  version: 32.0.0
+  version: 32.0.3
 rclpy:
-  tag: release/lyrical/rclpy/10.0.10-1
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - lifecycle_msgs
+  - rcl
+  - rcl_action
+  - rcl_interfaces
+  - rcl_lifecycle
+  - rcl_logging_interface
+  - rcl_yaml_param_parser
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_implementation
+  - rmw_implementation_cmake
+  - rosgraph_msgs
+  - rosidl_generator_py
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rpyutils
+  - service_msgs
+  - test_msgs
+  - type_description_interfaces
+  - unique_identifier_msgs
+  repository: https://github.com/ros2/rclpy
+  tag: release/lyrical/rclpy/10.0.11-1
   url: https://github.com/ros2-gbp/rclpy-release.git
-  version: 10.0.10
+  version: 10.0.11
 rclpy_cascade_lifecycle:
-  tag: release/lyrical/rclpy_cascade_lifecycle/2.0.4-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - cascade_lifecycle_msgs
+  - lifecycle_msgs
+  - rclpy
+  repository: https://github.com/fmrico/cascade_lifecycle
+  tag: release/lyrical/rclpy_cascade_lifecycle/2.0.6-1
   url: https://github.com/ros2-gbp/cascade_lifecycle-release.git
-  version: 2.0.4
+  version: 2.0.6
 rclpy_message_converter:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - builtin_interfaces
+  - geometry_msgs
+  - rclpy
+  - rclpy_message_converter_msgs
+  - rosidl_default_generators
+  - rosidl_parser
+  - rosidl_runtime_py
+  - std_msgs
+  - std_srvs
+  - tf2_msgs
+  repository: https://github.com/DFKI-NI/rospy_message_converter
   tag: release/lyrical/rclpy_message_converter/2.0.2-3
   url: https://github.com/ros2-gbp/rospy_message_converter-release.git
   version: 2.0.2
 rclpy_message_converter_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  repository: https://github.com/DFKI-NI/rospy_message_converter
   tag: release/lyrical/rclpy_message_converter_msgs/2.0.2-3
   url: https://github.com/ros2-gbp/rospy_message_converter-release.git
   version: 2.0.2
 rcpputils:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_ros_core
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - rcutils
+  repository: https://github.com/ros2/rcpputils
   tag: release/lyrical/rcpputils/2.14.5-1
   url: https://github.com/ros2-gbp/rcpputils-release.git
   version: 2.14.5
 rcss3d_agent:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rcss3d_agent_msgs
+  repository: https://github.com/ros-sports/rcss3d_agent
   tag: release/lyrical/rcss3d_agent/0.4.1-5
   url: https://github.com/ros2-gbp/rcss3d_agent-release.git
   version: 0.4.1
 rcss3d_agent_basic:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp_components
+  - rcss3d_agent
+  repository: https://github.com/ros-sports/rcss3d_agent
   tag: release/lyrical/rcss3d_agent_basic/0.4.1-5
   url: https://github.com/ros2-gbp/rcss3d_agent-release.git
   version: 0.4.1
 rcss3d_agent_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-sports/rcss3d_agent
   tag: release/lyrical/rcss3d_agent_msgs/0.4.1-5
   url: https://github.com/ros2-gbp/rcss3d_agent-release.git
   version: 0.4.1
 rcss3d_agent_msgs_to_soccer_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rcss3d_agent_msgs
+  - soccer_vision_3d_msgs
+  repository: https://github.com/ros-sports/rcss3d_agent
   tag: release/lyrical/rcss3d_agent_msgs_to_soccer_interfaces/0.4.1-5
   url: https://github.com/ros2-gbp/rcss3d_agent-release.git
   version: 0.4.1
 rcss3d_nao:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - nao_lola_command_msgs
+  - nao_lola_sensor_msgs
+  - rclcpp_components
+  - rcss3d_agent
+  - rcss3d_agent_msgs_to_soccer_interfaces
+  - sensor_msgs
+  - soccer_vision_3d_msgs
+  repository: https://github.com/ros-sports/rcss3d_nao
   tag: release/lyrical/rcss3d_nao/1.2.0-4
   url: https://github.com/ros2-gbp/rcss3d_nao-release.git
   version: 1.2.0
 rcutils:
-  tag: release/lyrical/rcutils/7.1.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  - launch_testing
+  - launch_testing_ament_cmake
+  - mimick_vendor
+  - osrf_testing_tools_cpp
+  - performance_test_fixture
+  repository: https://github.com/ros2/rcutils
+  tag: release/lyrical/rcutils/7.1.3-1
   url: https://github.com/ros2-gbp/rcutils-release.git
-  version: 7.1.1
+  version: 7.1.3
 realsense2_camera:
-  tag: release/lyrical/realsense2_camera/4.57.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - builtin_interfaces
+  - cv_bridge
+  - diagnostic_updater
+  - geometry_msgs
+  - image_transport
+  - launch_pytest
+  - launch_ros
+  - launch_testing
+  - librealsense2
+  - lifecycle_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - realsense2_camera_msgs
+  - ros2bag
+  - ros2topic
+  - ros_environment
+  - rosbag2_storage_default_plugins
+  - sensor_msgs
+  - sensor_msgs_py
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_ros
+  - tf2_ros_py
+  repository: https://github.com/IntelRealSense/realsense-ros
+  tag: release/lyrical/realsense2_camera/4.58.4-1
   url: https://github.com/ros2-gbp/realsense-ros-release.git
-  version: 4.57.7
+  version: 4.58.4
 realsense2_camera_msgs:
-  tag: release/lyrical/realsense2_camera_msgs/4.57.7-3
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/IntelRealSense/realsense-ros
+  tag: release/lyrical/realsense2_camera_msgs/4.58.4-1
   url: https://github.com/ros2-gbp/realsense-ros-release.git
-  version: 4.57.7
+  version: 4.58.4
 realsense2_description:
-  tag: release/lyrical/realsense2_description/4.57.7-3
+  dependencies:
+  - ament_cmake
+  - launch_ros
+  - rclcpp
+  - rclcpp_components
+  - realsense2_camera_msgs
+  - xacro
+  repository: https://github.com/IntelRealSense/realsense-ros
+  tag: release/lyrical/realsense2_description/4.58.4-1
   url: https://github.com/ros2-gbp/realsense-ros-release.git
-  version: 4.57.7
+  version: 4.58.4
 realtime_tools:
-  tag: release/lyrical/realtime_tools/5.2.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - test_msgs
+  repository: https://github.com/ros-controls/realtime_tools
+  tag: release/lyrical/realtime_tools/5.3.0-1
   url: https://github.com/ros2-gbp/realtime_tools-release.git
-  version: 5.2.0
+  version: 5.3.0
 reductstore_agent:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - rclpy
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/reductstore/reductstore_agent
   tag: release/lyrical/reductstore_agent/0.2.0-3
   url: https://github.com/ros2-gbp/reductstore_agent-release.git
   version: 0.2.0
 replay_testing:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - geometry_msgs
+  - launch
+  - rclpy
+  - ros2bag
+  - ros2run
+  - ros2topic
+  - rosbag2_py
+  - rosbag2_storage_mcap
+  repository: https://github.com/polymathrobotics/replay_testing
   tag: release/lyrical/replay_testing/0.0.4-3
   url: https://github.com/ros2-gbp/replay_testing-release.git
   version: 0.0.4
 resource_retriever:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros/resource_retriever
   tag: release/lyrical/resource_retriever/3.9.3-3
   url: https://github.com/ros2-gbp/resource_retriever-release.git
   version: 3.9.3
 resource_retriever_interfaces:
-  tag: release/lyrical/resource_retriever_interfaces/0.0.2-1
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/resource_retriever_service
+  tag: release/lyrical/resource_retriever_interfaces/0.0.3-1
   url: https://github.com/ros2-gbp/resource_retriever_service-release.git
-  version: 0.0.2
+  version: 0.0.3
 resource_retriever_service:
-  tag: release/lyrical/resource_retriever_service/0.0.2-1
+  dependencies:
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - resource_retriever_interfaces
+  repository: https://github.com/ros2/resource_retriever_service
+  tag: release/lyrical/resource_retriever_service/0.0.3-1
   url: https://github.com/ros2-gbp/resource_retriever_service-release.git
-  version: 0.0.2
+  version: 0.0.3
 resource_retriever_service_plugin:
-  tag: release/lyrical/resource_retriever_service_plugin/0.0.2-1
+  dependencies:
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - resource_retriever
+  - resource_retriever_interfaces
+  repository: https://github.com/ros2/resource_retriever_service
+  tag: release/lyrical/resource_retriever_service_plugin/0.0.3-1
   url: https://github.com/ros2-gbp/resource_retriever_service-release.git
-  version: 0.0.2
+  version: 0.0.3
 rig_reconfigure:
-  tag: release/lyrical/rig_reconfigure/1.6.0-3
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - rclcpp
+  repository: https://github.com/teamspatzenhirn/rig_reconfigure
+  tag: release/lyrical/rig_reconfigure/1.6.1-1
   url: https://github.com/ros2-gbp/rig_reconfigure-release.git
-  version: 1.6.0
+  version: 1.6.1
 rko_lio:
-  tag: release/lyrical/rko_lio/0.2.0-3
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - rosbag2_cpp
+  - rosbag2_py
+  - rosbag2_storage
+  - rosidl_runtime_py
+  - sensor_msgs
+  - sophus
+  - std_msgs
+  - tf2
+  - tf2_ros
+  - tf2_ros_py
+  repository: https://github.com/PRBonn/rko_lio
+  tag: release/lyrical/rko_lio/0.4.0-1
   url: https://github.com/ros2-gbp/rko_lio-release.git
-  version: 0.2.0
+  version: 0.4.0
 rmf_api_msgs:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/open-rmf/rmf_api_msgs
   tag: release/lyrical/rmf_api_msgs/0.5.0-3
   url: https://github.com/ros2-gbp/rmf_api_msgs-release.git
   version: 0.5.0
 rmf_battery:
+  dependencies:
+  - ament_cmake_catch2
+  - ament_cmake_uncrustify
+  - eigen3_cmake_module
+  - rmf_traffic
+  - rmf_utils
+  repository: https://github.com/open-rmf/rmf_battery
   tag: release/lyrical/rmf_battery/0.4.0-3
   url: https://github.com/ros2-gbp/rmf_battery-release.git
   version: 0.4.0
 rmf_building_map_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_building_map_msgs
   tag: release/lyrical/rmf_building_map_msgs/1.5.0-3
   url: https://github.com/ros2-gbp/rmf_building_map_msgs-release.git
   version: 1.5.0
 rmf_building_map_tools:
+  dependencies:
+  - ament_index_python
+  - gz_fuel_tools_vendor
+  - rclpy
+  - rmf_building_map_msgs
+  - rmf_site_map_msgs
+  - std_msgs
+  repository: https://github.com/open-rmf/rmf_traffic_editor
   tag: release/lyrical/rmf_building_map_tools/1.14.0-3
   url: https://github.com/ros2-gbp/rmf_traffic_editor-release.git
   version: 1.14.0
 rmf_building_sim_gz_plugins:
-  tag: release/lyrical/rmf_building_sim_gz_plugins/2.6.1-3
+  dependencies:
+  - ament_cmake
+  - gz_gui_vendor
+  - gz_msgs_vendor
+  - gz_plugin_vendor
+  - gz_rendering_vendor
+  - gz_sim_vendor
+  - gz_transport_vendor
+  - menge_vendor
+  - rclcpp
+  - rmf_door_msgs
+  - rmf_fleet_msgs
+  - rmf_lift_msgs
+  repository: https://github.com/open-rmf/rmf_simulation
+  tag: release/lyrical/rmf_building_sim_gz_plugins/2.7.0-1
   url: https://github.com/ros2-gbp/rmf_simulation-release.git
-  version: 2.6.1
+  version: 2.7.0
 rmf_charger_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_charger_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_charging_schedule:
-  tag: release/lyrical/rmf_charging_schedule/2.12.0-3
+  dependencies:
+  - rclpy
+  - rmf_fleet_msgs
+  repository: https://github.com/open-rmf/rmf_ros2
+  tag: release/lyrical/rmf_charging_schedule/2.13.0-1
   url: https://github.com/ros2-gbp/rmf_ros2-release.git
-  version: 2.12.0
+  version: 2.13.0
 rmf_cmake_uncrustify:
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_uncrustify
+  repository: https://github.com/open-rmf/rmf_cmake_uncrustify
   tag: release/lyrical/rmf_cmake_uncrustify/1.2.0-7
   url: https://github.com/ros2-gbp/rmf_cmake_uncrustify-release.git
   version: 1.2.0
 rmf_demos:
-  tag: release/lyrical/rmf_demos/2.8.2-4
+  dependencies:
+  - ament_cmake
+  - launch_xml
+  - rmf_building_map_tools
+  - rmf_demos_assets
+  - rmf_demos_fleet_adapter
+  - rmf_demos_maps
+  - rmf_demos_tasks
+  - rmf_fleet_adapter
+  - rmf_reservation_node
+  - rmf_task_ros2
+  - rmf_traffic_ros2
+  - rmf_visualization
+  - rviz2
+  repository: https://github.com/open-rmf/rmf_demos
+  tag: release/lyrical/rmf_demos/2.9.0-1
   url: https://github.com/ros2-gbp/rmf_demos-release.git
-  version: 2.8.2
+  version: 2.9.0
 rmf_demos_assets:
-  tag: release/lyrical/rmf_demos_assets/2.8.2-4
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/open-rmf/rmf_demos
+  tag: release/lyrical/rmf_demos_assets/2.9.0-1
   url: https://github.com/ros2-gbp/rmf_demos-release.git
-  version: 2.8.2
+  version: 2.9.0
 rmf_demos_bridges:
-  tag: release/lyrical/rmf_demos_bridges/2.8.2-4
+  dependencies:
+  - rmf_building_map_tools
+  - rmf_fleet_msgs
+  - rmf_site_map_msgs
+  - rmf_traffic_msgs
+  repository: https://github.com/open-rmf/rmf_demos
+  tag: release/lyrical/rmf_demos_bridges/2.9.0-1
   url: https://github.com/ros2-gbp/rmf_demos-release.git
-  version: 2.8.2
+  version: 2.9.0
 rmf_demos_fleet_adapter:
-  tag: release/lyrical/rmf_demos_fleet_adapter/2.8.2-4
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - launch_xml
+  - rclpy
+  - rmf_fleet_adapter_python
+  - rmf_fleet_msgs
+  - rmf_task_msgs
+  repository: https://github.com/open-rmf/rmf_demos
+  tag: release/lyrical/rmf_demos_fleet_adapter/2.9.0-1
   url: https://github.com/ros2-gbp/rmf_demos-release.git
-  version: 2.8.2
+  version: 2.9.0
 rmf_demos_gz:
-  tag: release/lyrical/rmf_demos_gz/2.8.2-4
+  dependencies:
+  - ament_cmake
+  - launch_xml
+  - rmf_building_sim_gz_plugins
+  - rmf_demos
+  - rmf_robot_sim_gz_plugins
+  - ros2launch
+  - ros_gz_bridge
+  - ros_gz_sim
+  - teleop_twist_keyboard
+  repository: https://github.com/open-rmf/rmf_demos
+  tag: release/lyrical/rmf_demos_gz/2.9.0-1
   url: https://github.com/ros2-gbp/rmf_demos-release.git
-  version: 2.8.2
+  version: 2.9.0
 rmf_demos_maps:
-  tag: release/lyrical/rmf_demos_maps/2.8.2-4
+  dependencies:
+  - ament_cmake
+  - rmf_building_map_tools
+  - ros2run
+  repository: https://github.com/open-rmf/rmf_demos
+  tag: release/lyrical/rmf_demos_maps/2.9.0-1
   url: https://github.com/ros2-gbp/rmf_demos-release.git
-  version: 2.8.2
+  version: 2.9.0
 rmf_demos_tasks:
-  tag: release/lyrical/rmf_demos_tasks/2.8.2-4
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - rmf_dispenser_msgs
+  - rmf_fleet_msgs
+  - rmf_lift_msgs
+  - rmf_task_msgs
+  repository: https://github.com/open-rmf/rmf_demos
+  tag: release/lyrical/rmf_demos_tasks/2.9.0-1
   url: https://github.com/ros2-gbp/rmf_demos-release.git
-  version: 2.8.2
+  version: 2.9.0
 rmf_dispenser_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_dispenser_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_door_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_door_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_fleet_adapter:
-  tag: release/lyrical/rmf_fleet_adapter/2.12.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_catch2
+  - ament_cmake_uncrustify
+  - backward_ros
+  - nlohmann_json_schema_validator_vendor
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rmf_api_msgs
+  - rmf_battery
+  - rmf_building_map_msgs
+  - rmf_dispenser_msgs
+  - rmf_door_msgs
+  - rmf_fleet_msgs
+  - rmf_ingestor_msgs
+  - rmf_lift_msgs
+  - rmf_reservation_msgs
+  - rmf_task
+  - rmf_task_msgs
+  - rmf_task_ros2
+  - rmf_task_sequence
+  - rmf_traffic
+  - rmf_traffic_ros2
+  - rmf_utils
+  - rmf_websocket
+  - std_msgs
+  repository: https://github.com/open-rmf/rmf_ros2
+  tag: release/lyrical/rmf_fleet_adapter/2.13.0-1
   url: https://github.com/ros2-gbp/rmf_ros2-release.git
-  version: 2.12.0
+  version: 2.13.0
 rmf_fleet_adapter_python:
-  tag: release/lyrical/rmf_fleet_adapter_python/2.12.0-3
+  dependencies:
+  - ament_cmake_pytest
+  - pybind11_json_vendor
+  - pybind11_vendor
+  - rclpy
+  - rmf_fleet_adapter
+  repository: https://github.com/open-rmf/rmf_ros2
+  tag: release/lyrical/rmf_fleet_adapter_python/2.13.0-1
   url: https://github.com/ros2-gbp/rmf_ros2-release.git
-  version: 2.12.0
+  version: 2.13.0
 rmf_fleet_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_fleet_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_ingestor_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rmf_dispenser_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_ingestor_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_lift_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_lift_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_obstacle_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_obstacle_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_reservation_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_reservation_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_reservation_node:
-  tag: release/lyrical/rmf_reservation_node/2.12.0-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rmf_building_map_msgs
+  - rmf_fleet_adapter
+  - rmf_reservation_msgs
+  repository: https://github.com/open-rmf/rmf_ros2
+  tag: release/lyrical/rmf_reservation_node/2.13.0-1
   url: https://github.com/ros2-gbp/rmf_ros2-release.git
-  version: 2.12.0
+  version: 2.13.0
 rmf_robot_sim_common:
-  tag: release/lyrical/rmf_robot_sim_common/2.6.1-3
+  dependencies:
+  - ament_cmake
+  - eigen3_cmake_module
+  - geometry_msgs
+  - rclcpp
+  - rmf_building_map_msgs
+  - rmf_fleet_msgs
+  - tf2_ros
+  repository: https://github.com/open-rmf/rmf_simulation
+  tag: release/lyrical/rmf_robot_sim_common/2.7.0-1
   url: https://github.com/ros2-gbp/rmf_simulation-release.git
-  version: 2.6.1
+  version: 2.7.0
 rmf_robot_sim_gz_plugins:
-  tag: release/lyrical/rmf_robot_sim_gz_plugins/2.6.1-3
+  dependencies:
+  - ament_cmake
+  - gz_msgs_vendor
+  - gz_plugin_vendor
+  - gz_rendering_vendor
+  - gz_sim_vendor
+  - gz_transport_vendor
+  - rclcpp
+  - rmf_building_map_msgs
+  - rmf_building_sim_gz_plugins
+  - rmf_dispenser_msgs
+  - rmf_fleet_msgs
+  - rmf_ingestor_msgs
+  - rmf_robot_sim_common
+  repository: https://github.com/open-rmf/rmf_simulation
+  tag: release/lyrical/rmf_robot_sim_gz_plugins/2.7.0-1
   url: https://github.com/ros2-gbp/rmf_simulation-release.git
-  version: 2.6.1
+  version: 2.7.0
 rmf_scheduler_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_scheduler_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_site_map_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_site_map_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_task:
-  tag: release/lyrical/rmf_task/2.9.0-3
+  dependencies:
+  - ament_cmake_catch2
+  - rmf_battery
+  - rmf_utils
+  repository: https://github.com/open-rmf/rmf_task
+  tag: release/lyrical/rmf_task/2.10.0-1
   url: https://github.com/ros2-gbp/rmf_task-release.git
-  version: 2.9.0
+  version: 2.10.0
 rmf_task_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rmf_dispenser_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_task_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_task_ros2:
-  tag: release/lyrical/rmf_task_ros2/2.12.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_catch2
+  - ament_cmake_uncrustify
+  - backward_ros
+  - nlohmann_json_schema_validator_vendor
+  - rclcpp
+  - rmf_api_msgs
+  - rmf_task_msgs
+  - rmf_traffic
+  - rmf_traffic_ros2
+  - rmf_utils
+  - rmf_websocket
+  - std_msgs
+  repository: https://github.com/open-rmf/rmf_ros2
+  tag: release/lyrical/rmf_task_ros2/2.13.0-1
   url: https://github.com/ros2-gbp/rmf_ros2-release.git
-  version: 2.12.0
+  version: 2.13.0
 rmf_task_sequence:
-  tag: release/lyrical/rmf_task_sequence/2.9.0-3
+  dependencies:
+  - ament_cmake_catch2
+  - ament_cmake_uncrustify
+  - nlohmann_json_schema_validator_vendor
+  - rmf_api_msgs
+  - rmf_task
+  repository: https://github.com/open-rmf/rmf_task
+  tag: release/lyrical/rmf_task_sequence/2.10.0-1
   url: https://github.com/ros2-gbp/rmf_task-release.git
-  version: 2.9.0
+  version: 2.10.0
 rmf_traffic:
-  tag: release/lyrical/rmf_traffic/3.7.0-3
+  dependencies:
+  - ament_cmake_catch2
+  - ament_cmake_uncrustify
+  - eigen3_cmake_module
+  - rmf_utils
+  repository: https://github.com/open-rmf/rmf_traffic
+  tag: release/lyrical/rmf_traffic/3.8.0-1
   url: https://github.com/ros2-gbp/rmf_traffic-release.git
-  version: 3.7.0
+  version: 3.8.0
 rmf_traffic_editor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_uncrustify
+  - ament_index_cpp
+  - rmf_utils
+  repository: https://github.com/open-rmf/rmf_traffic_editor
   tag: release/lyrical/rmf_traffic_editor/1.14.0-3
   url: https://github.com/ros2-gbp/rmf_traffic_editor-release.git
   version: 1.14.0
 rmf_traffic_editor_assets:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/open-rmf/rmf_traffic_editor
   tag: release/lyrical/rmf_traffic_editor_assets/1.14.0-3
   url: https://github.com/ros2-gbp/rmf_traffic_editor-release.git
   version: 1.14.0
 rmf_traffic_editor_test_maps:
+  dependencies:
+  - ament_cmake
+  - rmf_building_map_tools
+  - ros2run
+  repository: https://github.com/open-rmf/rmf_traffic_editor
   tag: release/lyrical/rmf_traffic_editor_test_maps/1.14.0-3
   url: https://github.com/ros2-gbp/rmf_traffic_editor-release.git
   version: 1.14.0
 rmf_traffic_examples:
-  tag: release/lyrical/rmf_traffic_examples/3.7.0-3
+  dependencies:
+  - rmf_traffic
+  repository: https://github.com/open-rmf/rmf_traffic
+  tag: release/lyrical/rmf_traffic_examples/3.8.0-1
   url: https://github.com/ros2-gbp/rmf_traffic-release.git
-  version: 3.7.0
+  version: 3.8.0
 rmf_traffic_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_traffic_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmf_traffic_ros2:
-  tag: release/lyrical/rmf_traffic_ros2/2.12.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_catch2
+  - ament_cmake_uncrustify
+  - backward_ros
+  - rclcpp
+  - rmf_building_map_msgs
+  - rmf_fleet_msgs
+  - rmf_reservation_msgs
+  - rmf_site_map_msgs
+  - rmf_traffic
+  - rmf_traffic_msgs
+  - rmf_utils
+  repository: https://github.com/open-rmf/rmf_ros2
+  tag: release/lyrical/rmf_traffic_ros2/2.13.0-1
   url: https://github.com/ros2-gbp/rmf_ros2-release.git
-  version: 2.12.0
+  version: 2.13.0
 rmf_utils:
-  tag: release/lyrical/rmf_utils/1.7.0-3
+  dependencies:
+  - ament_cmake_catch2
+  - ament_cmake_uncrustify
+  repository: https://github.com/open-rmf/rmf_utils
+  tag: release/lyrical/rmf_utils/1.8.0-1
   url: https://github.com/ros2-gbp/rmf_utils-release.git
-  version: 1.7.0
+  version: 1.8.0
 rmf_visualization:
-  tag: release/lyrical/rmf_visualization/2.5.1-3
+  dependencies:
+  - ament_cmake
+  - launch_xml
+  - rmf_visualization_building_systems
+  - rmf_visualization_fleet_states
+  - rmf_visualization_floorplans
+  - rmf_visualization_navgraphs
+  - rmf_visualization_obstacles
+  - rmf_visualization_rviz2_plugins
+  - rmf_visualization_schedule
+  repository: https://github.com/open-rmf/rmf_visualization
+  tag: release/lyrical/rmf_visualization/2.6.0-1
   url: https://github.com/ros2-gbp/rmf_visualization-release.git
-  version: 2.5.1
+  version: 2.6.0
 rmf_visualization_building_systems:
-  tag: release/lyrical/rmf_visualization_building_systems/2.5.1-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - geometry_msgs
+  - rmf_building_map_msgs
+  - rmf_door_msgs
+  - rmf_lift_msgs
+  - rmf_visualization_msgs
+  repository: https://github.com/open-rmf/rmf_visualization
+  tag: release/lyrical/rmf_visualization_building_systems/2.6.0-1
   url: https://github.com/ros2-gbp/rmf_visualization-release.git
-  version: 2.5.1
+  version: 2.6.0
 rmf_visualization_fleet_states:
-  tag: release/lyrical/rmf_visualization_fleet_states/2.5.1-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - rmf_fleet_msgs
+  - rmf_utils
+  - rmf_visualization_msgs
+  - visualization_msgs
+  repository: https://github.com/open-rmf/rmf_visualization
+  tag: release/lyrical/rmf_visualization_fleet_states/2.6.0-1
   url: https://github.com/ros2-gbp/rmf_visualization-release.git
-  version: 2.5.1
+  version: 2.6.0
 rmf_visualization_floorplans:
-  tag: release/lyrical/rmf_visualization_floorplans/2.5.1-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - rmf_building_map_msgs
+  - rmf_utils
+  - rmf_visualization_msgs
+  repository: https://github.com/open-rmf/rmf_visualization
+  tag: release/lyrical/rmf_visualization_floorplans/2.6.0-1
   url: https://github.com/ros2-gbp/rmf_visualization-release.git
-  version: 2.5.1
+  version: 2.6.0
 rmf_visualization_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_visualization_msgs
   tag: release/lyrical/rmf_visualization_msgs/1.5.0-3
   url: https://github.com/ros2-gbp/rmf_visualization_msgs-release.git
   version: 1.5.0
 rmf_visualization_navgraphs:
-  tag: release/lyrical/rmf_visualization_navgraphs/2.5.1-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_components
+  - rmf_building_map_msgs
+  - rmf_fleet_msgs
+  - rmf_traffic
+  - rmf_traffic_ros2
+  - rmf_utils
+  - rmf_visualization_msgs
+  - visualization_msgs
+  repository: https://github.com/open-rmf/rmf_visualization
+  tag: release/lyrical/rmf_visualization_navgraphs/2.6.0-1
   url: https://github.com/ros2-gbp/rmf_visualization-release.git
-  version: 2.5.1
+  version: 2.6.0
 rmf_visualization_obstacles:
-  tag: release/lyrical/rmf_visualization_obstacles/2.5.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_uncrustify
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_components
+  - rmf_obstacle_msgs
+  - rmf_utils
+  - rmf_visualization_msgs
+  - vision_msgs
+  - visualization_msgs
+  repository: https://github.com/open-rmf/rmf_visualization
+  tag: release/lyrical/rmf_visualization_obstacles/2.6.0-1
   url: https://github.com/ros2-gbp/rmf_visualization-release.git
-  version: 2.5.1
+  version: 2.6.0
 rmf_visualization_rviz2_plugins:
-  tag: release/lyrical/rmf_visualization_rviz2_plugins/2.5.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_uncrustify
+  - pluginlib
+  - rclcpp
+  - resource_retriever
+  - rmf_door_msgs
+  - rmf_lift_msgs
+  - rmf_traffic_ros2
+  - rmf_utils
+  - rmf_visualization_msgs
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_rendering
+  repository: https://github.com/open-rmf/rmf_visualization
+  tag: release/lyrical/rmf_visualization_rviz2_plugins/2.6.0-1
   url: https://github.com/ros2-gbp/rmf_visualization-release.git
-  version: 2.5.1
+  version: 2.6.0
 rmf_visualization_schedule:
-  tag: release/lyrical/rmf_visualization_schedule/2.5.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_uncrustify
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_components
+  - rmf_traffic
+  - rmf_traffic_msgs
+  - rmf_traffic_ros2
+  - rmf_utils
+  - rmf_visualization_msgs
+  - rosidl_default_generators
+  - visualization_msgs
+  repository: https://github.com/open-rmf/rmf_visualization
+  tag: release/lyrical/rmf_visualization_schedule/2.6.0-1
   url: https://github.com/ros2-gbp/rmf_visualization-release.git
-  version: 2.5.1
+  version: 2.6.0
 rmf_websocket:
-  tag: release/lyrical/rmf_websocket/2.12.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_catch2
+  - ament_cmake_uncrustify
+  - backward_ros
+  - nlohmann_json_schema_validator_vendor
+  - rclcpp
+  - rmf_utils
+  repository: https://github.com/open-rmf/rmf_ros2
+  tag: release/lyrical/rmf_websocket/2.13.0-1
   url: https://github.com/ros2-gbp/rmf_ros2-release.git
-  version: 2.12.0
+  version: 2.13.0
 rmf_workcell_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/open-rmf/rmf_internal_msgs
   tag: release/lyrical/rmf_workcell_msgs/4.0.0-3
   url: https://github.com/ros2-gbp/rmf_internal_msgs-release.git
   version: 4.0.0
 rmw:
-  tag: release/lyrical/rmw/7.10.1-5
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_ros_core
+  - ament_cmake_version
+  - ament_lint_auto
+  - ament_lint_common
+  - osrf_testing_tools_cpp
+  - rcutils
+  - rosidl_dynamic_typesupport
+  - rosidl_runtime_c
+  repository: https://github.com/ros2/rmw
+  tag: release/lyrical/rmw/7.10.2-3
   url: https://github.com/ros2-gbp/rmw-release.git
-  version: 7.10.1
+  version: 7.10.2
 rmw_connextdds:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rmw_connextdds_common
+  repository: https://github.com/ros2/rmw_connextdds
   tag: release/lyrical/rmw_connextdds/1.2.7-2
   url: https://github.com/ros2-gbp/rmw_connextdds-release.git
   version: 1.2.7
 rmw_connextdds_common:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - fastcdr
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_dds_common
+  - rmw_security_common
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_fastrtps_c
+  - rosidl_typesupport_fastrtps_cpp
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  - rti_connext_dds_cmake_module
+  - tracetools
+  repository: https://github.com/ros2/rmw_connextdds
   tag: release/lyrical/rmw_connextdds_common/1.2.7-2
   url: https://github.com/ros2-gbp/rmw_connextdds-release.git
   version: 1.2.7
 rmw_cyclonedds_cpp:
-  tag: release/lyrical/rmw_cyclonedds_cpp/4.1.4-3
+  dependencies:
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - cyclonedds
+  - iceoryx_binding_c
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_dds_common
+  - rmw_security_common
+  - rosidl_runtime_c
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  - tracetools
+  repository: https://github.com/ros2/rmw_cyclonedds
+  tag: release/lyrical/rmw_cyclonedds_cpp/4.1.5-1
   url: https://github.com/ros2-gbp/rmw_cyclonedds-release.git
-  version: 4.1.4
+  version: 4.1.5
 rmw_dds_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_lint_auto
+  - ament_lint_common
+  - osrf_testing_tools_cpp
+  - performance_test_fixture
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_security_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  repository: https://github.com/ros2/rmw_dds_common
   tag: release/lyrical/rmw_dds_common/6.0.0-3
   url: https://github.com/ros2-gbp/rmw_dds_common-release.git
   version: 6.0.0
 rmw_desert:
-  tag: release/lyrical/rmw_desert/4.0.1-4
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros_core
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_dds_common
+  - rosidl_cmake
+  - rosidl_runtime_c
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  repository: https://github.com/signetlabdei/rmw_desert
+  tag: release/lyrical/rmw_desert/4.0.2-1
   url: https://github.com/ros2-gbp/rmw_desert-release.git
-  version: 4.0.1
+  version: 4.0.2
 rmw_fastrtps_cpp:
-  tag: release/lyrical/rmw_fastrtps_cpp/9.4.8-1
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - fastcdr
+  - fastdds
+  - osrf_testing_tools_cpp
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_dds_common
+  - rmw_fastrtps_shared_cpp
+  - rosidl_buffer_backend_registry
+  - rosidl_dynamic_typesupport
+  - rosidl_dynamic_typesupport_fastrtps
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_fastrtps_c
+  - rosidl_typesupport_fastrtps_cpp
+  - test_msgs
+  - tracetools
+  repository: https://github.com/ros2/rmw_fastrtps
+  tag: release/lyrical/rmw_fastrtps_cpp/9.4.9-1
   url: https://github.com/ros2-gbp/rmw_fastrtps-release.git
-  version: 9.4.8
+  version: 9.4.9
 rmw_fastrtps_dynamic_cpp:
-  tag: release/lyrical/rmw_fastrtps_dynamic_cpp/9.4.8-1
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - fastcdr
+  - fastdds
+  - osrf_testing_tools_cpp
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_dds_common
+  - rmw_fastrtps_shared_cpp
+  - rosidl_buffer
+  - rosidl_runtime_c
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  - test_msgs
+  - tracetools
+  repository: https://github.com/ros2/rmw_fastrtps
+  tag: release/lyrical/rmw_fastrtps_dynamic_cpp/9.4.9-1
   url: https://github.com/ros2-gbp/rmw_fastrtps-release.git
-  version: 9.4.8
+  version: 9.4.9
 rmw_fastrtps_shared_cpp:
-  tag: release/lyrical/rmw_fastrtps_shared_cpp/9.4.8-1
+  dependencies:
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - fastcdr
+  - fastdds
+  - osrf_testing_tools_cpp
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_dds_common
+  - rmw_security_common
+  - rosidl_buffer_backend_registry
+  - rosidl_dynamic_typesupport
+  - rosidl_runtime_c
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  - tracetools
+  repository: https://github.com/ros2/rmw_fastrtps
+  tag: release/lyrical/rmw_fastrtps_shared_cpp/9.4.9-1
   url: https://github.com/ros2-gbp/rmw_fastrtps-release.git
-  version: 9.4.8
+  version: 9.4.9
+rmw_gurumdds_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - fastcdr
+  - gurumdds_cmake_module
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_dds_common
+  - rmw_fastrtps_shared_cpp
+  - rosidl_buffer_backend_registry
+  - rosidl_cmake
+  - rosidl_dynamic_typesupport
+  - rosidl_dynamic_typesupport_fastrtps
+  - rosidl_generator_dds_idl
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_fastrtps_c
+  - rosidl_typesupport_fastrtps_cpp
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  - tracetools
+  repository: https://github.com/ros2/rmw_gurumdds
+  tag: release/lyrical/rmw_gurumdds_cpp/7.0.0-3
+  url: https://github.com/ros2-gbp/rmw_gurumdds-release.git
+  version: 7.0.0
 rmw_implementation:
-  tag: release/lyrical/rmw_implementation/3.1.5-6
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - performance_test_fixture
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_connextdds
+  - rmw_cyclonedds_cpp
+  - rmw_fastrtps_cpp
+  - rmw_fastrtps_dynamic_cpp
+  - rmw_implementation_cmake
+  - rmw_zenoh_cpp
+  repository: https://github.com/ros2/rmw_implementation
+  tag: release/lyrical/rmw_implementation/3.1.6-1
   url: https://github.com/ros2-gbp/rmw_implementation-release.git
-  version: 3.1.5
+  version: 3.1.6
 rmw_implementation_cmake:
-  tag: release/lyrical/rmw_implementation_cmake/7.10.1-5
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/rmw
+  tag: release/lyrical/rmw_implementation_cmake/7.10.2-3
   url: https://github.com/ros2-gbp/rmw-release.git
-  version: 7.10.1
+  version: 7.10.2
+rmw_int2dds_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_gtest
+  - ament_cmake_ros_core
+  - ament_cmake_test
+  - ament_lint_auto
+  - ament_lint_common
+  - int2dds_ffi_vendor
+  - rcutils
+  - rmw
+  - rmw_dds_common
+  - rosidl_dynamic_typesupport
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_c
+  - rosidl_typesupport_cpp
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  - std_msgs
+  repository: https://github.com/IntellectusCorp/rmw_int2dds
+  tag: release/lyrical/rmw_int2dds_cpp/0.1.3-1
+  url: https://github.com/ros2-gbp/rmw_int2dds-release.git
+  version: 0.1.3
 rmw_security_common:
-  tag: release/lyrical/rmw_security_common/7.10.1-5
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_lint_auto
+  - ament_lint_common
+  - rcutils
+  - rmw
+  repository: https://github.com/ros2/rmw
+  tag: release/lyrical/rmw_security_common/7.10.2-3
   url: https://github.com/ros2-gbp/rmw-release.git
-  version: 7.10.1
+  version: 7.10.2
 rmw_stats_shim:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosgraph_monitor_msgs
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_cpp
+  repository: https://github.com/ros-tooling/graph-monitor
   tag: release/lyrical/rmw_stats_shim/0.2.3-3
   url: https://github.com/ros2-gbp/graph_monitor-release.git
   version: 0.2.3
 rmw_test_fixture:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - rmw
+  repository: https://github.com/ros2/ament_cmake_ros
   tag: release/lyrical/rmw_test_fixture/0.15.8-1
   url: https://github.com/ros2-gbp/ament_cmake_ros-release.git
   version: 0.15.8
 rmw_test_fixture_implementation:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_implementation
+  - rmw_implementation_cmake
+  - rmw_test_fixture
+  - rpyutils
+  repository: https://github.com/ros2/ament_cmake_ros
   tag: release/lyrical/rmw_test_fixture_implementation/0.15.8-1
   url: https://github.com/ros2-gbp/ament_cmake_ros-release.git
   version: 0.15.8
 rmw_zenoh_cpp:
-  tag: release/lyrical/rmw_zenoh_cpp/0.10.4-1
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - fastcdr
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_test_fixture
+  - rosidl_buffer_backend_registry
+  - rosidl_typesupport_fastrtps_c
+  - rosidl_typesupport_fastrtps_cpp
+  - tracetools
+  - zenoh_cpp_vendor
+  repository: https://github.com/ros2/rmw_zenoh
+  tag: release/lyrical/rmw_zenoh_cpp/0.10.5-1
   url: https://github.com/ros2-gbp/rmw_zenoh-release.git
-  version: 0.10.4
+  version: 0.10.5
 roboplan:
-  tag: release/lyrical/roboplan/0.4.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - pinocchio
+  - roboplan_example_models
+  - yaml_cpp_vendor
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan/0.6.1-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.4.0
+  version: 0.6.1
+roboplan_cartesian_planning:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - roboplan
+  - roboplan_example_models
+  - roboplan_oink
+  - roboplan_toppra
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan_cartesian_planning/0.6.1-1
+  url: https://github.com/ros2-gbp/roboplan-release.git
+  version: 0.6.1
 roboplan_example_models:
-  tag: release/lyrical/roboplan_example_models/0.4.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan_example_models/0.6.1-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.4.0
+  version: 0.6.1
 roboplan_examples:
-  tag: release/lyrical/roboplan_examples/0.4.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - roboplan
+  - roboplan_cartesian_planning
+  - roboplan_example_models
+  - roboplan_oink
+  - roboplan_rrt
+  - roboplan_simple_ik
+  - roboplan_toppra
+  - xacro
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan_examples/0.6.1-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.4.0
+  version: 0.6.1
 roboplan_oink:
-  tag: release/lyrical/roboplan_oink/0.4.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_python
+  - proxsuite
+  - roboplan
+  - roboplan_example_models
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan_oink/0.6.1-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.4.0
+  version: 0.6.1
+roboplan_ros_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - builtin_interfaces
+  - geometry_msgs
+  - pinocchio
+  - roboplan
+  - roboplan_example_models
+  - rosidl_generator_cpp
+  - sensor_msgs
+  - tf2_eigen
+  - trajectory_msgs
+  repository: https://github.com/open-planning/roboplan-ros
+  tag: release/lyrical/roboplan_ros_cpp/0.6.1-1
+  url: https://github.com/ros2-gbp/roboplan_ros-release.git
+  version: 0.6.1
+roboplan_ros_examples:
+  dependencies:
+  - ament_cmake_python
+  - control_msgs
+  - rclpy
+  - roboplan
+  - sensor_msgs
+  - std_msgs
+  - visualization_msgs
+  repository: https://github.com/open-planning/roboplan-ros
+  tag: release/lyrical/roboplan_ros_examples/0.6.1-1
+  url: https://github.com/ros2-gbp/roboplan_ros-release.git
+  version: 0.6.1
+roboplan_ros_franka:
+  dependencies:
+  - ament_cmake
+  - controller_manager
+  - joint_state_broadcaster
+  - joint_trajectory_controller
+  - parallel_gripper_controller
+  - roboplan
+  - roboplan_example_models
+  - roboplan_ros_examples
+  - robot_state_publisher
+  - topic_tools
+  - xacro
+  repository: https://github.com/open-planning/roboplan-ros
+  tag: release/lyrical/roboplan_ros_franka/0.6.1-1
+  url: https://github.com/ros2-gbp/roboplan_ros-release.git
+  version: 0.6.1
+roboplan_ros_py:
+  dependencies:
+  - builtin_interfaces
+  - rclpy
+  - roboplan
+  - roboplan_ros_cpp
+  - sensor_msgs
+  - trajectory_msgs
+  repository: https://github.com/open-planning/roboplan-ros
+  tag: release/lyrical/roboplan_ros_py/0.6.1-1
+  url: https://github.com/ros2-gbp/roboplan_ros-release.git
+  version: 0.6.1
+roboplan_ros_visualization:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_index_cpp
+  - geometry_msgs
+  - interactive_markers
+  - rclcpp
+  - rclpy
+  - roboplan
+  - roboplan_ros_cpp
+  - roboplan_simple_ik
+  - rviz2
+  - sensor_msgs
+  - visualization_msgs
+  repository: https://github.com/open-planning/roboplan-ros
+  tag: release/lyrical/roboplan_ros_visualization/0.6.1-1
+  url: https://github.com/ros2-gbp/roboplan_ros-release.git
+  version: 0.6.1
 roboplan_rrt:
-  tag: release/lyrical/roboplan_rrt/0.4.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - roboplan
+  - roboplan_example_models
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan_rrt/0.6.1-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.4.0
+  version: 0.6.1
 roboplan_simple_ik:
-  tag: release/lyrical/roboplan_simple_ik/0.4.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - roboplan
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan_simple_ik/0.6.1-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.4.0
+  version: 0.6.1
 roboplan_toppra:
-  tag: release/lyrical/roboplan_toppra/0.4.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - roboplan
+  - roboplan_example_models
+  - toppra
+  repository: https://github.com/open-planning/roboplan
+  tag: release/lyrical/roboplan_toppra/0.6.1-1
   url: https://github.com/ros2-gbp/roboplan-release.git
-  version: 0.4.0
+  version: 0.6.1
 robot_arm_demo:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - libtorch_vendor
+  - rclcpp
+  - rclcpp_components
+  - tensor_msgs
+  - torch_conversions
+  repository: https://github.com/ros2/rosidl_buffer_backends_tutorials
   tag: release/lyrical/robot_arm_demo/0.1.0-1
   url: https://github.com/ros2-gbp/rosidl_buffer_backends_tutorials-release.git
   version: 0.1.0
 robot_calibration:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - camera_calibration_parsers
+  - control_msgs
+  - cv_bridge
+  - geometric_shapes
+  - geometry_msgs
+  - kdl_parser
+  - launch
+  - launch_ros
+  - launch_testing
+  - moveit_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - robot_calibration_msgs
+  - rosbag2_cpp
+  - sensor_msgs
+  - std_msgs
+  - tf2_geometry_msgs
+  - tf2_ros
+  - tinyxml2_vendor
+  - visualization_msgs
+  repository: https://github.com/mikeferguson/robot_calibration
   tag: release/lyrical/robot_calibration/0.10.1-3
   url: https://github.com/ros2-gbp/robot_calibration-release.git
   version: 0.10.1
 robot_calibration_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/mikeferguson/robot_calibration
   tag: release/lyrical/robot_calibration_msgs/0.10.1-3
   url: https://github.com/ros2-gbp/robot_calibration-release.git
   version: 0.10.1
 robot_localization:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - builtin_interfaces
+  - diagnostic_msgs
+  - diagnostic_updater
+  - geographic_msgs
+  - geometry_msgs
+  - launch_ros
+  - launch_testing_ament_cmake
+  - message_filters
+  - nav_msgs
+  - rclcpp
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_ros
+  - yaml_cpp_vendor
+  repository: https://github.com/cra-ros-pkg/robot_localization
   tag: release/lyrical/robot_localization/3.10.0-4
   url: https://github.com/ros2-gbp/robot_localization-release.git
   version: 3.10.0
 robot_state_publisher:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - kdl_parser
+  - launch_ros
+  - launch_testing_ament_cmake
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - tf2_ros
+  - tf2_ros_py
+  - urdf
+  repository: https://github.com/ros/robot_state_publisher
   tag: release/lyrical/robot_state_publisher/3.5.5-3
   url: https://github.com/ros2-gbp/robot_state_publisher-release.git
   version: 3.5.5
 robotiq_controllers:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - controller_interface
+  - std_srvs
+  repository: https://github.com/PickNikRobotics/ros2_robotiq_gripper
   tag: release/lyrical/robotiq_controllers/0.0.1-4
   url: https://github.com/ros2-gbp/ros2_robotiq_gripper-release.git
   version: 0.0.1
 robotiq_description:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - joint_state_publisher_gui
+  - launch
+  - launch_ros
+  - robot_state_publisher
+  - rviz2
+  - urdf
+  - xacro
+  repository: https://github.com/PickNikRobotics/ros2_robotiq_gripper
   tag: release/lyrical/robotiq_description/0.0.1-4
   url: https://github.com/ros2-gbp/ros2_robotiq_gripper-release.git
   version: 0.0.1
 robotraconteur:
+  dependencies: []
+  repository: https://github.com/robotraconteur/robotraconteur
   tag: release/lyrical/robotraconteur/1.2.8-1
   url: https://github.com/ros2-gbp/robotraconteur-release.git
   version: 1.2.8
 robotraconteur_companion:
+  dependencies:
+  - robotraconteur
+  repository: https://github.com/robotraconteur/robotraconteur_companion
   tag: release/lyrical/robotraconteur_companion/0.4.3-1
   url: https://github.com/ros2-gbp/robotraconteur_companion-release.git
   version: 0.4.3
+robstride_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - can_msgs
+  - rclcpp
+  repository: https://github.com/s2015-turtle/robstride_ros2
+  tag: release/lyrical/robstride_driver/0.1.2-1
+  url: https://github.com/ros2-gbp/robstride_ros2-release.git
+  version: 0.1.2
+robstride_examples:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_index_python
+  - controller_manager
+  - forward_command_controller
+  - joint_state_broadcaster
+  - launch
+  - launch_ros
+  - robot_state_publisher
+  - robstride_ros2_control
+  - ros2_socketcan
+  - xacro
+  repository: https://github.com/s2015-turtle/robstride_ros2
+  tag: release/lyrical/robstride_examples/0.1.2-1
+  url: https://github.com/ros2-gbp/robstride_ros2-release.git
+  version: 0.1.2
+robstride_ros2:
+  dependencies:
+  - ament_cmake
+  - robstride_driver
+  - robstride_examples
+  - robstride_ros2_control
+  repository: https://github.com/s2015-turtle/robstride_ros2
+  tag: release/lyrical/robstride_ros2/0.1.2-1
+  url: https://github.com/ros2-gbp/robstride_ros2-release.git
+  version: 0.1.2
+robstride_ros2_control:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - robstride_driver
+  repository: https://github.com/s2015-turtle/robstride_ros2
+  tag: release/lyrical/robstride_ros2_control/0.1.2-1
+  url: https://github.com/ros2-gbp/robstride_ros2-release.git
+  version: 0.1.2
 ros2_control:
-  tag: release/lyrical/ros2_control/6.7.1-1
+  dependencies:
+  - ament_cmake
+  - controller_interface
+  - controller_manager
+  - controller_manager_msgs
+  - hardware_interface
+  - joint_limits
+  - ros2_control_test_assets
+  - ros2controlcli
+  - transmission_interface
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/ros2_control/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 ros2_control_cmake:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros-controls/ros2_control_cmake
   tag: release/lyrical/ros2_control_cmake/0.3.0-3
   url: https://github.com/ros2-gbp/ros2_control_cmake-release.git
   version: 0.3.0
 ros2_control_test_assets:
-  tag: release/lyrical/ros2_control_test_assets/6.7.1-1
+  dependencies:
+  - ament_cmake
+  - ros2_control_cmake
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/ros2_control_test_assets/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 ros2_controllers:
-  tag: release/lyrical/ros2_controllers/6.7.0-1
+  dependencies:
+  - ackermann_steering_controller
+  - admittance_controller
+  - ament_cmake
+  - battery_state_broadcaster
+  - bicycle_steering_controller
+  - chained_filter_controller
+  - diff_drive_controller
+  - force_torque_sensor_broadcaster
+  - forward_command_controller
+  - gpio_controllers
+  - gps_sensor_broadcaster
+  - imu_sensor_broadcaster
+  - joint_state_broadcaster
+  - joint_trajectory_controller
+  - magnetometer_broadcaster
+  - mecanum_drive_controller
+  - motion_primitives_controllers
+  - omni_wheel_drive_controller
+  - parallel_gripper_controller
+  - pid_controller
+  - pose_broadcaster
+  - range_sensor_broadcaster
+  - state_interfaces_broadcaster
+  - steering_controllers_library
+  - tricycle_controller
+  - tricycle_steering_controller
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/ros2_controllers/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 ros2_controllers_test_nodes:
-  tag: release/lyrical/ros2_controllers_test_nodes/6.7.0-1
+  dependencies:
+  - launch_ros
+  - launch_testing_ros
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  - trajectory_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/ros2_controllers_test_nodes/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 ros2_fmt_logger:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - backward_ros
+  - rclcpp
+  - rcutils
+  repository: https://github.com/nobleo/ros2_fmt_logger
   tag: release/lyrical/ros2_fmt_logger/1.1.0-3
   url: https://github.com/ros2-gbp/ros2_fmt_logger-release.git
   version: 1.1.0
+ros2_medkit_action_status_bridge:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_clang_tidy
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - ros2_medkit_cmake
+  - ros2_medkit_fault_manager
+  - ros2_medkit_fault_reporter
+  - ros2_medkit_msgs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_action_status_bridge/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_beacon_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - ros2_medkit_cmake
+  - ros2_medkit_gateway
+  - ros2_medkit_msgs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_beacon_common/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_cmake:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_cmake/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_diagnostic_bridge:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_clang_tidy
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - ros2_medkit_cmake
+  - ros2_medkit_fault_manager
+  - ros2_medkit_fault_reporter
+  - ros2_medkit_msgs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_diagnostic_bridge/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_fault_manager:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_clang_tidy
+  - ament_cmake_gtest
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  - launch_ros
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - ros2_medkit_cmake
+  - ros2_medkit_msgs
+  - ros2_medkit_serialization
+  - rosbag2_cpp
+  - rosbag2_py
+  - rosbag2_storage
+  - rosbag2_storage_mcap
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_fault_manager/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_fault_reporter:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_clang_tidy
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - ros2_medkit_cmake
+  - ros2_medkit_fault_manager
+  - ros2_medkit_msgs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_fault_reporter/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_gateway:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_clang_tidy
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch
+  - launch_ros
+  - lifecycle_msgs
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_action
+  - ros2_medkit_action_status_bridge
+  - ros2_medkit_cmake
+  - ros2_medkit_diagnostic_bridge
+  - ros2_medkit_fault_manager
+  - ros2_medkit_log_bridge
+  - ros2_medkit_msgs
+  - ros2_medkit_serialization
+  - rosidl_parser
+  - rosidl_runtime_py
+  - rosidl_typesupport_cpp
+  - rosidl_typesupport_introspection_cpp
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - yaml_cpp_vendor
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_gateway/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_graph_provider:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - rclcpp
+  - ros2_medkit_cmake
+  - ros2_medkit_gateway
+  - ros2_medkit_msgs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_graph_provider/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_integration_tests:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_index_python
+  - diagnostic_msgs
+  - example_interfaces
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - ros2_medkit_cmake
+  - ros2_medkit_fault_manager
+  - ros2_medkit_gateway
+  - ros2_medkit_graph_provider
+  - ros2_medkit_linux_introspection
+  - ros2_medkit_msgs
+  - ros2_medkit_param_beacon
+  - ros2_medkit_topic_beacon
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_integration_tests/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_linux_introspection:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ros2_medkit_cmake
+  - ros2_medkit_gateway
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_linux_introspection/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_log_bridge:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_clang_tidy
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rcl_interfaces
+  - rclcpp
+  - ros2_medkit_cmake
+  - ros2_medkit_fault_manager
+  - ros2_medkit_fault_reporter
+  - ros2_medkit_msgs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_log_bridge/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - diagnostic_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_msgs/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_param_beacon:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_gmock
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - ros2_medkit_beacon_common
+  - ros2_medkit_cmake
+  - ros2_medkit_gateway
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_param_beacon/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_serialization:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_clang_tidy
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - rcpputils
+  - rcutils
+  - ros2_medkit_cmake
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - test_msgs
+  - yaml_cpp_vendor
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_serialization/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_sovd_service_interface:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - ros2_medkit_cmake
+  - ros2_medkit_gateway
+  - ros2_medkit_msgs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_sovd_service_interface/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
+ros2_medkit_topic_beacon:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - rclcpp
+  - ros2_medkit_beacon_common
+  - ros2_medkit_cmake
+  - ros2_medkit_gateway
+  - ros2_medkit_msgs
+  repository: https://github.com/selfpatch/ros2_medkit
+  tag: release/lyrical/ros2_medkit_topic_beacon/0.6.0-1
+  url: https://github.com/ros2-gbp/ros2_medkit-release.git
+  version: 0.6.0
 ros2_snapshot:
+  dependencies:
+  - ament_index_python
+  - demo_nodes_py
+  - rclpy
+  - ros2cli
+  - ros2component
+  - ros2node
+  - ros2param
+  - ros2pkg
+  - ros2service
+  - std_srvs
+  repository: https://github.com/cnurobotics/ros2_snapshot
   tag: release/lyrical/ros2_snapshot/0.0.7-1
   url: https://github.com/ros2-gbp/ros2_snapshot-release.git
   version: 0.0.7
 ros2_socketcan:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - can_msgs
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - ros2_socketcan_msgs
+  repository: https://github.com/autowarefoundation/ros2_socketcan
   tag: release/lyrical/ros2_socketcan/1.3.0-3
   url: https://github.com/ros2-gbp/ros2_socketcan-release.git
   version: 1.3.0
 ros2_socketcan_msgs:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/autowarefoundation/ros2_socketcan
   tag: release/lyrical/ros2_socketcan_msgs/1.3.0-3
   url: https://github.com/ros2-gbp/ros2_socketcan-release.git
   version: 1.3.0
 ros2acceleration:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  - ros2cli
+  - rosidl_runtime_py
+  - test_msgs
+  repository: https://github.com/ros-acceleration/ros2acceleration
   tag: release/lyrical/ros2acceleration/0.5.1-5
   url: https://github.com/ros2-gbp/ros2acceleration-release.git
   version: 0.5.1
 ros2action:
-  tag: release/lyrical/ros2action/0.40.7-1
+  dependencies:
+  - action_msgs
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_testing
+  - launch_testing_ros
+  - rclpy
+  - ros2cli
+  - rosidl_runtime_py
+  - test_msgs
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2action/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2bag:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - launch_testing
+  - launch_testing_ros
+  - rclpy
+  - ros2cli
+  - rosbag2_py
+  - rosbag2_storage_default_plugins
+  - rosbag2_test_common
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/ros2bag/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 ros2cli:
-  tag: release/lyrical/ros2cli/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  - rmw_test_fixture_implementation
+  - test_msgs
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2cli/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2cli_common_extensions:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - launch_xml
+  - launch_yaml
+  - ros2action
+  - ros2cli
+  - ros2component
+  - ros2doctor
+  - ros2interface
+  - ros2launch
+  - ros2lifecycle
+  - ros2multicast
+  - ros2node
+  - ros2param
+  - ros2pkg
+  - ros2plugin
+  - ros2run
+  - ros2service
+  - ros2topic
+  - sros2
+  repository: https://github.com/ros2/ros2cli_common_extensions
   tag: release/lyrical/ros2cli_common_extensions/0.5.2-3
   url: https://github.com/ros2-gbp/ros2cli_common_extensions-release.git
   version: 0.5.2
 ros2cli_test_interfaces:
-  tag: release/lyrical/ros2cli_test_interfaces/0.40.7-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2cli_test_interfaces/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2component:
-  tag: release/lyrical/ros2component/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - composition_interfaces
+  - rcl_interfaces
+  - rclcpp_components
+  - rclpy
+  - ros2cli
+  - ros2node
+  - ros2param
+  - ros2pkg
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2component/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2controlcli:
-  tag: release/lyrical/ros2controlcli/6.7.1-1
+  dependencies:
+  - control_msgs
+  - controller_manager
+  - controller_manager_msgs
+  - rcl_interfaces
+  - rclpy
+  - ros2cli
+  - ros2node
+  - ros2param
+  - rosidl_runtime_py
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/ros2controlcli/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 ros2doctor:
-  tag: release/lyrical/ros2doctor/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - rclpy
+  - ros2action
+  - ros2cli
+  - ros_environment
+  - std_msgs
+  - std_srvs
+  - test_msgs
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2doctor/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2interface:
-  tag: release/lyrical/ros2interface/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_testing
+  - launch_testing_ros
+  - ros2cli
+  - ros2cli_test_interfaces
+  - rosidl_adapter
+  - rosidl_runtime_py
+  - test_msgs
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2interface/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2launch:
-  tag: release/lyrical/ros2launch/0.29.8-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_ros
+  - launch_xml
+  - launch_yaml
+  - ros2cli
+  - ros2pkg
+  repository: https://github.com/ros2/launch_ros
+  tag: release/lyrical/ros2launch/0.29.9-1
   url: https://github.com/ros2-gbp/launch_ros-release.git
-  version: 0.29.8
+  version: 0.29.9
 ros2launch_security:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - demo_nodes_py
+  - launch_ros
+  - nodl_python
+  - ros2launch
+  - sros2
+  repository: https://github.com/osrf/ros2launch_security
   tag: release/lyrical/ros2launch_security/1.0.0-6
   url: https://github.com/ros2-gbp/ros2launch_security-release.git
   version: 1.0.0
 ros2launch_security_examples:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - nodl_python
+  - nodl_to_policy
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - ros2launch_security
+  - sensor_msgs
+  - sros2
+  repository: https://github.com/osrf/ros2launch_security
   tag: release/lyrical/ros2launch_security_examples/1.0.0-6
   url: https://github.com/ros2-gbp/ros2launch_security-release.git
   version: 1.0.0
 ros2lifecycle:
-  tag: release/lyrical/ros2lifecycle/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - lifecycle_msgs
+  - rclpy
+  - ros2cli
+  - ros2lifecycle_test_fixtures
+  - ros2node
+  - ros2service
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2lifecycle/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2lifecycle_test_fixtures:
-  tag: release/lyrical/ros2lifecycle_test_fixtures/0.40.7-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_lifecycle
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2lifecycle_test_fixtures/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2multicast:
-  tag: release/lyrical/ros2multicast/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - ros2cli
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2multicast/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2node:
-  tag: release/lyrical/ros2node/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - rclpy
+  - ros2cli
+  - test_msgs
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2node/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2nodl:
+  dependencies:
+  - ament_flake8
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - ament_mypy
+  - nodl_python
+  - ros2cli
+  - ros2pkg
+  - ros2run
+  repository: https://github.com/ros-tooling/nodl
   tag: release/lyrical/ros2nodl/0.3.1-6
   url: https://github.com/ros2-gbp/nodl-release.git
   version: 0.3.1
 ros2param:
-  tag: release/lyrical/ros2param/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - rcl_interfaces
+  - rclpy
+  - ros2cli
+  - ros2node
+  - ros2service
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2param/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2pkg:
-  tag: release/lyrical/ros2pkg/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_testing
+  - launch_testing_ros
+  - ros2cli
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2pkg/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2plugin:
-  tag: release/lyrical/ros2plugin/5.8.4-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  - ros2cli
+  - ros2pkg
+  repository: https://github.com/ros/pluginlib
+  tag: release/lyrical/ros2plugin/5.8.5-1
   url: https://github.com/ros2-gbp/pluginlib-release.git
-  version: 5.8.4
+  version: 5.8.5
 ros2run:
-  tag: release/lyrical/ros2run/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - ros2cli
+  - ros2pkg
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2run/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2service:
-  tag: release/lyrical/ros2service/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - rclpy
+  - ros2cli
+  - rosidl_runtime_py
+  - test_msgs
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2service/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2test:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - domain_coordinator
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - ros2cli
+  repository: https://github.com/ros2/ros_testing
   tag: release/lyrical/ros2test/0.9.1-3
   url: https://github.com/ros2-gbp/ros_testing-release.git
   version: 0.9.1
 ros2topic:
-  tag: release/lyrical/ros2topic/0.40.7-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - geometry_msgs
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ros
+  - rclpy
+  - ros2cli
+  - rosgraph_msgs
+  - rosidl_runtime_py
+  - std_msgs
+  - test_msgs
+  repository: https://github.com/ros2/ros2cli
+  tag: release/lyrical/ros2topic/0.40.9-1
   url: https://github.com/ros2-gbp/ros2cli-release.git
-  version: 0.40.7
+  version: 0.40.9
 ros2trace:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - ros2cli
+  - tracetools_trace
+  repository: https://github.com/ros2/ros2_tracing
   tag: release/lyrical/ros2trace/8.10.2-1
   url: https://github.com/ros2-gbp/ros2_tracing-release.git
   version: 8.10.2
 ros2trace_analysis:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - ros2cli
+  - tracetools_analysis
+  repository: https://github.com/ros-tracing/tracetools_analysis
   tag: release/lyrical/ros2trace_analysis/3.1.0-3
   url: https://github.com/ros2-gbp/tracetools_analysis-release.git
   version: 3.1.0
 ros_babel_fish:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - example_interfaces
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_action
+  - rcpputils
+  - ros_babel_fish_test_msgs
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_cpp
+  - rosidl_typesupport_introspection_cpp
+  - std_msgs
+  repository: https://github.com/LOEWE-emergenCITY/ros2_babel_fish
   tag: release/lyrical/ros_babel_fish/4.26.43-3
   url: https://github.com/ros2-gbp/ros_babel_fish-release.git
   version: 4.26.43
 ros_babel_fish_test_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/LOEWE-emergenCITY/ros2_babel_fish
   tag: release/lyrical/ros_babel_fish_test_msgs/4.26.43-3
   url: https://github.com/ros2-gbp/ros_babel_fish-release.git
   version: 4.26.43
 ros_babel_fish_tools:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - geometry_msgs
+  - rclcpp
+  - ros_babel_fish
+  - ros_babel_fish_test_msgs
+  - std_msgs
+  - yaml_cpp_vendor
+  repository: https://github.com/LOEWE-emergenCITY/ros2_babel_fish
   tag: release/lyrical/ros_babel_fish_tools/4.26.43-3
   url: https://github.com/ros2-gbp/ros_babel_fish-release.git
   version: 4.26.43
 ros_base:
+  dependencies:
+  - ament_cmake
+  - geometry2
+  - kdl_parser
+  - robot_state_publisher
+  - ros_core
+  - rosbag2
+  - urdf
+  repository: https://github.com/ros2/variants
   tag: release/lyrical/ros_base/0.13.0-3
   url: https://github.com/ros2-gbp/variants-release.git
   version: 0.13.0
 ros_core:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - class_loader
+  - common_interfaces
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - launch_xml
+  - launch_yaml
+  - pluginlib
+  - rcl_lifecycle
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_lifecycle
+  - rclpy
+  - ros2cli_common_extensions
+  - ros2launch
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sros2
+  - sros2_cmake
+  repository: https://github.com/ros2/variants
   tag: release/lyrical/ros_core/0.13.0-3
   url: https://github.com/ros2-gbp/variants-release.git
   version: 0.13.0
 ros_environment:
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ros/ros_environment
   tag: release/lyrical/ros_environment/4.5.1-1
   url: https://github.com/ros2-gbp/ros_environment-release.git
   version: 4.5.1
 ros_gz:
-  tag: release/lyrical/ros_gz/3.0.9-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - ros_gz_bridge
+  - ros_gz_image
+  - ros_gz_sim
+  - ros_gz_sim_demos
+  repository: https://github.com/gazebosim/ros_gz
+  tag: release/lyrical/ros_gz/3.0.10-1
   url: https://github.com/ros2-gbp/ros_ign-release.git
-  version: 3.0.9
+  version: 3.0.10
 ros_gz_bridge:
-  tag: release/lyrical/ros_gz_bridge/3.0.9-1
+  dependencies:
+  - actuator_msgs
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - gps_msgs
+  - gz_msgs_vendor
+  - gz_transport_vendor
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - marine_acoustic_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - ros_gz_interfaces
+  - rosgraph_msgs
+  - rosidl_pycommon
+  - sensor_msgs
+  - std_msgs
+  - tf2_msgs
+  - trajectory_msgs
+  - vision_msgs
+  - yaml_cpp_vendor
+  repository: https://github.com/gazebosim/ros_gz
+  tag: release/lyrical/ros_gz_bridge/3.0.10-1
   url: https://github.com/ros2-gbp/ros_ign-release.git
-  version: 3.0.9
+  version: 3.0.10
 ros_gz_image:
-  tag: release/lyrical/ros_gz_image/3.0.9-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - gz_msgs_vendor
+  - gz_transport_vendor
+  - image_transport
+  - rclcpp
+  - ros_gz_bridge
+  - sensor_msgs
+  repository: https://github.com/gazebosim/ros_gz
+  tag: release/lyrical/ros_gz_image/3.0.10-1
   url: https://github.com/ros2-gbp/ros_ign-release.git
-  version: 3.0.9
+  version: 3.0.10
 ros_gz_interfaces:
-  tag: release/lyrical/ros_gz_interfaces/3.0.9-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rcl_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/gazebosim/ros_gz
+  tag: release/lyrical/ros_gz_interfaces/3.0.10-1
   url: https://github.com/ros2-gbp/ros_ign-release.git
-  version: 3.0.9
+  version: 3.0.10
 ros_gz_sim:
-  tag: release/lyrical/ros_gz_sim/3.0.9-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - gz_math_vendor
+  - gz_msgs_vendor
+  - gz_sim_vendor
+  - gz_transport_vendor
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rcpputils
+  - ros2pkg
+  - ros_gz_bridge
+  - ros_gz_interfaces
+  - simulation_interfaces
+  - std_msgs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/gazebosim/ros_gz
+  tag: release/lyrical/ros_gz_sim/3.0.10-1
   url: https://github.com/ros2-gbp/ros_ign-release.git
-  version: 3.0.9
+  version: 3.0.10
 ros_gz_sim_demos:
-  tag: release/lyrical/ros_gz_sim_demos/3.0.9-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - gz_sim_vendor
+  - image_transport_plugins
+  - marine_acoustic_msgs
+  - robot_state_publisher
+  - ros_gz_bridge
+  - ros_gz_image
+  - ros_gz_sim
+  - rqt_image_view
+  - rqt_plot
+  - rqt_topic
+  - rviz2
+  - rviz_imu_plugin
+  - sdformat_urdf
+  - tf2_ros
+  - xacro
+  repository: https://github.com/gazebosim/ros_gz
+  tag: release/lyrical/ros_gz_sim_demos/3.0.10-1
   url: https://github.com/ros2-gbp/ros_ign-release.git
-  version: 3.0.9
+  version: 3.0.10
 ros_image_to_qimage:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - python_qt_binding
+  - sensor_msgs
+  repository: https://github.com/ros-sports/ros_image_to_qimage
   tag: release/lyrical/ros_image_to_qimage/0.4.1-5
   url: https://github.com/ros2-gbp/ros_image_to_qimage-release.git
   version: 0.4.1
 ros_industrial_cmake_boilerplate:
-  tag: release/lyrical/ros_industrial_cmake_boilerplate/0.5.4-3
+  dependencies: []
+  repository: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate
+  tag: release/lyrical/ros_industrial_cmake_boilerplate/0.7.5-1
   url: https://github.com/ros2-gbp/ros_industrial_cmake_boilerplate-release.git
-  version: 0.5.4
+  version: 0.7.5
+ros_snapd_interfaces:
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/canonical/ros_snapd_interfaces
+  tag: release/lyrical/ros_snapd_interfaces/0.0.1-1
+  url: https://github.com/ros2-gbp/ros_snapd_interfaces-release.git
+  version: 0.0.1
 ros_testing:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_core
+  - ament_cmake_export_dependencies
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - ros2test
+  repository: https://github.com/ros2/ros_testing
   tag: release/lyrical/ros_testing/0.9.1-3
   url: https://github.com/ros2-gbp/ros_testing-release.git
   version: 0.9.1
 ros_workspace:
+  dependencies:
+  - ament_cmake_core
+  - ament_package
+  repository: https://github.com/ros2/ros_workspace
   tag: release/lyrical/ros_workspace/1.0.3-9
   url: https://github.com/ros2-gbp/ros_workspace-release.git
   version: 1.0.3
 rosapi:
-  tag: release/lyrical/rosapi/4.2.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_mypy
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - builtin_interfaces
+  - geometry_msgs
+  - rcl_interfaces
+  - rclpy
+  - rmw_dds_common
+  - ros2action
+  - ros2interface
+  - ros2node
+  - ros2service
+  - ros2topic
+  - rosapi_msgs
+  - rosbridge_library
+  - rosidl_adapter
+  - rosidl_runtime_py
+  - sensor_msgs
+  - shape_msgs
+  repository: https://github.com/RobotWebTools/rosbridge_suite
+  tag: release/lyrical/rosapi/4.2.1-1
   url: https://github.com/ros2-gbp/rosbridge_suite-release.git
-  version: 4.2.0
+  version: 4.2.1
 rosapi_msgs:
-  tag: release/lyrical/rosapi_msgs/4.2.0-1
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/RobotWebTools/rosbridge_suite
+  tag: release/lyrical/rosapi_msgs/4.2.1-1
   url: https://github.com/ros2-gbp/rosbridge_suite-release.git
-  version: 4.2.0
+  version: 4.2.1
 rosbag2:
+  dependencies:
+  - ament_cmake
+  - ros2bag
+  - rosbag2_compression
+  - rosbag2_compression_zstd
+  - rosbag2_cpp
+  - rosbag2_py
+  - rosbag2_storage
+  - rosbag2_storage_default_plugins
+  - rosbag2_test_common
+  - rosbag2_tests
+  - rosbag2_transport
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_compression:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rcpputils
+  - rcutils
+  - rosbag2_cpp
+  - rosbag2_storage
+  - rosbag2_test_common
+  - test_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_compression/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_compression_zstd:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - rclcpp
+  - rcutils
+  - rosbag2_compression
+  - rosbag2_test_common
+  - zstd_cmake_module
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_compression_zstd/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - rclcpp
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_implementation
+  - rmw_implementation_cmake
+  - rosbag2_storage
+  - rosbag2_storage_default_plugins
+  - rosbag2_test_common
+  - rosbag2_test_msgdefs
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_cpp
+  - rosidl_typesupport_introspection_cpp
+  - std_msgs
+  - test_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_cpp/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_examples_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rclcpp
+  - rosbag2_compression
+  - rosbag2_cpp
+  - rosbag2_transport
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_examples_cpp/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_examples_py:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - rclpy
+  - rosbag2_compression
+  - rosbag2_py
+  - rosidl_runtime_py
+  - std_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_examples_py/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_interfaces/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_performance_benchmarking:
+  dependencies:
+  - ament_cmake
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  - launch_ros
+  - rclcpp
+  - rmw
+  - ros2bag
+  - ros2launch
+  - ros_testing
+  - rosbag2_compression
+  - rosbag2_cpp
+  - rosbag2_performance_benchmarking_msgs
+  - rosbag2_py
+  - rosbag2_storage
+  - rosbag2_storage_default_plugins
+  - rosbag2_test_common
+  - sensor_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_performance_benchmarking/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_performance_benchmarking_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - rosidl_typesupport_cpp
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_performance_benchmarking_msgs/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_py:
+  dependencies:
+  - ament_cmake_python
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rcl_interfaces
+  - rclpy
+  - rosbag2_compression
+  - rosbag2_compression_zstd
+  - rosbag2_cpp
+  - rosbag2_storage
+  - rosbag2_storage_default_plugins
+  - rosbag2_test_common
+  - rosbag2_test_msgdefs
+  - rosbag2_transport
+  - rosidl_runtime_py
+  - rpyutils
+  - std_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_py/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_storage:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - rclcpp
+  - rcutils
+  - rmw
+  - rosbag2_test_common
+  - yaml_cpp_vendor
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_storage/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_storage_broll:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - broll
+  - pluginlib
+  - rclcpp
+  - rosbag2_cpp
+  - rosbag2_storage
+  - rosbag2_transport
+  - sensor_msgs
+  repository: https://github.com/ros-tooling/rosbag2_broll
   tag: release/lyrical/rosbag2_storage_broll/0.1.0-3
   url: https://github.com/ros2-gbp/rosbag2_broll-release.git
   version: 0.1.0
 rosbag2_storage_default_plugins:
+  dependencies:
+  - ament_cmake
+  - rosbag2_storage_mcap
+  - rosbag2_storage_sqlite3
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_storage_default_plugins/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_storage_mcap:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_gmock
+  - ament_cmake_python
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - mcap_vendor
+  - pluginlib
+  - rcutils
+  - rosbag2_storage
+  - rosbag2_test_common
+  - std_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_storage_mcap/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_storage_sqlite3:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - rcpputils
+  - rcutils
+  - rosbag2_storage
+  - rosbag2_test_common
+  - std_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_storage_sqlite3/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_test_common:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_action
+  - rcpputils
+  - rcutils
+  - test_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_test_common/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_test_msgdefs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_test_msgdefs/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_tests:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rcpputils
+  - ros2bag
+  - rosbag2_compression
+  - rosbag2_compression_zstd
+  - rosbag2_cpp
+  - rosbag2_interfaces
+  - rosbag2_storage
+  - rosbag2_storage_default_plugins
+  - rosbag2_test_common
+  - rosbag2_transport
+  - std_msgs
+  - test_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_tests/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2_to_video:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - cv_bridge
+  - rclpy
+  - ros2bag
+  - rosbag2_py
+  - rosidl_runtime_py
+  repository: https://github.com/fictionlab/rosbag2_to_video
   tag: release/lyrical/rosbag2_to_video/1.0.1-3
   url: https://github.com/ros2-gbp/rosbag2_to_video-release.git
   version: 1.0.1
 rosbag2_transport:
+  dependencies:
+  - ament_cmake_gmock
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - composition_interfaces
+  - keyboard_handler
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rcpputils
+  - rcutils
+  - rmw
+  - rmw_implementation_cmake
+  - rosbag2_compression
+  - rosbag2_compression_zstd
+  - rosbag2_cpp
+  - rosbag2_interfaces
+  - rosbag2_storage
+  - rosbag2_storage_default_plugins
+  - rosbag2_test_common
+  - test_msgs
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/rosbag2_transport/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 rosbag2rawlog:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - cv_bridge
+  - mrpt_libmaps
+  - mrpt_libros_bridge
+  - mrpt_msgs
+  - nav_msgs
+  - rosbag2_cpp
+  - sensor_msgs
+  - tf2_geometry_msgs
+  - tf2_msgs
+  - tf2_ros
+  repository: https://github.com/MRPT/mrpt_ros_bridge
   tag: release/lyrical/rosbag2rawlog/3.5.3-1
   url: https://github.com/ros2-gbp/mrpt_ros_bridge-release.git
   version: 3.5.3
+rosbag_timing_inspector:
+  dependencies:
+  - ament_cmake
+  - rosbag2_cpp
+  - rosbag2_storage
+  repository: https://github.com/MOLAorg/rosbag_timing_inspector
+  tag: release/lyrical/rosbag_timing_inspector/1.0.2-1
+  url: https://github.com/ros2-gbp/rosbag_timing_inspector-release.git
+  version: 1.0.2
 rosbridge_library:
-  tag: release/lyrical/rosbridge_library/4.2.0-1
+  dependencies:
+  - action_msgs
+  - ament_cmake_mypy
+  - ament_cmake_python
+  - ament_cmake_ros
+  - builtin_interfaces
+  - control_msgs
+  - diagnostic_msgs
+  - example_interfaces
+  - geometry_msgs
+  - nav_msgs
+  - rcl_interfaces
+  - rclpy
+  - rosbridge_test_msgs
+  - rosidl_pycommon
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - stereo_msgs
+  - tf2_msgs
+  - trajectory_msgs
+  - visualization_msgs
+  repository: https://github.com/RobotWebTools/rosbridge_suite
+  tag: release/lyrical/rosbridge_library/4.2.1-1
   url: https://github.com/ros2-gbp/rosbridge_suite-release.git
-  version: 4.2.0
+  version: 4.2.1
 rosbridge_msgs:
-  tag: release/lyrical/rosbridge_msgs/4.2.0-1
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/RobotWebTools/rosbridge_suite
+  tag: release/lyrical/rosbridge_msgs/4.2.1-1
   url: https://github.com/ros2-gbp/rosbridge_suite-release.git
-  version: 4.2.0
+  version: 4.2.1
 rosbridge_server:
-  tag: release/lyrical/rosbridge_server/4.2.0-1
+  dependencies:
+  - action_msgs
+  - ament_cmake_mypy
+  - ament_cmake_python
+  - ament_cmake_ros
+  - example_interfaces
+  - launch
+  - launch_ros
+  - launch_testing_ament_cmake
+  - rcl_interfaces
+  - rclpy
+  - rosapi
+  - rosbridge_library
+  - rosbridge_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/RobotWebTools/rosbridge_suite
+  tag: release/lyrical/rosbridge_server/4.2.1-1
   url: https://github.com/ros2-gbp/rosbridge_suite-release.git
-  version: 4.2.0
+  version: 4.2.1
 rosbridge_suite:
-  tag: release/lyrical/rosbridge_suite/4.2.0-1
+  dependencies:
+  - ament_cmake
+  - rosapi
+  - rosbridge_library
+  - rosbridge_server
+  repository: https://github.com/RobotWebTools/rosbridge_suite
+  tag: release/lyrical/rosbridge_suite/4.2.1-1
   url: https://github.com/ros2-gbp/rosbridge_suite-release.git
-  version: 4.2.0
+  version: 4.2.1
 rosbridge_test_msgs:
-  tag: release/lyrical/rosbridge_test_msgs/4.2.0-1
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/RobotWebTools/rosbridge_suite
+  tag: release/lyrical/rosbridge_test_msgs/4.2.1-1
   url: https://github.com/ros2-gbp/rosbridge_suite-release.git
-  version: 4.2.0
+  version: 4.2.1
 rosgraph_monitor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_aggregator
+  - diagnostic_msgs
+  - diagnostic_updater
+  - generate_parameter_library
+  - launch_ros
+  - launch_testing_ament_cmake
+  - rclcpp
+  - rclcpp_components
+  - rmw_implementation
+  - rmw_stats_shim
+  - rosgraph_monitor_msgs
+  repository: https://github.com/ros-tooling/graph-monitor
   tag: release/lyrical/rosgraph_monitor/0.2.3-3
   url: https://github.com/ros2-gbp/graph_monitor-release.git
   version: 0.2.3
 rosgraph_monitor_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rcl_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-tooling/graph-monitor
   tag: release/lyrical/rosgraph_monitor_msgs/0.2.3-3
   url: https://github.com/ros2-gbp/graph_monitor-release.git
   version: 0.2.3
 rosgraph_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rcl_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/rosgraph_msgs/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 rosidl_adapter:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_core
+  - ament_cmake_mypy
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_cli
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_adapter/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_buffer:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_buffer/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_buffer_backend:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rmw
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_buffer_backend/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_buffer_backend_registry:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - rmw
+  - rosidl_buffer
+  - rosidl_buffer_backend
+  - rosidl_runtime_cpp
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_buffer_backend_registry/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_buffer_py:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_buffer
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_buffer_py/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_cli:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_cli/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_cmake:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_pycommon
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_cmake/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_core_generators:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_core
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_cmake
+  - rosidl_generator_c
+  - rosidl_generator_cpp
+  - rosidl_generator_py
+  - rosidl_generator_rs
+  - rosidl_typesupport_c
+  - rosidl_typesupport_cpp
+  - rosidl_typesupport_fastrtps_c
+  - rosidl_typesupport_fastrtps_cpp
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  repository: https://github.com/ros2/rosidl_core
   tag: release/lyrical/rosidl_core_generators/0.4.3-3
   url: https://github.com/ros2-gbp/rosidl_core-release.git
   version: 0.4.3
 rosidl_core_runtime:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_buffer_py
+  - rosidl_generator_py
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_c
+  - rosidl_typesupport_cpp
+  - rosidl_typesupport_fastrtps_c
+  - rosidl_typesupport_fastrtps_cpp
+  - rosidl_typesupport_introspection_c
+  - rosidl_typesupport_introspection_cpp
+  repository: https://github.com/ros2/rosidl_core
   tag: release/lyrical/rosidl_core_runtime/0.4.3-3
   url: https://github.com/ros2-gbp/rosidl_core-release.git
   version: 0.4.3
 rosidl_default_generators:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_core
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_core_generators
+  - service_msgs
+  repository: https://github.com/ros2/rosidl_defaults
   tag: release/lyrical/rosidl_default_generators/1.8.1-3
   url: https://github.com/ros2-gbp/rosidl_defaults-release.git
   version: 1.8.1
 rosidl_default_runtime:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_core_runtime
+  - service_msgs
+  repository: https://github.com/ros2/rosidl_defaults
   tag: release/lyrical/rosidl_default_runtime/1.8.1-3
   url: https://github.com/ros2-gbp/rosidl_defaults-release.git
   version: 1.8.1
 rosidl_dynamic_typesupport:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros_core
+  - rcutils
+  - rosidl_runtime_c
+  repository: https://github.com/ros2/rosidl_dynamic_typesupport
   tag: release/lyrical/rosidl_dynamic_typesupport/0.4.1-3
   url: https://github.com/ros2-gbp/rosidl_dynamic_typesupport-release.git
   version: 0.4.1
 rosidl_dynamic_typesupport_fastrtps:
+  dependencies:
+  - ament_cmake_ros_core
+  - fastcdr
+  - fastdds
+  - rcpputils
+  - rcutils
+  - rosidl_dynamic_typesupport
+  repository: https://github.com/ros2/rosidl_dynamic_typesupport_fastrtps
   tag: release/lyrical/rosidl_dynamic_typesupport_fastrtps/0.5.1-3
   url: https://github.com/ros2-gbp/rosidl_dynamic_typesupport_fastrtps-release.git
   version: 0.5.1
 rosidl_generator_c:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_core
+  - ament_cmake_python
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rcutils
+  - rosidl_cli
+  - rosidl_cmake
+  - rosidl_generator_type_description
+  - rosidl_parser
+  - rosidl_pycommon
+  - rosidl_typesupport_interface
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_generator_c/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_generator_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_core
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_cli
+  - rosidl_cmake
+  - rosidl_generator_c
+  - rosidl_generator_type_description
+  - rosidl_parser
+  - rosidl_pycommon
+  - rosidl_runtime_cpp
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_generator_cpp/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_generator_dds_idl:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_cli
+  - rosidl_pycommon
+  repository: https://github.com/ros2/rosidl_dds
   tag: release/lyrical/rosidl_generator_dds_idl/0.13.0-3
   url: https://github.com/ros2-gbp/rosidl_dds-release.git
   version: 0.13.0
 rosidl_generator_py:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_mypy
+  - ament_cmake_pep257
+  - ament_cmake_pytest
+  - ament_cmake_uncrustify
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rmw
+  - rosidl_buffer_py
+  - rosidl_cli
+  - rosidl_cmake
+  - rosidl_generator_c
+  - rosidl_generator_cpp
+  - rosidl_parser
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_typesupport_c
+  - rosidl_typesupport_fastrtps_c
+  - rosidl_typesupport_interface
+  - rosidl_typesupport_introspection_c
+  - rpyutils
+  - test_interface_files
+  repository: https://github.com/ros2/rosidl_python
   tag: release/lyrical/rosidl_generator_py/0.27.2-3
   url: https://github.com/ros2-gbp/rosidl_python-release.git
   version: 0.27.2
 rosidl_generator_rs:
-  tag: release/lyrical/rosidl_generator_rs/0.4.12-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - ros_environment
+  - rosidl_generator_c
+  - rosidl_parser
+  - rosidl_pycommon
+  - rosidl_typesupport_c
+  - rosidl_typesupport_interface
+  repository: https://github.com/ros2-rust/rosidl_rust
+  tag: release/lyrical/rosidl_generator_rs/0.5.0-2
   url: https://github.com/ros2-gbp/rosidl_rust-release.git
-  version: 0.4.12
+  version: 0.5.0
 rosidl_generator_type_description:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_cli
+  - rosidl_parser
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_generator_type_description/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_parser:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_mypy
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_adapter
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_parser/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_pycommon:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - rosidl_parser
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_pycommon/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_runtime_c:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  - performance_test_fixture
+  - rcutils
+  - rosidl_buffer
+  - rosidl_typesupport_interface
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_runtime_c/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_runtime_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - performance_test_fixture
+  - rosidl_buffer
+  - rosidl_runtime_c
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_runtime_cpp/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_runtime_py:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - rosidl_buffer_py
+  - rosidl_parser
+  - std_msgs
+  - std_srvs
+  - test_msgs
+  repository: https://github.com/ros2/rosidl_runtime_py
   tag: release/lyrical/rosidl_runtime_py/0.15.2-3
   url: https://github.com/ros2-gbp/rosidl_runtime_py-release.git
   version: 0.15.2
 rosidl_typesupport_c:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - mimick_vendor
+  - performance_test_fixture
+  - rcpputils
+  - rcutils
+  - rosidl_cli
+  - rosidl_generator_c
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_typesupport_interface
+  - rosidl_typesupport_introspection_c
+  repository: https://github.com/ros2/rosidl_typesupport
   tag: release/lyrical/rosidl_typesupport_c/3.4.2-3
   url: https://github.com/ros2-gbp/rosidl_typesupport-release.git
   version: 3.4.2
 rosidl_typesupport_cpp:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - performance_test_fixture
+  - rcpputils
+  - rcutils
+  - rosidl_cli
+  - rosidl_generator_c
+  - rosidl_generator_type_description
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_c
+  - rosidl_typesupport_interface
+  - rosidl_typesupport_introspection_cpp
+  repository: https://github.com/ros2/rosidl_typesupport
   tag: release/lyrical/rosidl_typesupport_cpp/3.4.2-3
   url: https://github.com/ros2-gbp/rosidl_typesupport-release.git
   version: 3.4.2
 rosidl_typesupport_fastrtps_c:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - fastcdr
+  - osrf_testing_tools_cpp
+  - performance_test_fixture
+  - rcutils
+  - rmw
+  - rosidl_cli
+  - rosidl_generator_c
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_fastrtps_cpp
+  - rosidl_typesupport_interface
+  repository: https://github.com/ros2/rosidl_typesupport_fastrtps
   tag: release/lyrical/rosidl_typesupport_fastrtps_c/3.9.5-3
   url: https://github.com/ros2-gbp/rosidl_typesupport_fastrtps-release.git
   version: 3.9.5
 rosidl_typesupport_fastrtps_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - fastcdr
+  - osrf_testing_tools_cpp
+  - performance_test_fixture
+  - rcutils
+  - rmw
+  - rosidl_buffer_backend
+  - rosidl_cli
+  - rosidl_generator_c
+  - rosidl_generator_cpp
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_interface
+  repository: https://github.com/ros2/rosidl_typesupport_fastrtps
   tag: release/lyrical/rosidl_typesupport_fastrtps_cpp/3.9.5-3
   url: https://github.com/ros2-gbp/rosidl_typesupport_fastrtps-release.git
   version: 3.9.5
 rosidl_typesupport_interface:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_typesupport_interface/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_typesupport_introspection_c:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_buffer
+  - rosidl_cli
+  - rosidl_cmake
+  - rosidl_generator_c
+  - rosidl_parser
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_typesupport_interface
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_typesupport_introspection_c/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidl_typesupport_introspection_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_buffer
+  - rosidl_cli
+  - rosidl_cmake
+  - rosidl_generator_c
+  - rosidl_generator_cpp
+  - rosidl_parser
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_interface
+  - rosidl_typesupport_introspection_c
+  repository: https://github.com/ros2/rosidl
   tag: release/lyrical/rosidl_typesupport_introspection_cpp/5.2.1-1
   url: https://github.com/ros2-gbp/rosidl-release.git
   version: 5.2.1
 rosidlcpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_core
+  - rosidlcpp_generator_c
+  - rosidlcpp_generator_cpp
+  - rosidlcpp_generator_py
+  - rosidlcpp_generator_type_description
+  - rosidlcpp_typesupport_c
+  - rosidlcpp_typesupport_cpp
+  - rosidlcpp_typesupport_fastrtps_c
+  - rosidlcpp_typesupport_fastrtps_cpp
+  - rosidlcpp_typesupport_introspection_c
+  - rosidlcpp_typesupport_introspection_cpp
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_generator_c:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_core
+  - ament_cmake_ros_core
+  - rcutils
+  - ros_environment
+  - rosidl_cmake
+  - rosidl_generator_type_description
+  - rosidl_typesupport_interface
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_generator_c/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_generator_core:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_generator_core/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_generator_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_core
+  - rcutils
+  - rosidl_cmake
+  - rosidl_generator_type_description
+  - rosidl_typesupport_interface
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_generator_cpp/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_generator_py:
+  dependencies:
+  - ament_cmake
+  - ament_index_python
+  - rmw
+  - rosidl_generator_c
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_typesupport_c
+  - rosidl_typesupport_interface
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_generator_py/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_generator_type_description:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_core
+  - rcutils
+  - rosidl_runtime_c
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_generator_type_description/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_parser:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_pycommon
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_parser/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_typesupport_c:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_ros_core
+  - ament_index_python
+  - rcpputils
+  - rcutils
+  - ros_environment
+  - rosidl_cli
+  - rosidl_generator_c
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_typesupport_interface
+  - rosidl_typesupport_introspection_c
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_typesupport_c/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_typesupport_cpp:
+  dependencies:
+  - ament_cmake_core
+  - ament_cmake_ros_core
+  - ament_index_python
+  - rcpputils
+  - rcutils
+  - ros_environment
+  - rosidl_cli
+  - rosidl_generator_c
+  - rosidl_generator_type_description
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_c
+  - rosidl_typesupport_interface
+  - rosidl_typesupport_introspection_cpp
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_typesupport_cpp/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_typesupport_fastrtps_c:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_cmake_ros
+  - fastcdr
+  - rmw
+  - rosidl_generator_c
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_fastrtps_cpp
+  - rosidl_typesupport_interface
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_typesupport_fastrtps_c/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_typesupport_fastrtps_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_cmake_ros
+  - fastcdr
+  - rmw
+  - rosidl_generator_c
+  - rosidl_generator_cpp
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_interface
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_typesupport_fastrtps_cpp/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_typesupport_introspection_c:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ros_environment
+  - rosidl_cli
+  - rosidl_cmake
+  - rosidl_generator_c
+  - rosidl_parser
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_typesupport_interface
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_typesupport_introspection_c/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosidlcpp_typesupport_introspection_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros_core
+  - ament_index_python
+  - ros_environment
+  - rosidl_cli
+  - rosidl_cmake
+  - rosidl_generator_c
+  - rosidl_generator_cpp
+  - rosidl_parser
+  - rosidl_pycommon
+  - rosidl_runtime_c
+  - rosidl_runtime_cpp
+  - rosidl_typesupport_interface
+  - rosidl_typesupport_introspection_c
+  - rosidlcpp_generator_core
+  - rosidlcpp_parser
+  repository: https://github.com/Tonywelte/rosidlcpp
   tag: release/lyrical/rosidlcpp_typesupport_introspection_cpp/0.6.0-1
   url: https://github.com/ros2-gbp/rosidlcpp-release.git
   version: 0.6.0
 rosx_introspection:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - geometry_msgs
+  - rclcpp
+  - rosbag2_cpp
+  - sensor_msgs
+  repository: https://github.com/facontidavide/rosx_introspection
   tag: release/lyrical/rosx_introspection/2.3.0-3
   url: https://github.com/ros2-gbp/rosx_introspection-release.git
   version: 2.3.0
 rot_conv:
+  dependencies:
+  - ament_cmake
+  - eigen3_cmake_module
+  repository: https://github.com/AIS-Bonn/rot_conv_lib
   tag: release/lyrical/rot_conv/1.1.0-5
   url: https://github.com/ros2-gbp/rot_conv_lib-release.git
   version: 1.1.0
+rplidar_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - diagnostic_updater
+  - geometry_msgs
+  - launch_ros
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/frozenreboot/rplidar_driver
+  tag: release/lyrical/rplidar_driver/1.4.1-1
+  url: https://github.com/ros2-gbp/rplidar_driver-release.git
+  version: 1.4.1
 rplidar_ros:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_ros
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_srvs
+  repository: https://github.com/allenh1/rplidar_ros
   tag: release/lyrical/rplidar_ros/2.1.0-5
   url: https://github.com/ros2-gbp/rplidar_ros-release.git
   version: 2.1.0
 rpyutils:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ros2/rpyutils
   tag: release/lyrical/rpyutils/0.7.2-3
   url: https://github.com/ros2-gbp/rpyutils-release.git
   version: 0.7.2
 rqml:
+  dependencies:
+  - ament_cmake
+  - rqml_core
+  - rqml_default_plugins
+  repository: https://github.com/StefanFabian/rqml
   tag: release/lyrical/rqml/3.26.42-3
   url: https://github.com/ros2-gbp/rqml-release.git
   version: 3.26.42
 rqml_core:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - ament_lint_auto
+  - qml6_ros2_plugin
+  - ros_babel_fish_test_msgs
+  - yaml_cpp_vendor
+  repository: https://github.com/StefanFabian/rqml
   tag: release/lyrical/rqml_core/3.26.42-3
   url: https://github.com/ros2-gbp/rqml-release.git
   version: 3.26.42
 rqml_default_plugins:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - control_msgs
+  - controller_manager_msgs
+  - geometry_msgs
+  - moveit_msgs
+  - pal_statistics_msgs
+  - qml6_ros2_plugin
+  - rcl_interfaces
+  - ros_babel_fish_test_msgs
+  - rqml_core
+  - sensor_msgs
+  - tf2_msgs
+  repository: https://github.com/StefanFabian/rqml
   tag: release/lyrical/rqml_default_plugins/3.26.42-3
   url: https://github.com/ros2-gbp/rqml-release.git
   version: 3.26.42
 rqml_plugin_example:
+  dependencies:
+  - ament_cmake
+  - qml6_ros2_plugin
+  - rqml_core
+  repository: https://github.com/StefanFabian/rqml
   tag: release/lyrical/rqml_plugin_example/3.26.42-3
   url: https://github.com/ros2-gbp/rqml-release.git
   version: 3.26.42
 rqt:
-  tag: release/lyrical/rqt/1.10.5-1
+  dependencies:
+  - rqt_gui
+  - rqt_gui_cpp
+  - rqt_gui_py
+  - rqt_py_common
+  repository: https://github.com/ros-visualization/rqt
+  tag: release/lyrical/rqt/1.10.6-1
   url: https://github.com/ros2-gbp/rqt-release.git
-  version: 1.10.5
+  version: 1.10.6
 rqt_action:
+  dependencies:
+  - ament_flake8
+  - ament_xmllint
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_msg
+  - rqt_py_common
+  repository: https://github.com/ros-visualization/rqt_action
   tag: release/lyrical/rqt_action/2.5.0-1
   url: https://github.com/ros2-gbp/rqt_action-release.git
   version: 2.5.0
 rqt_bag:
-  tag: release/lyrical/rqt_bag/2.2.4-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - builtin_interfaces
+  - python_qt_binding
+  - rclpy
+  - rosbag2_py
+  - rosidl_runtime_py
+  - rqt_gui
+  - rqt_gui_py
+  repository: https://github.com/ros-visualization/rqt_bag
+  tag: release/lyrical/rqt_bag/2.2.5-1
   url: https://github.com/ros2-gbp/rqt_bag-release.git
-  version: 2.2.4
+  version: 2.2.5
 rqt_bag_plugins:
-  tag: release/lyrical/rqt_bag_plugins/2.2.4-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - builtin_interfaces
+  - geometry_msgs
+  - rclpy
+  - rosbag2
+  - rqt_bag
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_plot
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-visualization/rqt_bag
+  tag: release/lyrical/rqt_bag_plugins/2.2.5-1
   url: https://github.com/ros2-gbp/rqt_bag-release.git
-  version: 2.2.4
+  version: 2.2.5
 rqt_common_plugins:
+  dependencies:
+  - ament_cmake
+  - rqt_action
+  - rqt_bag
+  - rqt_bag_plugins
+  - rqt_console
+  - rqt_graph
+  - rqt_image_view
+  - rqt_msg
+  - rqt_plot
+  - rqt_publisher
+  - rqt_py_common
+  - rqt_py_console
+  - rqt_reconfigure
+  - rqt_service_caller
+  - rqt_shell
+  - rqt_srv
+  - rqt_topic
+  repository: https://github.com/ros-visualization/rqt_common_plugins
   tag: release/lyrical/rqt_common_plugins/1.2.0-5
   url: https://github.com/ros2-gbp/rqt_common_plugins-release.git
   version: 1.2.0
 rqt_console:
-  tag: release/lyrical/rqt_console/2.4.3-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  - rcl_interfaces
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_py_common
+  repository: https://github.com/ros-visualization/rqt_console
+  tag: release/lyrical/rqt_console/2.4.4-1
   url: https://github.com/ros2-gbp/rqt_console-release.git
-  version: 2.4.3
+  version: 2.4.4
 rqt_controller_manager:
-  tag: release/lyrical/rqt_controller_manager/6.7.1-1
+  dependencies:
+  - controller_manager
+  - controller_manager_msgs
+  - launch_testing
+  - launch_testing_ros
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/rqt_controller_manager/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 rqt_dotgraph:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - python_qt_binding
+  - qt_dotgraph
+  - qt_gui_py_common
+  - rqt_graph
+  - rqt_gui
+  - rqt_gui_py
+  - std_msgs
+  repository: https://github.com/niwcpac/rqt_dotgraph
   tag: release/lyrical/rqt_dotgraph/0.0.5-3
   url: https://github.com/ros2-gbp/rqt_dotgraph-release.git
   version: 0.0.5
 rqt_gauges:
+  dependencies:
+  - ament_flake8
+  - ament_index_python
+  - ament_xmllint
+  - qt_gui
+  - qt_gui_py_common
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  repository: https://github.com/ToyotaResearchInstitute/gauges2
   tag: release/lyrical/rqt_gauges/0.0.3-3
   url: https://github.com/ros2-gbp/rqt_gauges-release.git
   version: 0.0.3
 rqt_graph:
-  tag: release/lyrical/rqt_graph/1.8.3-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  - qt_dotgraph
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  repository: https://github.com/ros-visualization/rqt_graph
+  tag: release/lyrical/rqt_graph/1.8.5-1
   url: https://github.com/ros2-gbp/rqt_graph-release.git
-  version: 1.8.3
+  version: 1.8.5
 rqt_gui:
-  tag: release/lyrical/rqt_gui/1.10.5-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  - qt_gui
+  - rclpy
+  repository: https://github.com/ros-visualization/rqt
+  tag: release/lyrical/rqt_gui/1.10.6-1
   url: https://github.com/ros2-gbp/rqt-release.git
-  version: 1.10.5
+  version: 1.10.6
 rqt_gui_cpp:
-  tag: release/lyrical/rqt_gui_cpp/1.10.5-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - qt_gui_cpp
+  - rclcpp
+  repository: https://github.com/ros-visualization/rqt
+  tag: release/lyrical/rqt_gui_cpp/1.10.6-1
   url: https://github.com/ros2-gbp/rqt-release.git
-  version: 1.10.5
+  version: 1.10.6
 rqt_gui_py:
-  tag: release/lyrical/rqt_gui_py/1.10.5-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  - qt_gui
+  - rclpy
+  - rqt_gui
+  repository: https://github.com/ros-visualization/rqt
+  tag: release/lyrical/rqt_gui_py/1.10.6-1
   url: https://github.com/ros2-gbp/rqt-release.git
-  version: 1.10.5
+  version: 1.10.6
 rqt_image_overlay:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - compressed_image_transport
+  - image_transport
+  - pluginlib
+  - rclcpp
+  - ros_image_to_qimage
+  - rqt_gui
+  - rqt_gui_cpp
+  - rqt_image_overlay_layer
+  - std_msgs
+  repository: https://github.com/ros-sports/rqt_image_overlay
   tag: release/lyrical/rqt_image_overlay/0.5.0-3
   url: https://github.com/ros2-gbp/rqt_image_overlay-release.git
   version: 0.5.0
 rqt_image_overlay_layer:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - message_filters
+  - pluginlib
+  - rclcpp
+  - rcpputils
+  - rosidl_runtime_cpp
+  repository: https://github.com/ros-sports/rqt_image_overlay
   tag: release/lyrical/rqt_image_overlay_layer/0.5.0-3
   url: https://github.com/ros2-gbp/rqt_image_overlay-release.git
   version: 0.5.0
 rqt_image_view:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - geometry_msgs
+  - image_transport
+  - qt_gui_cpp
+  - rclcpp
+  - rqt_gui
+  - rqt_gui_cpp
+  - sensor_msgs
+  repository: https://github.com/ros-visualization/rqt_image_view
   tag: release/lyrical/rqt_image_view/2.0.5-3
   url: https://github.com/ros2-gbp/rqt_image_view-release.git
   version: 2.0.5
 rqt_joint_trajectory_controller:
-  tag: release/lyrical/rqt_joint_trajectory_controller/6.7.0-1
+  dependencies:
+  - control_msgs
+  - controller_manager_msgs
+  - launch_testing
+  - launch_testing_ros
+  - python_qt_binding
+  - qt_gui
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  - trajectory_msgs
+  - urdfdom_py
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/rqt_joint_trajectory_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 rqt_moveit:
+  dependencies:
+  - python_qt_binding
+  - rclpy
+  - rosidl_default_generators
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_py_common
+  - rqt_topic
+  - sensor_msgs
+  repository: https://github.com/ros-visualization/rqt_moveit
   tag: release/lyrical/rqt_moveit/1.0.1-6
   url: https://github.com/ros2-gbp/rqt_moveit-release.git
   version: 1.0.1
 rqt_msg:
-  tag: release/lyrical/rqt_msg/1.7.2-3
+  dependencies:
+  - ament_flake8
+  - ament_index_python
+  - ament_xmllint
+  - python_qt_binding
+  - rclpy
+  - rosidl_runtime_py
+  - rqt_console
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_py_common
+  repository: https://github.com/ros-visualization/rqt_msg
+  tag: release/lyrical/rqt_msg/1.7.4-1
   url: https://github.com/ros2-gbp/rqt_msg-release.git
-  version: 1.7.2
+  version: 1.7.4
 rqt_play_motion_builder:
+  dependencies:
+  - ament_cmake_auto
+  - class_loader
+  - play_motion2_msgs
+  - play_motion_builder
+  - play_motion_builder_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rqt_gui
+  - rqt_gui_cpp
+  - sensor_msgs
+  - urdf
+  repository: https://github.com/pal-robotics/play_motion_builder
   tag: release/lyrical/rqt_play_motion_builder/1.4.1-3
   url: https://github.com/ros2-gbp/play_motion_builder-release.git
   version: 1.4.1
 rqt_plot:
-  tag: release/lyrical/rqt_plot/1.7.5-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  - qt_gui_py_common
+  - rclpy
+  - rosidl_parser
+  - rosidl_runtime_py
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_py_common
+  - std_msgs
+  - test_msgs
+  repository: https://github.com/ros-visualization/rqt_plot
+  tag: release/lyrical/rqt_plot/1.7.6-1
   url: https://github.com/ros2-gbp/rqt_plot-release.git
-  version: 1.7.5
+  version: 1.7.6
 rqt_publisher:
-  tag: release/lyrical/rqt_publisher/1.10.3-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  - qt_gui_py_common
+  - rclpy
+  - rosidl_runtime_py
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_py_common
+  repository: https://github.com/ros-visualization/rqt_publisher
+  tag: release/lyrical/rqt_publisher/1.10.4-1
   url: https://github.com/ros2-gbp/rqt_publisher-release.git
-  version: 1.10.3
+  version: 1.10.4
 rqt_py_common:
-  tag: release/lyrical/rqt_py_common/1.10.5-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - python_qt_binding
+  - qt_gui
+  - rclpy
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-visualization/rqt
+  tag: release/lyrical/rqt_py_common/1.10.6-1
   url: https://github.com/ros2-gbp/rqt-release.git
-  version: 1.10.5
+  version: 1.10.6
 rqt_py_console:
-  tag: release/lyrical/rqt_py_console/1.5.2-4
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  - qt_gui
+  - qt_gui_py_common
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  repository: https://github.com/ros-visualization/rqt_py_console
+  tag: release/lyrical/rqt_py_console/1.5.3-1
   url: https://github.com/ros2-gbp/rqt_py_console-release.git
-  version: 1.5.2
+  version: 1.5.3
 rqt_reconfigure:
-  tag: release/lyrical/rqt_reconfigure/1.8.5-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_xmllint
+  - python_qt_binding
+  - qt_gui_py_common
+  - rclpy
+  - rqt_console
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_py_common
+  repository: https://github.com/ros-visualization/rqt_reconfigure
+  tag: release/lyrical/rqt_reconfigure/1.8.6-1
   url: https://github.com/ros2-gbp/rqt_reconfigure-release.git
-  version: 1.8.5
+  version: 1.8.6
 rqt_robot_dashboard:
+  dependencies:
+  - diagnostic_msgs
+  - python_qt_binding
+  - qt_gui
+  - rclpy
+  - rqt_console
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_robot_monitor
+  repository: https://github.com/ros-visualization/rqt_robot_dashboard
   tag: release/lyrical/rqt_robot_dashboard/0.6.1-6
   url: https://github.com/ros2-gbp/rqt_robot_dashboard-release.git
   version: 0.6.1
 rqt_robot_monitor:
+  dependencies:
+  - diagnostic_msgs
+  - python_qt_binding
+  - qt_gui
+  - qt_gui_py_common
+  - rclpy
+  - rosidl_default_generators
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_py_common
+  repository: https://github.com/ros-visualization/rqt_robot_monitor
   tag: release/lyrical/rqt_robot_monitor/1.0.6-3
   url: https://github.com/ros2-gbp/rqt_robot_monitor-release.git
   version: 1.0.6
 rqt_robot_steering:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - geometry_msgs
+  - python_qt_binding
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  repository: https://github.com/ros-visualization/rqt_robot_steering
   tag: release/lyrical/rqt_robot_steering/4.1.0-1
   url: https://github.com/ros2-gbp/rqt_robot_steering-release.git
   version: 4.1.0
 rqt_runtime_monitor:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - diagnostic_msgs
+  - python_qt_binding
+  - qt_gui
+  - rclpy
+  - rqt_gui
+  - rqt_gui_py
+  repository: https://github.com/ros-visualization/rqt_runtime_monitor
   tag: release/lyrical/rqt_runtime_monitor/1.0.0-6
   url: https://github.com/ros2-gbp/rqt_runtime_monitor-release.git
   version: 1.0.0
 rqt_service_caller:
-  tag: release/lyrical/rqt_service_caller/1.5.2-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_py_common
+  repository: https://github.com/ros-visualization/rqt_service_caller
+  tag: release/lyrical/rqt_service_caller/1.5.4-1
   url: https://github.com/ros2-gbp/rqt_service_caller-release.git
-  version: 1.5.2
+  version: 1.5.4
 rqt_shell:
-  tag: release/lyrical/rqt_shell/1.4.1-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - python_qt_binding
+  - qt_gui
+  - qt_gui_py_common
+  - rqt_gui
+  - rqt_gui_py
+  repository: https://github.com/ros-visualization/rqt_shell
+  tag: release/lyrical/rqt_shell/1.4.2-1
   url: https://github.com/ros2-gbp/rqt_shell-release.git
-  version: 1.4.1
+  version: 1.4.2
 rqt_srv:
+  dependencies:
+  - ament_flake8
+  - ament_xmllint
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_msg
+  repository: https://github.com/ros-visualization/rqt_srv
   tag: release/lyrical/rqt_srv/1.4.1-3
   url: https://github.com/ros2-gbp/rqt_srv-release.git
   version: 1.4.1
 rqt_tf_tree:
-  tag: release/lyrical/rqt_tf_tree/1.1.0-1
+  dependencies:
+  - ament_flake8
+  - ament_pep257
+  - python_qt_binding
+  - qt_dotgraph
+  - rclpy
+  - rqt_graph
+  - rqt_gui
+  - rqt_gui_py
+  - tf2_msgs
+  - tf2_ros
+  - tf2_ros_py
+  repository: https://github.com/ros-visualization/rqt_tf_tree
+  tag: release/lyrical/rqt_tf_tree/1.1.1-1
   url: https://github.com/ros2-gbp/rqt_tf_tree-release.git
-  version: 1.1.0
+  version: 1.1.1
 rqt_topic:
-  tag: release/lyrical/rqt_topic/2.1.1-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_xmllint
+  - python_qt_binding
+  - rclpy
+  - ros2topic
+  - rqt_gui
+  - rqt_gui_py
+  - rqt_py_common
+  repository: https://github.com/ros-visualization/rqt_topic
+  tag: release/lyrical/rqt_topic/2.1.2-1
   url: https://github.com/ros2-gbp/rqt_topic-release.git
-  version: 2.1.1
+  version: 2.1.2
 rsl:
+  dependencies:
+  - ament_cmake_ros
+  - rclcpp
+  - tcb_span
+  repository: https://github.com/PickNikRobotics/RSL
   tag: release/lyrical/rsl/1.3.0-3
   url: https://github.com/ros2-gbp/RSL-release.git
   version: 1.3.0
 rslidar_msg:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rclcpp
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/RoboSense-LiDAR/rslidar_msg
   tag: release/lyrical/rslidar_msg/0.0.0-3
   url: https://github.com/ros2-gbp/rslidar_msg-release.git
   version: 0.0.0
 rt_manipulators_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - dynamixel_sdk
+  - eigen3_cmake_module
+  - yaml_cpp_vendor
+  repository: https://github.com/rt-net/rt_manipulators_cpp
   tag: release/lyrical/rt_manipulators_cpp/1.0.0-5
   url: https://github.com/ros2-gbp/rt_manipulators_cpp-release.git
   version: 1.0.0
 rt_manipulators_examples:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rt_manipulators_cpp
+  repository: https://github.com/rt-net/rt_manipulators_cpp
   tag: release/lyrical/rt_manipulators_examples/1.0.0-5
   url: https://github.com/ros2-gbp/rt_manipulators_cpp-release.git
   version: 1.0.0
 rt_usb_9axisimu_driver:
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/rt-net/rt_usb_9axisimu_driver
   tag: release/lyrical/rt_usb_9axisimu_driver/3.0.0-3
   url: https://github.com/ros2-gbp/rt_usb_9axisimu_driver-release.git
   version: 3.0.0
 rtabmap:
-  tag: release/lyrical/rtabmap/0.22.1-3
+  dependencies:
+  - cv_bridge
+  - gtsam
+  - libg2o
+  - qt_gui_cpp
+  repository: https://github.com/introlab/rtabmap
+  tag: release/lyrical/rtabmap/0.23.7-1
   url: https://github.com/ros2-gbp/rtabmap-release.git
-  version: 0.22.1
+  version: 0.23.7
+rtabmap_conversions:
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  - geometry_msgs
+  - image_geometry
+  - laser_geometry
+  - pcl_conversions
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - rtabmap
+  - rtabmap_msgs
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_conversions/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_demos:
+  dependencies:
+  - ament_cmake
+  - rtabmap_odom
+  - rtabmap_rviz_plugins
+  - rtabmap_slam
+  - rtabmap_util
+  - rtabmap_viz
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_demos/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_examples:
+  dependencies:
+  - ament_cmake
+  - imu_filter_madgwick
+  - rtabmap_odom
+  - rtabmap_rviz_plugins
+  - rtabmap_slam
+  - rtabmap_util
+  - rtabmap_viz
+  - tf2_ros
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_examples/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_launch:
+  dependencies:
+  - ament_cmake
+  - rtabmap_msgs
+  - rtabmap_odom
+  - rtabmap_rviz_plugins
+  - rtabmap_slam
+  - rtabmap_util
+  - rtabmap_viz
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_launch/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_msgs:
+  dependencies:
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_msgs/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_odom:
+  dependencies:
+  - ament_cmake_ros
+  - cv_bridge
+  - image_geometry
+  - laser_geometry
+  - message_filters
+  - nav_msgs
+  - pcl_conversions
+  - pcl_ros
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - rtabmap_conversions
+  - rtabmap_msgs
+  - rtabmap_sync
+  - rtabmap_util
+  - sensor_msgs
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_odom/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_python:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_python/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_ros:
+  dependencies:
+  - ament_cmake
+  - rtabmap_conversions
+  - rtabmap_demos
+  - rtabmap_examples
+  - rtabmap_launch
+  - rtabmap_msgs
+  - rtabmap_odom
+  - rtabmap_python
+  - rtabmap_rviz_plugins
+  - rtabmap_slam
+  - rtabmap_sync
+  - rtabmap_util
+  - rtabmap_viz
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_ros/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_rviz_plugins:
+  dependencies:
+  - ament_cmake_ros
+  - pcl_conversions
+  - pluginlib
+  - rclcpp
+  - ros_environment
+  - rtabmap_conversions
+  - rtabmap_msgs
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_rendering
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_rviz_plugins/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_slam:
+  dependencies:
+  - ament_cmake_ros
+  - apriltag_msgs
+  - aruco_msgs
+  - aruco_opencv_msgs
+  - cv_bridge
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - rtabmap_msgs
+  - rtabmap_sync
+  - rtabmap_util
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_ros
+  - visualization_msgs
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_slam/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_sync:
+  dependencies:
+  - ament_cmake_ros
+  - cv_bridge
+  - diagnostic_updater
+  - image_transport
+  - message_filters
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - rtabmap_conversions
+  - rtabmap_msgs
+  - sensor_msgs
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_sync/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_util:
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  - image_geometry
+  - image_transport
+  - laser_geometry
+  - message_filters
+  - nav_msgs
+  - octomap_msgs
+  - pcl_conversions
+  - pcl_ros
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - rtabmap_conversions
+  - rtabmap_msgs
+  - rtabmap_sync
+  - sensor_msgs
+  - std_msgs
+  - stereo_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_util/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
+rtabmap_viz:
+  dependencies:
+  - ament_cmake_ros
+  - cv_bridge
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - ros_environment
+  - rtabmap_msgs
+  - rtabmap_sync
+  - std_msgs
+  - std_srvs
+  - tf2
+  repository: https://github.com/introlab/rtabmap_ros
+  tag: release/lyrical/rtabmap_viz/0.23.7-1
+  url: https://github.com/introlab/rtabmap_ros-release.git
+  version: 0.23.7
 rtcm_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tilk/rtcm_msgs
   tag: release/lyrical/rtcm_msgs/1.1.6-5
   url: https://github.com/ros2-gbp/rtcm_msgs-release.git
   version: 1.1.6
 rtest:
-  tag: release/lyrical/rtest/0.2.3-1
+  dependencies:
+  - action_msgs
+  - ament_clang_tidy
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rcl
+  - rcl_action
+  - rclcpp
+  - rclcpp_action
+  - ros_environment
+  repository: https://github.com/Beam-and-Spyrosoft/rtest
+  tag: release/lyrical/rtest/0.2.4-1
   url: https://github.com/ros2-gbp/rtest-release.git
-  version: 0.2.3
+  version: 0.2.4
 rti_connext_dds_cmake_module:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/rmw_connextdds
   tag: release/lyrical/rti_connext_dds_cmake_module/1.2.7-2
   url: https://github.com/ros2-gbp/rmw_connextdds-release.git
   version: 1.2.7
 rtsp_image_transport:
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  - image_transport
+  - live555_vendor
+  - pluginlib
+  - rclcpp
+  repository: https://github.com/fkie/rtsp_image_transport
   tag: release/lyrical/rtsp_image_transport/2.0.2-1
   url: https://github.com/ros2-gbp/rtsp_image_transport-release.git
   version: 2.0.2
 rttest:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/realtime_support
   tag: release/lyrical/rttest/0.20.1-1
   url: https://github.com/ros2-gbp/realtime_support-release.git
   version: 0.20.1
 ruckig:
+  dependencies: []
+  repository: https://github.com/pantor/ruckig
   tag: release/lyrical/ruckig/0.9.2-6
   url: https://github.com/ros2-gbp/ruckig-release.git
   version: 0.9.2
 rviz2:
-  tag: release/lyrical/rviz2/15.2.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_lint_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_ogre_vendor
+  - sensor_msgs
+  repository: https://github.com/ros2/rviz
+  tag: release/lyrical/rviz2/15.2.5-1
   url: https://github.com/ros2-gbp/rviz-release.git
-  version: 15.2.3
+  version: 15.2.5
 rviz_2d_overlay_msgs:
-  tag: release/lyrical/rviz_2d_overlay_msgs/1.4.1-3
+  dependencies:
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/teamspatzenhirn/rviz_2d_overlay_plugins
+  tag: release/lyrical/rviz_2d_overlay_msgs/1.4.2-1
   url: https://github.com/ros2-gbp/rviz_2d_overlay_plugins-release.git
-  version: 1.4.1
+  version: 1.4.2
 rviz_2d_overlay_plugins:
-  tag: release/lyrical/rviz_2d_overlay_plugins/1.4.1-3
+  dependencies:
+  - ament_cmake
+  - rviz_2d_overlay_msgs
+  - rviz_common
+  - rviz_ogre_vendor
+  - rviz_rendering
+  - std_msgs
+  repository: https://github.com/teamspatzenhirn/rviz_2d_overlay_plugins
+  tag: release/lyrical/rviz_2d_overlay_plugins/1.4.2-1
   url: https://github.com/ros2-gbp/rviz_2d_overlay_plugins-release.git
-  version: 1.4.1
+  version: 1.4.2
 rviz_common:
-  tag: release/lyrical/rviz_common/15.2.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - message_filters
+  - pluginlib
+  - rclcpp
+  - resource_retriever
+  - rviz_ogre_vendor
+  - rviz_rendering
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_ros
+  - urdf
+  - yaml_cpp_vendor
+  repository: https://github.com/ros2/rviz
+  tag: release/lyrical/rviz_common/15.2.5-1
   url: https://github.com/ros2-gbp/rviz-release.git
-  version: 15.2.3
+  version: 15.2.5
 rviz_default_plugins:
-  tag: release/lyrical/rviz_default_plugins/15.2.3-1
+  dependencies:
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - gz_math_vendor
+  - image_transport
+  - interactive_markers
+  - laser_geometry
+  - map_msgs
+  - nav_msgs
+  - pluginlib
+  - point_cloud_transport
+  - rclcpp
+  - resource_retriever
+  - resource_retriever_service_plugin
+  - rviz_common
+  - rviz_ogre_vendor
+  - rviz_rendering
+  - rviz_rendering_tests
+  - rviz_visual_testing_framework
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - urdf
+  - visualization_msgs
+  repository: https://github.com/ros2/rviz
+  tag: release/lyrical/rviz_default_plugins/15.2.5-1
   url: https://github.com/ros2-gbp/rviz-release.git
-  version: 15.2.3
+  version: 15.2.5
 rviz_imu_plugin:
+  dependencies:
+  - ament_cmake
+  - message_filters
+  - pluginlib
+  - rclcpp
+  - rviz_common
+  - rviz_ogre_vendor
+  - rviz_rendering
+  - sensor_msgs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/CCNYRoboticsLab/imu_tools
   tag: release/lyrical/rviz_imu_plugin/2.2.2-3
   url: https://github.com/ros2-gbp/imu_tools-release.git
   version: 2.2.2
 rviz_marker_tools:
-  tag: release/lyrical/rviz_marker_tools/0.1.5-3
+  dependencies:
+  - ament_cmake
+  - eigen3_cmake_module
+  - geometry_msgs
+  - moveit_common
+  - rclcpp
+  - std_msgs
+  - tf2_eigen
+  - visualization_msgs
+  repository: https://github.com/moveit/moveit_task_constructor
+  tag: release/lyrical/rviz_marker_tools/0.2.0-1
   url: https://github.com/ros2-gbp/moveit_task_constructor-release.git
-  version: 0.1.5
+  version: 0.2.0
+rviz_mbf_plugins:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - mbf_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rviz_common
+  repository: https://github.com/naturerobots/move_base_flex
+  tag: release/lyrical/rviz_mbf_plugins/1.2.1-1
+  url: https://github.com/ros2-gbp/move_base_flex-release.git
+  version: 1.2.1
 rviz_ogre_vendor:
-  tag: release/lyrical/rviz_ogre_vendor/15.2.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  repository: https://github.com/ros2/rviz
+  tag: release/lyrical/rviz_ogre_vendor/15.2.5-1
   url: https://github.com/ros2-gbp/rviz-release.git
-  version: 15.2.3
+  version: 15.2.5
 rviz_rendering:
-  tag: release/lyrical/rviz_rendering/15.2.3-1
+  dependencies:
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  - resource_retriever
+  - rviz_ogre_vendor
+  repository: https://github.com/ros2/rviz
+  tag: release/lyrical/rviz_rendering/15.2.5-1
   url: https://github.com/ros2-gbp/rviz-release.git
-  version: 15.2.3
+  version: 15.2.5
 rviz_rendering_tests:
-  tag: release/lyrical/rviz_rendering_tests/15.2.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - resource_retriever
+  - rviz_rendering
+  repository: https://github.com/ros2/rviz
+  tag: release/lyrical/rviz_rendering_tests/15.2.5-1
   url: https://github.com/ros2-gbp/rviz-release.git
-  version: 15.2.3
+  version: 15.2.5
+rviz_satellite:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - angles
+  - rclcpp
+  - rcpputils
+  - rviz_common
+  - rviz_default_plugins
+  - sensor_msgs
+  repository: https://github.com/nobleo/rviz_satellite
+  tag: release/lyrical/rviz_satellite/4.3.1-1
+  url: https://github.com/ros2-gbp/rviz_satellite-release.git
+  version: 4.3.1
 rviz_visual_testing_framework:
-  tag: release/lyrical/rviz_visual_testing_framework/15.2.3-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - rcutils
+  - rviz_common
+  - rviz_ogre_vendor
+  - rviz_rendering
+  - std_msgs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/ros2/rviz
+  tag: release/lyrical/rviz_visual_testing_framework/15.2.5-1
   url: https://github.com/ros2-gbp/rviz-release.git
-  version: 15.2.3
+  version: 15.2.5
 rviz_visual_tools:
-  tag: release/lyrical/rviz_visual_tools/4.1.4-5
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  - eigen_stl_containers
+  - geometry_msgs
+  - interactive_markers
+  - launch
+  - launch_ros
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rviz2
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_ogre_vendor
+  - rviz_rendering
+  - sensor_msgs
+  - shape_msgs
+  - std_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - trajectory_msgs
+  - visualization_msgs
+  repository: https://github.com/PickNikRobotics/rviz_visual_tools
+  tag: release/lyrical/rviz_visual_tools/4.2.0-1
   url: https://github.com/ros2-gbp/rviz_visual_tools-release.git
-  version: 4.1.4
+  version: 4.2.0
+sbg_driver:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - nav_msgs
+  - nmea_msgs
+  - rclcpp
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - rtcm_msgs
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_geometry_msgs
+  - tf2_msgs
+  - tf2_ros
+  - urdf
+  - xacro
+  repository: https://github.com/SBG-Systems/sbg_ros2
+  tag: release/lyrical/sbg_driver/3.4.0-1
+  url: https://github.com/SBG-Systems/sbg_ros2-release.git
+  version: 3.4.0
 sdformat_test_files:
-  tag: release/lyrical/sdformat_test_files/2.1.0-3
+  dependencies: []
+  repository: https://github.com/ros/sdformat_urdf
+  tag: release/lyrical/sdformat_test_files/2.1.1-1
   url: https://github.com/ros2-gbp/sdformat_urdf-release.git
-  version: 2.1.0
+  version: 2.1.1
 sdformat_urdf:
-  tag: release/lyrical/sdformat_urdf/2.1.0-3
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - rcutils
+  - sdformat_test_files
+  - sdformat_vendor
+  - urdf
+  - urdf_parser_plugin
+  repository: https://github.com/ros/sdformat_urdf
+  tag: release/lyrical/sdformat_urdf/2.1.1-1
   url: https://github.com/ros2-gbp/sdformat_urdf-release.git
-  version: 2.1.0
+  version: 2.1.1
 sdformat_vendor:
-  tag: release/lyrical/sdformat_vendor/0.3.3-3
+  dependencies:
+  - ament_cmake_copyright
+  - ament_cmake_core
+  - ament_cmake_lint_cmake
+  - ament_cmake_test
+  - ament_cmake_vendor_package
+  - ament_cmake_xmllint
+  - gz_cmake_vendor
+  - gz_math_vendor
+  - gz_tools_vendor
+  - gz_utils_vendor
+  - urdfdom
+  repository: https://github.com/gazebo-release/sdformat_vendor
+  tag: release/lyrical/sdformat_vendor/0.3.4-1
   url: https://github.com/ros2-gbp/sdformat_vendor-release.git
-  version: 0.3.3
+  version: 0.3.4
 sdl2_vendor:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros-drivers/joystick_drivers
   tag: release/lyrical/sdl2_vendor/3.3.0-4
   url: https://github.com/ros2-gbp/joystick_drivers-release.git
   version: 3.3.0
 self_test:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_msgs
+  - diagnostic_updater
+  - rclcpp
+  - ros_environment
+  repository: https://github.com/ros/diagnostics
   tag: release/lyrical/self_test/4.4.7-1
   url: https://github.com/ros2-gbp/diagnostics-release.git
   version: 4.4.7
 sensor_msgs:
-  tag: release/lyrical/sensor_msgs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/sensor_msgs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 sensor_msgs_py:
-  tag: release/lyrical/sensor_msgs_py/5.9.2-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/sensor_msgs_py/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 septentrio_gnss_driver:
-  tag: release/lyrical/septentrio_gnss_driver/1.4.6-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - diagnostic_msgs
+  - geometry_msgs
+  - gps_msgs
+  - gtest_vendor
+  - nav_msgs
+  - nmea_msgs
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - tf2
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/septentrio-gnss/septentrio_gnss_driver
+  tag: release/lyrical/septentrio_gnss_driver/1.4.8-2
   url: https://github.com/ros2-gbp/septentrio_gnss_driver_ros2-release.git
-  version: 1.4.6
+  version: 1.4.8
 serial_driver:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - asio_cmake_module
+  - io_context
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - std_msgs
+  repository: https://github.com/ros-drivers/transport_drivers
   tag: release/lyrical/serial_driver/1.2.0-5
   url: https://github.com/ros2-gbp/transport_drivers-release.git
   version: 1.2.0
 service_load_balancing:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - example_interfaces
+  - rclcpp
+  - rosidl_default_runtime
+  - rosidl_typesupport_introspection_cpp
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/Barry-Xu-2018/ros2_service_load_balancing
   tag: release/lyrical/service_load_balancing/0.1.3-3
   url: https://github.com/ros2-gbp/service_load_balancing-release.git
   version: 0.1.3
 service_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_core_generators
+  - rosidl_core_runtime
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/service_msgs/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 shape_msgs:
-  tag: release/lyrical/shape_msgs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/shape_msgs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 sick_safetyscanners2:
-  tag: release/lyrical/sick_safetyscanners2/1.0.4-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_updater
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - rclcpp_lifecycle
+  - robot_state_publisher
+  - rviz2
+  - sensor_msgs
+  - sick_safetyscanners2_interfaces
+  - sick_safetyscanners_base
+  - xacro
+  repository: https://github.com/SICKAG/sick_safetyscanners2
+  tag: release/lyrical/sick_safetyscanners2/1.0.5-1
   url: https://github.com/ros2-gbp/sick_safetyscanners2-release.git
-  version: 1.0.4
+  version: 1.0.5
 sick_safetyscanners2_interfaces:
-  tag: release/lyrical/sick_safetyscanners2_interfaces/1.0.0-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  repository: https://github.com/SICKAG/sick_safetyscanners2_interfaces
+  tag: release/lyrical/sick_safetyscanners2_interfaces/1.0.1-1
   url: https://github.com/ros2-gbp/sick_safetyscanners2_interfaces-release.git
-  version: 1.0.0
+  version: 1.0.1
 sick_safetyscanners_base:
+  dependencies: []
+  repository: https://github.com/SICKAG/sick_safetyscanners_base
   tag: release/lyrical/sick_safetyscanners_base/1.0.3-3
   url: https://github.com/ros2-gbp/sick_safetyscanners_base-release.git
   version: 1.0.3
 sick_safevisionary_base:
+  dependencies: []
+  repository: https://github.com/SICKAG/sick_safevisionary_base
   tag: release/lyrical/sick_safevisionary_base/1.0.1-4
   url: https://github.com/ros2-gbp/sick_safevisionary_base-release.git
   version: 1.0.1
 sick_safevisionary_driver:
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - sick_safevisionary_base
+  - sick_safevisionary_interfaces
+  repository: https://github.com/SICKAG/sick_safevisionary_ros2
   tag: release/lyrical/sick_safevisionary_driver/1.0.3-4
   url: https://github.com/ros2-gbp/sick_safevisionary_ros2-release.git
   version: 1.0.3
 sick_safevisionary_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/SICKAG/sick_safevisionary_ros2
   tag: release/lyrical/sick_safevisionary_interfaces/1.0.3-4
   url: https://github.com/ros2-gbp/sick_safevisionary_ros2-release.git
   version: 1.0.3
 sick_safevisionary_tests:
+  dependencies:
+  - ament_cmake
+  - launch
+  - launch_ros
+  - launch_testing_ament_cmake
+  - sick_safevisionary_driver
+  repository: https://github.com/SICKAG/sick_safevisionary_ros2
   tag: release/lyrical/sick_safevisionary_tests/1.0.3-4
   url: https://github.com/ros2-gbp/sick_safevisionary_ros2-release.git
   version: 1.0.3
 simple_actions:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - example_interfaces
+  - rclcpp
+  - rclcpp_action
+  - rclpy
+  repository: https://github.com/DLu/simple_actions
   tag: release/lyrical/simple_actions/0.5.0-3
   url: https://github.com/ros2-gbp/simple_actions-release.git
   version: 0.5.0
 simple_grasping:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cpplint
+  - ament_cmake_gtest
+  - geometry_msgs
+  - grasping_msgs
+  - moveit_msgs
+  - pcl_conversions
+  - pcl_ros
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - sensor_msgs
+  - shape_msgs
+  - tf2_ros
+  repository: https://github.com/mikeferguson/simple_grasping
   tag: release/lyrical/simple_grasping/0.6.0-3
   url: https://github.com/ros2-gbp/simple_grasping-release.git
   version: 0.6.0
 simple_launch:
+  dependencies:
+  - ament_cmake_python
+  - ament_index_python
+  - launch
+  - launch_ros
+  - xacro
+  repository: https://github.com/oKermorgant/simple_launch
   tag: release/lyrical/simple_launch/1.11.4-3
   url: https://github.com/ros2-gbp/simple_launch-release.git
   version: 1.11.4
+simple_term_menu_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/clearpathrobotics/simple-term-menu
+  tag: release/lyrical/simple_term_menu_vendor/1.5.7-1
+  url: https://github.com/clearpath-gbp/simple_term_menu_vendor-release.git
+  version: 1.5.7
 simulation:
+  dependencies:
+  - ament_cmake
+  - ros_base
+  - ros_gz_bridge
+  - ros_gz_image
+  - ros_gz_interfaces
+  - ros_gz_sim
+  repository: https://github.com/ros2/variants
   tag: release/lyrical/simulation/0.13.0-3
   url: https://github.com/ros2-gbp/variants-release.git
   version: 0.13.0
 simulation_interfaces:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-simulation/simulation_interfaces
   tag: release/lyrical/simulation_interfaces/2.1.0-3
   url: https://github.com/ros2-gbp/simulation_interfaces-release.git
   version: 2.1.0
+slam_toolbox:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_gtest
+  - ament_cmake_uncrustify
+  - ament_lint_auto
+  - bond
+  - bondcpp
+  - builtin_interfaces
+  - geometry_msgs
+  - interactive_markers
+  - launch
+  - launch_testing
+  - lifecycle_msgs
+  - message_filters
+  - nav2_map_server
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_ogre_vendor
+  - rviz_rendering
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - tf2_sensor_msgs
+  - visualization_msgs
+  repository: https://github.com/SteveMacenski/slam_toolbox
+  tag: release/lyrical/slam_toolbox/2.10.0-2
+  url: https://github.com/SteveMacenski/slam_toolbox-release.git
+  version: 2.10.0
 slg_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ajtudela/slg_msgs
   tag: release/lyrical/slg_msgs/3.9.1-3
   url: https://github.com/ros2-gbp/slg_msgs-release.git
   version: 3.9.1
 slider_publisher:
+  dependencies:
+  - ament_cmake
+  - rqt_gui_py
+  repository: https://github.com/oKermorgant/slider_publisher
   tag: release/lyrical/slider_publisher/2.5.0-2
   url: https://github.com/ros2-gbp/slider_publisher-release.git
   version: 2.5.0
 smach:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  repository: https://github.com/ros/executive_smach
   tag: release/lyrical/smach/3.0.3-4
   url: https://github.com/ros2-gbp/executive_smach-release.git
   version: 3.0.3
 smach_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_pep257
+  - ament_cmake_uncrustify
+  - ament_lint
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros/executive_smach
   tag: release/lyrical/smach_msgs/3.0.3-4
   url: https://github.com/ros2-gbp/executive_smach-release.git
   version: 3.0.3
 smach_ros:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - rclpy
+  - smach
+  - smach_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/ros/executive_smach
   tag: release/lyrical/smach_ros/3.0.3-4
   url: https://github.com/ros2-gbp/executive_smach-release.git
   version: 3.0.3
 smclib:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros/bond_core
   tag: release/lyrical/smclib/4.4.0-3
   url: https://github.com/ros2-gbp/bond_core-release.git
   version: 4.4.0
 snowbot_operating_system:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - geometry_msgs
+  - pluginlib
+  - rviz_common
+  - rviz_rendering
+  repository: https://github.com/PickNikRobotics/snowbot_operating_system
   tag: release/lyrical/snowbot_operating_system/0.1.2-6
   url: https://github.com/ros2-gbp/snowbot_release.git
   version: 0.1.2
 soccer_geometry_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-sports/soccer_interfaces
   tag: release/lyrical/soccer_geometry_msgs/1.0.0-3
   url: https://github.com/ros2-gbp/soccer_interfaces-release.git
   version: 1.0.0
 soccer_interfaces:
+  dependencies:
+  - ament_cmake
+  - soccer_vision_2d_msgs
+  - soccer_vision_3d_msgs
+  - soccer_vision_attribute_msgs
+  repository: https://github.com/ros-sports/soccer_interfaces
   tag: release/lyrical/soccer_interfaces/1.0.0-3
   url: https://github.com/ros2-gbp/soccer_interfaces-release.git
   version: 1.0.0
 soccer_model_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - soccer_geometry_msgs
+  - soccer_vision_attribute_msgs
+  - std_msgs
+  repository: https://github.com/ros-sports/soccer_interfaces
   tag: release/lyrical/soccer_model_msgs/1.0.0-3
   url: https://github.com/ros2-gbp/soccer_interfaces-release.git
   version: 1.0.0
 soccer_vision_2d_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - soccer_vision_attribute_msgs
+  - vision_msgs
+  repository: https://github.com/ros-sports/soccer_interfaces
   tag: release/lyrical/soccer_vision_2d_msgs/1.0.0-3
   url: https://github.com/ros2-gbp/soccer_interfaces-release.git
   version: 1.0.0
 soccer_vision_3d_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - soccer_vision_attribute_msgs
+  - vision_msgs
+  repository: https://github.com/ros-sports/soccer_interfaces
   tag: release/lyrical/soccer_vision_3d_msgs/1.0.0-3
   url: https://github.com/ros2-gbp/soccer_interfaces-release.git
   version: 1.0.0
 soccer_vision_3d_rviz_markers:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - rclpy
+  - soccer_vision_3d_msgs
+  - soccer_vision_attribute_msgs
+  - visualization_msgs
+  repository: https://github.com/ros-sports/soccer_vision_3d_rviz_markers
   tag: release/lyrical/soccer_vision_3d_rviz_markers/1.0.0-3
   url: https://github.com/ros2-gbp/soccer_vision_3d_rviz_markers-release.git
   version: 1.0.0
 soccer_vision_attribute_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-sports/soccer_interfaces
   tag: release/lyrical/soccer_vision_attribute_msgs/1.0.0-3
   url: https://github.com/ros2-gbp/soccer_interfaces-release.git
   version: 1.0.0
 sol_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ouxt_lint_common
+  repository: https://github.com/OUXT-Polaris/sol_vendor
   tag: release/lyrical/sol_vendor/0.0.3-6
   url: https://github.com/ros2-gbp/sol_vendor-release.git
   version: 0.0.3
 sophus:
+  dependencies: []
+  repository: https://github.com/clalancette/sophus
   tag: release/lyrical/sophus/1.22.9102-4
   url: https://github.com/ros2-gbp/sophus-release.git
   version: 1.22.9102
+sound_play:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_python
+  - ament_index_python
+  - launch_xml
+  - rclpy
+  - sound_play_msgs
+  repository: https://github.com/ros-drivers/audio_common
+  tag: release/lyrical/sound_play/0.4.0-2
+  url: https://github.com/ros2-gbp/audio_common-release.git
+  version: 0.4.0
+sound_play_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-drivers/audio_common
+  tag: release/lyrical/sound_play_msgs/0.4.0-2
+  url: https://github.com/ros2-gbp/audio_common-release.git
+  version: 0.4.0
 spacenav:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros-drivers/joystick_drivers
   tag: release/lyrical/spacenav/3.3.0-4
   url: https://github.com/ros2-gbp/joystick_drivers-release.git
   version: 3.3.0
+spatio_temporal_voxel_layer:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - builtin_interfaces
+  - geometry_msgs
+  - laser_geometry
+  - message_filters
+  - nav2_costmap_2d
+  - nav2_ros_common
+  - openvdb_vendor
+  - pcl_conversions
+  - pluginlib
+  - point_cloud_transport
+  - point_cloud_transport_plugins
+  - rclcpp
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_geometry_msgs
+  - tf2_ros
+  - tf2_sensor_msgs
+  - visualization_msgs
+  repository: https://github.com/SteveMacenski/spatio_temporal_voxel_layer
+  tag: release/lyrical/spatio_temporal_voxel_layer/2.7.0-1
+  url: https://github.com/SteveMacenski/spatio_temporal_voxel_layer-release.git
+  version: 2.7.0
 spdlog_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/spdlog_vendor
   tag: release/lyrical/spdlog_vendor/1.8.0-3
   url: https://github.com/ros2-gbp/spdlog_vendor-release.git
   version: 1.8.0
+speech_recognition_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/jsk-ros-pkg/jsk_common_msgs
+  tag: release/lyrical/speech_recognition_msgs/5.0.1-3
+  url: https://github.com/tork-a/jsk_common_msgs-release.git
+  version: 5.0.1
 spinnaker_camera_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - camera_info_manager
+  - diagnostic_updater
+  - flir_camera_msgs
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-drivers/flir_camera_driver
   tag: release/lyrical/spinnaker_camera_driver/3.0.5-1
   url: https://github.com/ros2-gbp/flir_camera_driver-release.git
   version: 3.0.5
 spinnaker_synchronized_camera_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_black
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - spinnaker_camera_driver
+  repository: https://github.com/ros-drivers/flir_camera_driver
   tag: release/lyrical/spinnaker_synchronized_camera_driver/3.0.5-1
   url: https://github.com/ros2-gbp/flir_camera_driver-release.git
   version: 3.0.5
 splsm_7:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-sports/r2r_spl
   tag: release/lyrical/splsm_7/3.0.1-5
   url: https://github.com/ros2-gbp/r2r_spl-release.git
   version: 3.0.1
 splsm_7_conversion:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - splsm_7
+  repository: https://github.com/ros-sports/r2r_spl
   tag: release/lyrical/splsm_7_conversion/3.0.1-5
   url: https://github.com/ros2-gbp/r2r_spl-release.git
   version: 3.0.1
 srdfdom:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_cmake
+  - console_bridge_vendor
+  - urdf
+  - urdfdom_headers
+  - urdfdom_py
+  repository: https://github.com/ros-planning/srdfdom
   tag: release/lyrical/srdfdom/2.0.9-3
   url: https://github.com/ros2-gbp/srdfdom-release.git
   version: 2.0.9
 sros2:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_index_python
+  - ament_mypy
+  - ament_pep257
+  - rclpy
+  - ros2cli
+  - ros_testing
+  - test_msgs
+  repository: https://github.com/ros2/sros2
   tag: release/lyrical/sros2/0.16.6-1
   url: https://github.com/ros2-gbp/sros2-release.git
   version: 0.16.6
 sros2_cmake:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_test
+  - ament_lint_auto
+  - ament_lint_common
+  - ros2cli
+  - sros2
+  repository: https://github.com/ros2/sros2
   tag: release/lyrical/sros2_cmake/0.16.6-1
   url: https://github.com/ros2-gbp/sros2-release.git
   version: 0.16.6
 state_interfaces_broadcaster:
-  tag: release/lyrical/state_interfaces_broadcaster/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/state_interfaces_broadcaster/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 statistics_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/statistics_msgs/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 std_msgs:
-  tag: release/lyrical/std_msgs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/std_msgs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 std_srvs:
-  tag: release/lyrical/std_srvs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/std_srvs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 steering_controllers_library:
-  tag: release/lyrical/steering_controllers_library/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/steering_controllers_library/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 steering_functions:
+  dependencies:
+  - ros_environment
+  repository: https://github.com/hbanzhaf/steering_functions
   tag: release/lyrical/steering_functions/0.3.0-3
   url: https://github.com/ros2-gbp/steering_functions-release.git
   version: 0.3.0
 stereo_image_proc:
-  tag: release/lyrical/stereo_image_proc/7.1.6-1
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - image_geometry
+  - image_proc
+  - image_transport
+  - launch
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - message_filters
+  - python_cmake_module
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - ros_testing
+  - sensor_msgs
+  - stereo_msgs
+  repository: https://github.com/ros-perception/image_pipeline
+  tag: release/lyrical/stereo_image_proc/7.1.7-1
   url: https://github.com/ros2-gbp/image_pipeline-release.git
-  version: 7.1.6
+  version: 7.1.7
 stereo_msgs:
-  tag: release/lyrical/stereo_msgs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/stereo_msgs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 stomp:
+  dependencies:
+  - ros_industrial_cmake_boilerplate
+  repository: https://github.com/ros-industrial/stomp
   tag: release/lyrical/stomp/0.1.2-5
   url: https://github.com/ros2-gbp/stomp-release.git
   version: 0.1.2
 swri_cli_tools:
-  tag: release/lyrical/swri_cli_tools/3.9.0-1
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - marti_introspection_msgs
+  - rcl_interfaces
+  - rclpy
+  - ros2cli
+  - ros2node
+  - ros2param
+  - ros2topic
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_cli_tools/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 swri_console:
-  tag: release/lyrical/swri_console/2.1.2-5
+  dependencies:
+  - ament_cmake
+  - rcl_interfaces
+  - rclcpp
+  - rcutils
+  - rmw
+  - rosbag2_storage
+  - rosbag2_storage_mcap
+  - rosbag2_transport
+  repository: https://github.com/swri-robotics/swri_console
+  tag: release/lyrical/swri_console/2.3.0-1
   url: https://github.com/ros2-gbp/swri_console-release.git
-  version: 2.1.2
+  version: 2.3.0
 swri_console_util:
-  tag: release/lyrical/swri_console_util/3.9.0-1
+  dependencies:
+  - ament_cmake
+  - rclcpp
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_console_util/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 swri_dbw_interface:
-  tag: release/lyrical/swri_dbw_interface/3.9.0-1
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_dbw_interface/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 swri_geometry_util:
-  tag: release/lyrical/swri_geometry_util/3.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - tf2
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_geometry_util/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 swri_image_util:
-  tag: release/lyrical/swri_image_util/3.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - camera_calibration_parsers
+  - cv_bridge
+  - image_geometry
+  - image_transport
+  - message_filters
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - swri_geometry_util
+  - swri_math_util
+  - swri_opencv_util
+  - tf2
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_image_util/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 swri_math_util:
-  tag: release/lyrical/swri_math_util/3.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - rclcpp
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_math_util/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 swri_opencv_util:
-  tag: release/lyrical/swri_opencv_util/3.9.0-1
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  - swri_math_util
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_opencv_util/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
-swri_roscpp:
-  tag: release/lyrical/swri_roscpp/3.9.0-1
-  url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 swri_route_util:
-  tag: release/lyrical/swri_route_util/3.9.0-1
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - marti_common_msgs
+  - marti_nav_msgs
+  - rclcpp
+  - swri_geometry_util
+  - swri_math_util
+  - swri_transform_util
+  - tf2_geometry_msgs
+  - visualization_msgs
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_route_util/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 swri_serial_util:
-  tag: release/lyrical/swri_serial_util/3.9.0-1
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_serial_util/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 swri_transform_util:
-  tag: release/lyrical/swri_transform_util/3.9.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - ament_index_cpp
+  - cv_bridge
+  - diagnostic_msgs
+  - diagnostic_updater
+  - geographic_msgs
+  - geometry_msgs
+  - gps_msgs
+  - launch_ros
+  - launch_testing
+  - launch_testing_ament_cmake
+  - marti_nav_msgs
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - sensor_msgs
+  - swri_math_util
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - yaml_cpp_vendor
+  repository: https://github.com/swri-robotics/marti_common
+  tag: release/lyrical/swri_transform_util/3.9.1-2
   url: https://github.com/ros2-gbp/marti_common-release.git
-  version: 3.9.0
+  version: 3.9.1
 sync_tooling_msgs:
-  tag: release/lyrical/sync_tooling_msgs/0.2.10-1
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/tier4/sync_tooling_msgs
+  tag: release/lyrical/sync_tooling_msgs/0.2.11-1
   url: https://github.com/ros2-gbp/sync_tooling_msgs-release.git
-  version: 0.2.10
+  version: 0.2.11
 system_fingerprint:
+  dependencies:
+  - rcl_interfaces
+  - rclpy
+  - ros2action
+  - ros2cli
+  - ros2node
+  - ros2param
+  - ros2topic
+  repository: https://github.com/MetroRobots/ros_system_fingerprint
   tag: release/lyrical/system_fingerprint/0.7.0-5
   url: https://github.com/ros2-gbp/ros_system_fingerprint-release.git
   version: 0.7.0
 system_modes:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_pep257
+  - ament_cmake_uncrustify
+  - ament_index_python
+  - ament_lint_auto
+  - builtin_interfaces
+  - launch_ros
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2run
+  - system_modes_msgs
+  repository: https://github.com/micro-ROS/system_modes
   tag: release/lyrical/system_modes/0.9.0-7
   url: https://github.com/ros2-gbp/system_modes-release.git
   version: 0.9.0
 system_modes_examples:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_flake8
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_cmake_pep257
+  - ament_cmake_uncrustify
+  - ament_lint_auto
+  - launch
+  - launch_system_modes
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2launch
+  - system_modes
+  - system_modes_msgs
+  repository: https://github.com/micro-ROS/system_modes
   tag: release/lyrical/system_modes_examples/0.9.0-7
   url: https://github.com/ros2-gbp/system_modes-release.git
   version: 0.9.0
 system_modes_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/micro-ROS/system_modes
   tag: release/lyrical/system_modes_msgs/0.9.0-7
   url: https://github.com/ros2-gbp/system_modes-release.git
   version: 0.9.0
 system_webview:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rosbridge_server
+  repository: https://github.com/namo-robotics/ros2_system_webview
   tag: release/lyrical/system_webview/0.0.3-3
   url: https://github.com/ros2-gbp/system_webview-release.git
   version: 0.0.3
 tango_icons_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros-visualization/tango_icons_vendor
   tag: release/lyrical/tango_icons_vendor/0.5.1-3
   url: https://github.com/ros2-gbp/tango_icons_vendor-release.git
   version: 0.5.1
 tcb_span:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  repository: https://github.com/PickNikRobotics/cpp_polyfills
   tag: release/lyrical/tcb_span/2.0.3-1
   url: https://github.com/ros2-gbp/cpp_polyfills-release.git
   version: 2.0.3
 teleop_tools:
+  dependencies:
+  - ament_cmake
+  - joy_teleop
+  - key_teleop
+  - teleop_tools_msgs
+  repository: https://github.com/ros-teleop/teleop_tools
   tag: release/lyrical/teleop_tools/2.0.0-3
   url: https://github.com/ros2-gbp/teleop_tools-release.git
   version: 2.0.0
 teleop_tools_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-teleop/teleop_tools
   tag: release/lyrical/teleop_tools_msgs/2.0.0-3
   url: https://github.com/ros2-gbp/teleop_tools-release.git
   version: 2.0.0
 teleop_twist_joy:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - joy
+  - launch_ros
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros2/teleop_twist_joy
   tag: release/lyrical/teleop_twist_joy/2.6.5-3
   url: https://github.com/ros2-gbp/teleop_twist_joy-release.git
   version: 2.6.5
 teleop_twist_keyboard:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - geometry_msgs
+  - rcl_interfaces
+  - rclpy
+  repository: https://github.com/ros2/teleop_twist_keyboard
   tag: release/lyrical/teleop_twist_keyboard/2.4.1-3
   url: https://github.com/ros2-gbp/teleop_twist_keyboard-release.git
   version: 2.4.1
 tensor_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/rosidl_buffer_backends
   tag: release/lyrical/tensor_msgs/0.1.2-1
   url: https://github.com/ros2-gbp/rosidl_buffer_backends-release.git
   version: 0.1.2
 tensorrt_cmake_module:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  - ament_cmake_xmllint
+  repository: https://github.com/tier4/tensorrt_cmake_module
   tag: release/lyrical/tensorrt_cmake_module/0.0.5-3
   url: https://github.com/ros2-gbp/tensorrt_cmake_module-release.git
   version: 0.0.5
 test_apex_test_tools:
+  dependencies:
+  - ament_cmake_auto
+  - ament_lint_auto
+  - apex_test_tools
+  repository: https://gitlab.com/ApexAI/apex_test_tools
   tag: release/lyrical/test_apex_test_tools/0.0.2-10
   url: https://github.com/ros2-gbp/apex_test_tools-release.git
   version: 0.0.2
 test_interface_files:
+  dependencies:
+  - ament_cmake_core
+  repository: https://github.com/ros2/test_interface_files
   tag: release/lyrical/test_interface_files/0.14.1-3
   url: https://github.com/ros2-gbp/test_interface_files-release.git
   version: 0.14.1
 test_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_mypy
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - test_interface_files
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/test_msgs/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 tf2:
-  tag: release/lyrical/tf2/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_cpplint
+  - ament_cmake_google_benchmark
+  - ament_cmake_gtest
+  - ament_cmake_lint_cmake
+  - ament_cmake_ros
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - builtin_interfaces
+  - geometry_msgs
+  - rcutils
+  - rosidl_runtime_cpp
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_2d:
-  tag: release/lyrical/tf2_2d/1.6.1-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/locusrobotics/tf2_2d
+  tag: release/lyrical/tf2_2d/1.6.2-1
   url: https://github.com/ros2-gbp/tf2_2d-release.git
-  version: 1.6.1
+  version: 1.6.2
 tf2_bullet:
-  tag: release/lyrical/tf2_bullet/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_bullet/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_eigen:
-  tag: release/lyrical/tf2_eigen/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - tf2
+  - tf2_ros
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_eigen/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_eigen_kdl:
-  tag: release/lyrical/tf2_eigen_kdl/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - tf2
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_eigen_kdl/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_geometry_msgs:
-  tag: release/lyrical/tf2_geometry_msgs/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - tf2
+  - tf2_ros
+  - tf2_ros_py
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_geometry_msgs/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_kdl:
-  tag: release/lyrical/tf2_kdl/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - builtin_interfaces
+  - eigen3_cmake_module
+  - geometry_msgs
+  - rclcpp
+  - tf2
+  - tf2_ros
+  - tf2_ros_py
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_kdl/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_msgs:
-  tag: release/lyrical/tf2_msgs/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_msgs/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_py:
-  tag: release/lyrical/tf2_py/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rclpy
+  - rpyutils
+  - tf2
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_py/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_ros:
-  tag: release/lyrical/tf2_ros/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - message_filters
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - rcpputils
+  - rosgraph_msgs
+  - tf2
+  - tf2_msgs
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_ros/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_ros_py:
-  tag: release/lyrical/tf2_ros_py/0.45.7-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - geometry_msgs
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  - tf2_msgs
+  - tf2_py
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_ros_py/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_sensor_msgs:
-  tag: release/lyrical/tf2_sensor_msgs/0.45.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  - geometry_msgs
+  - rclcpp
+  - sensor_msgs
+  - sensor_msgs_py
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - tf2_ros_py
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_sensor_msgs/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_tools:
-  tag: release/lyrical/tf2_tools/0.45.7-3
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - ament_xmllint
+  - rclpy
+  - tf2_msgs
+  - tf2_py
+  - tf2_ros_py
+  repository: https://github.com/ros2/geometry2
+  tag: release/lyrical/tf2_tools/0.45.9-1
   url: https://github.com/ros2-gbp/geometry2-release.git
-  version: 0.45.7
+  version: 0.45.9
 tf2_web_republisher:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_action
+  - rclcpp_components
+  - tf2
+  - tf2_ros
+  - tf2_web_republisher_interfaces
+  repository: https://github.com/RobotWebTools/tf2_web_republisher
   tag: release/lyrical/tf2_web_republisher/1.0.0-3
   url: https://github.com/ros2-gbp/tf2_web_republisher-release.git
   version: 1.0.0
 tf2_web_republisher_interfaces:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/RobotWebTools/tf2_web_republisher
   tag: release/lyrical/tf2_web_republisher_interfaces/1.0.0-3
   url: https://github.com/ros2-gbp/tf2_web_republisher-release.git
   version: 1.0.0
 tf_transformations:
+  dependencies:
+  - ament_flake8
+  - ament_pep257
+  repository: https://github.com/DLu/tf_transformations
   tag: release/lyrical/tf_transformations/1.1.1-3
   url: https://github.com/ros2-gbp/tf_transformations_release.git
   version: 1.1.1
 tf_tree_terminal:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - geometry_msgs
+  - rclpy
+  - tf2_ros
+  repository: https://github.com/Tanneguydv/tf_tree_terminal
   tag: release/lyrical/tf_tree_terminal/2.0.0-4
   url: https://github.com/ros2-gbp/tf_tree_terminal-release.git
   version: 2.0.0
 theora_image_transport:
-  tag: release/lyrical/theora_image_transport/6.2.5-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - image_transport
+  - pluginlib
+  - rclcpp
+  - rcutils
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros-perception/image_transport_plugins
+  tag: release/lyrical/theora_image_transport/6.2.6-1
   url: https://github.com/ros2-gbp/image_transport_plugins-release.git
-  version: 6.2.5
+  version: 6.2.6
+tile_map:
+  dependencies:
+  - ament_cmake
+  - mapviz
+  - pluginlib
+  - qt_gui_cpp
+  - rclcpp
+  - swri_math_util
+  - swri_transform_util
+  - tf2
+  repository: https://github.com/swri-robotics/mapviz
+  tag: release/lyrical/tile_map/4.0.3-1
+  url: https://github.com/ros2-gbp/mapviz-release.git
+  version: 4.0.3
 tinyspline_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/wep21/tinyspline_vendor
   tag: release/lyrical/tinyspline_vendor/0.6.1-3
   url: https://github.com/ros2-gbp/tinyspline_vendor-release.git
   version: 0.6.1
 tinyxml2_vendor:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros2/tinyxml2_vendor
   tag: release/lyrical/tinyxml2_vendor/0.11.3-3
   url: https://github.com/ros2-gbp/tinyxml2_vendor-release.git
   version: 0.11.3
 tinyxml_vendor:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros2/tinyxml_vendor
   tag: release/lyrical/tinyxml_vendor/0.10.0-4
   url: https://github.com/ros2-gbp/tinyxml_vendor-release.git
   version: 0.10.0
 tlsf:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/tlsf
   tag: release/lyrical/tlsf/0.11.1-3
   url: https://github.com/ros2-gbp/tlsf-release.git
   version: 0.11.1
 tlsf_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rcl
+  - rclcpp
+  - rcpputils
+  - rmw
+  - rmw_implementation_cmake
+  - std_msgs
+  - tlsf
+  repository: https://github.com/ros2/realtime_support
   tag: release/lyrical/tlsf_cpp/0.20.1-1
   url: https://github.com/ros2-gbp/realtime_support-release.git
   version: 0.20.1
 topic_monitor:
-  tag: release/lyrical/topic_monitor/0.37.8-3
+  dependencies:
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - example_interfaces
+  - launch
+  - launch_ros
+  - rclpy
+  - std_msgs
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/topic_monitor/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 topic_statistics_demo:
-  tag: release/lyrical/topic_statistics_demo/0.37.8-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - example_interfaces
+  - rclcpp
+  - rcutils
+  - sensor_msgs
+  - statistics_msgs
+  repository: https://github.com/ros2/demos
+  tag: release/lyrical/topic_statistics_demo/0.37.9-1
   url: https://github.com/ros2-gbp/demos-release.git
-  version: 0.37.8
+  version: 0.37.9
 topic_tools:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - rclpy
+  - ros2cli
+  - ros2topic
+  - rosidl_default_generators
+  - rosidl_runtime_py
+  - std_msgs
+  - topic_tools_interfaces
+  repository: https://github.com/ros-tooling/topic_tools
   tag: release/lyrical/topic_tools/1.5.0-1
   url: https://github.com/ros2-gbp/topic_tools-release.git
   version: 1.5.0
 topic_tools_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-tooling/topic_tools
   tag: release/lyrical/topic_tools_interfaces/1.5.0-1
   url: https://github.com/ros2-gbp/topic_tools-release.git
   version: 1.5.0
 toppra:
-  tag: release/lyrical/toppra/0.6.8-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_python
+  repository: https://github.com/hungpham2511/toppra
+  tag: release/lyrical/toppra/0.6.10-1
   url: https://github.com/ros2-gbp/toppra-release.git
-  version: 0.6.8
+  version: 0.6.10
 torch_conversions:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - launch_testing_ament_cmake
+  - libtorch_vendor
+  - rclcpp
+  - rclcpp_components
+  - rcutils
+  - rmw
+  - rosidl_buffer
+  - std_msgs
+  - tensor_msgs
+  repository: https://github.com/ros2/rosidl_buffer_backends
   tag: release/lyrical/torch_conversions/0.1.2-1
   url: https://github.com/ros2-gbp/rosidl_buffer_backends-release.git
   version: 0.1.2
 trac_ik:
+  dependencies:
+  - ament_cmake
+  - trac_ik_kinematics_plugin
+  - trac_ik_lib
+  repository: https://github.com/traclabs/trac_ik
   tag: release/lyrical/trac_ik/2.2.0-3
   url: https://github.com/ros2-gbp/trac_ik-release.git
   version: 2.2.0
 trac_ik_kinematics_plugin:
+  dependencies:
+  - ament_cmake
+  - class_loader
+  - generate_parameter_library
+  - moveit_core
+  - pluginlib
+  - rclcpp
+  - tf2_kdl
+  - trac_ik_lib
+  - urdf
+  repository: https://github.com/traclabs/trac_ik
   tag: release/lyrical/trac_ik_kinematics_plugin/2.2.0-3
   url: https://github.com/ros2-gbp/trac_ik-release.git
   version: 2.2.0
 trac_ik_lib:
+  dependencies:
+  - ament_cmake
+  - eigen3_cmake_module
+  - geometry_msgs
+  - kdl_parser
+  - rclcpp
+  - urdf
+  repository: https://github.com/traclabs/trac_ik
   tag: release/lyrical/trac_ik_lib/2.2.0-3
   url: https://github.com/ros2-gbp/trac_ik-release.git
   version: 2.2.0
 tracetools:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gtest
+  - ament_cmake_ros_core
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/ros2_tracing
   tag: release/lyrical/tracetools/8.10.2-1
   url: https://github.com/ros2-gbp/ros2_tracing-release.git
   version: 8.10.2
 tracetools_acceleration:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros-acceleration/tracetools_acceleration
   tag: release/lyrical/tracetools_acceleration/0.4.1-5
   url: https://github.com/ros2-gbp/tracetools_acceleration-release.git
   version: 0.4.1
 tracetools_analysis:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - tracetools_read
+  - tracetools_trace
+  repository: https://github.com/ros-tracing/tracetools_analysis
   tag: release/lyrical/tracetools_analysis/3.1.0-3
   url: https://github.com/ros2-gbp/tracetools_analysis-release.git
   version: 3.1.0
 tracetools_image_pipeline:
-  tag: release/lyrical/tracetools_image_pipeline/7.1.6-1
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros-perception/image_pipeline
+  tag: release/lyrical/tracetools_image_pipeline/7.1.7-1
   url: https://github.com/ros2-gbp/image_pipeline-release.git
-  version: 7.1.6
+  version: 7.1.7
 tracetools_launch:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_ros
+  - tracetools_trace
+  repository: https://github.com/ros2/ros2_tracing
   tag: release/lyrical/tracetools_launch/8.10.2-1
   url: https://github.com/ros2-gbp/ros2_tracing-release.git
   version: 8.10.2
 tracetools_read:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  repository: https://github.com/ros2/ros2_tracing
   tag: release/lyrical/tracetools_read/8.10.2-1
   url: https://github.com/ros2-gbp/ros2_tracing-release.git
   version: 8.10.2
 tracetools_test:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - launch
+  - launch_ros
+  - tracetools_launch
+  - tracetools_read
+  - tracetools_trace
+  repository: https://github.com/ros2/ros2_tracing
   tag: release/lyrical/tracetools_test/8.10.2-1
   url: https://github.com/ros2-gbp/ros2_tracing-release.git
   version: 8.10.2
 tracetools_trace:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_mypy
+  - ament_pep257
+  - ament_xmllint
+  - lttngpy
+  repository: https://github.com/ros2/ros2_tracing
   tag: release/lyrical/tracetools_trace/8.10.2-1
   url: https://github.com/ros2-gbp/ros2_tracing-release.git
   version: 8.10.2
 trajectory_msgs:
-  tag: release/lyrical/trajectory_msgs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/trajectory_msgs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 transmission_interface:
-  tag: release/lyrical/transmission_interface/6.7.1-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gen_version_h
+  - ament_cmake_gmock
+  - hardware_interface
+  - pluginlib
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  repository: https://github.com/ros-controls/ros2_control
+  tag: release/lyrical/transmission_interface/6.10.0-1
   url: https://github.com/ros2-gbp/ros2_control-release.git
-  version: 6.7.1
+  version: 6.10.0
 tricycle_controller:
-  tag: release/lyrical/tricycle_controller/6.7.0-1
+  dependencies:
+  - ackermann_msgs
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - builtin_interfaces
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - hardware_interface_testing
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - rcpputils
+  - realtime_tools
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - tf2
+  - tf2_msgs
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/tricycle_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
 tricycle_steering_controller:
-  tag: release/lyrical/tricycle_steering_controller/6.7.0-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - backward_ros
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - hardware_interface
+  - hardware_interface_testing
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros2_control_cmake
+  - ros2_control_test_assets
+  - std_srvs
+  - steering_controllers_library
+  repository: https://github.com/ros-controls/ros2_controllers
+  tag: release/lyrical/tricycle_steering_controller/6.9.0-1
   url: https://github.com/ros2-gbp/ros2_controllers-release.git
-  version: 6.7.0
+  version: 6.9.0
+trimble_driver:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - diagnostic_msgs
+  - geometry_msgs
+  - launch_testing
+  - nav_msgs
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - trimble_gsof_msgs
+  - trimble_interfaces
+  repository: https://github.com/trimble-oss/trimble_driver_ros
+  tag: release/lyrical/trimble_driver/0.2.0-2
+  url: https://github.com/ros2-gbp/trimble_driver_ros-release.git
+  version: 0.2.0
+trimble_gsof_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/trimble-oss/trimble_driver_ros
+  tag: release/lyrical/trimble_gsof_msgs/0.2.0-2
+  url: https://github.com/ros2-gbp/trimble_driver_ros-release.git
+  version: 0.2.0
+trimble_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/trimble-oss/trimble_driver_ros
+  tag: release/lyrical/trimble_interfaces/0.2.0-2
+  url: https://github.com/ros2-gbp/trimble_driver_ros-release.git
+  version: 0.2.0
 tsid:
+  dependencies:
+  - ament_cmake
+  - eigenpy
+  - eiquadprog
+  - jrl_cmakemodules
+  - pinocchio
+  repository: https://github.com/stack-of-tasks/tsid
   tag: release/lyrical/tsid/1.10.0-1
   url: https://github.com/ros2-gbp/tsid-release.git
   version: 1.10.0
 turbojpeg_compressed_image_transport:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - image_transport
+  repository: https://github.com/wep21/turbojpeg_compressed_image_transport
   tag: release/lyrical/turbojpeg_compressed_image_transport/0.3.0-3
   url: https://github.com/ros2-gbp/turbojpeg_compressed_image_transport-release.git
   version: 0.3.0
 turtle_nest:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - tinyxml2_vendor
+  repository: https://github.com/Jannkar/turtle_nest
   tag: release/lyrical/turtle_nest/1.2.1-3
   url: https://github.com/ros2-gbp/turtle_nest-release.git
   version: 1.2.1
 turtle_tf2_cpp:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - launch
+  - launch_ros
+  - message_filters
+  - rclcpp
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  - turtlesim_msgs
+  repository: https://github.com/ros/geometry_tutorials
   tag: release/lyrical/turtle_tf2_cpp/0.7.0-3
   url: https://github.com/ros2-gbp/geometry_tutorials-release.git
   version: 0.7.0
 turtle_tf2_py:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - geometry_msgs
+  - launch
+  - launch_ros
+  - rclpy
+  - tf2_ros
+  - turtlesim_msgs
+  repository: https://github.com/ros/geometry_tutorials
   tag: release/lyrical/turtle_tf2_py/0.7.0-3
   url: https://github.com/ros2-gbp/geometry_tutorials-release.git
   version: 0.7.0
 turtlebot3_applications_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs
   tag: release/lyrical/turtlebot3_applications_msgs/1.0.1-3
   url: https://github.com/ros2-gbp/turtlebot3_applications_msgs-release.git
   version: 1.0.1
 turtlebot3_autorace:
+  dependencies:
+  - ament_cmake
+  - turtlebot3_autorace_camera
+  - turtlebot3_autorace_detect
+  - turtlebot3_autorace_mission
+  repository: https://github.com/ROBOTIS-GIT/turtlebot3_autorace
   tag: release/lyrical/turtlebot3_autorace/1.2.2-3
   url: https://github.com/ros2-gbp/turtlebot3_autorace-release.git
   version: 1.2.2
 turtlebot3_autorace_camera:
+  dependencies:
+  - cv_bridge
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ROBOTIS-GIT/turtlebot3_autorace
   tag: release/lyrical/turtlebot3_autorace_camera/1.2.2-3
   url: https://github.com/ros2-gbp/turtlebot3_autorace-release.git
   version: 1.2.2
 turtlebot3_autorace_detect:
+  dependencies:
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ROBOTIS-GIT/turtlebot3_autorace
   tag: release/lyrical/turtlebot3_autorace_detect/1.2.2-3
   url: https://github.com/ros2-gbp/turtlebot3_autorace-release.git
   version: 1.2.2
 turtlebot3_autorace_mission:
+  dependencies:
+  - rclpy
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ROBOTIS-GIT/turtlebot3_autorace
   tag: release/lyrical/turtlebot3_autorace_mission/1.2.2-3
   url: https://github.com/ros2-gbp/turtlebot3_autorace-release.git
   version: 1.2.2
 turtlebot3_fake_node:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - nav_msgs
+  - rclcpp
+  - robot_state_publisher
+  - sensor_msgs
+  - tf2
+  - tf2_msgs
+  - turtlebot3_msgs
+  repository: https://github.com/ROBOTIS-GIT/turtlebot3_simulations
   tag: release/lyrical/turtlebot3_fake_node/2.3.7-3
   url: https://github.com/ros2-gbp/turtlebot3_simulations-release.git
   version: 2.3.7
 turtlebot3_gazebo:
+  dependencies:
+  - ament_cmake
+  - geometry_msgs
+  - gz_math_vendor
+  - gz_plugin_vendor
+  - gz_sim_vendor
+  - nav_msgs
+  - rclcpp
+  - ros_gz_bridge
+  - ros_gz_image
+  - ros_gz_sim
+  - sensor_msgs
+  - tf2
+  repository: https://github.com/ROBOTIS-GIT/turtlebot3_simulations
   tag: release/lyrical/turtlebot3_gazebo/2.3.7-3
   url: https://github.com/ros2-gbp/turtlebot3_simulations-release.git
   version: 2.3.7
 turtlebot3_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ROBOTIS-GIT/turtlebot3_msgs
   tag: release/lyrical/turtlebot3_msgs/2.4.0-3
   url: https://github.com/ros2-gbp/turtlebot3_msgs-release.git
   version: 2.4.0
 turtlebot3_simulations:
+  dependencies:
+  - ament_cmake
+  - turtlebot3_fake_node
+  - turtlebot3_gazebo
+  repository: https://github.com/ROBOTIS-GIT/turtlebot3_simulations
   tag: release/lyrical/turtlebot3_simulations/2.3.7-3
   url: https://github.com/ros2-gbp/turtlebot3_simulations-release.git
   version: 2.3.7
 turtlesim:
+  dependencies:
+  - ament_cmake
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_action
+  - std_msgs
+  - std_srvs
+  - turtlesim_msgs
+  repository: https://github.com/ros/ros_tutorials
   tag: release/lyrical/turtlesim/1.10.9-1
   url: https://github.com/ros2-gbp/ros_tutorials-release.git
   version: 1.10.9
 turtlesim_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros/ros_tutorials
   tag: release/lyrical/turtlesim_msgs/1.10.9-1
   url: https://github.com/ros2-gbp/ros_tutorials-release.git
   version: 1.10.9
 tuw_airskin_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_airskin_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tuw_geo_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geographic_msgs
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_geo_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tuw_geometry:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - gtest_vendor
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/tuw-robotics/tuw_geometry
   tag: release/lyrical/tuw_geometry/0.1.4-3
   url: https://github.com/ros2-gbp/tuw_geometry-release.git
   version: 0.1.4
 tuw_geometry_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_geometry_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tuw_graph_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_graph_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tuw_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - tuw_airskin_msgs
+  - tuw_geometry_msgs
+  - tuw_graph_msgs
+  - tuw_multi_robot_msgs
+  - tuw_nav_msgs
+  - tuw_object_map_msgs
+  - tuw_object_msgs
+  - tuw_std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tuw_multi_robot_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_multi_robot_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tuw_nav_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - nav_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_nav_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tuw_object_map_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geographic_msgs
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_object_map_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tuw_object_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - tuw_geo_msgs
+  - tuw_geometry_msgs
+  - tuw_std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_object_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tuw_std_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_cppcheck
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/tuw-robotics/tuw_msgs
   tag: release/lyrical/tuw_std_msgs/0.2.6-3
   url: https://github.com/ros2-gbp/tuw_msgs-release.git
   version: 0.2.6
 tvm_vendor:
+  dependencies:
+  - ament_cmake
+  - ros_environment
+  repository: https://github.com/autowarefoundation/tvm_vendor
   tag: release/lyrical/tvm_vendor/0.9.1-5
   url: https://github.com/ros2-gbp/tvm_vendor-release.git
   version: 0.9.1
 twist_mux:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_updater
+  - geometry_msgs
+  - launch
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclcpp
+  - std_msgs
+  - twist_mux_msgs
+  - visualization_msgs
+  repository: https://github.com/ros-teleop/twist_mux
   tag: release/lyrical/twist_mux/4.5.1-3
   url: https://github.com/ros2-gbp/twist_mux-release.git
   version: 4.5.1
 twist_mux_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/ros-teleop/twist_mux_msgs
   tag: release/lyrical/twist_mux_msgs/3.0.1-4
   url: https://github.com/ros2-gbp/twist_mux_msgs-release.git
   version: 3.0.1
 twist_stamper:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - geometry_msgs
+  - rclpy
+  - std_msgs
+  repository: https://github.com/joshnewans/twist_stamper
   tag: release/lyrical/twist_stamper/0.0.5-3
   url: https://github.com/ros2-gbp/twist_stamper-release.git
   version: 0.0.5
 type_description_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_core_generators
+  - rosidl_core_runtime
+  - service_msgs
+  repository: https://github.com/ros2/rcl_interfaces
   tag: release/lyrical/type_description_interfaces/2.4.5-1
   url: https://github.com/ros2-gbp/rcl_interfaces-release.git
   version: 2.4.5
 ublox:
+  dependencies:
+  - ament_cmake
+  - ublox_gps
+  - ublox_msgs
+  - ublox_serialization
+  repository: https://github.com/KumarRobotics/ublox
   tag: release/lyrical/ublox/3.0.0-3
   url: https://github.com/ros2-gbp/ublox-release.git
   version: 3.0.0
 ublox_dgnss:
-  tag: release/lyrical/ublox_dgnss/0.7.4-3
+  dependencies:
+  - ament_cmake
+  - ntrip_client_node
+  - ublox_dgnss_node
+  - ublox_nav_sat_fix_hp_node
+  - ublox_ubx_interfaces
+  - ublox_ubx_msgs
+  repository: https://github.com/aussierobots/ublox_dgnss
+  tag: release/lyrical/ublox_dgnss/0.7.5-1
   url: https://github.com/ros2-gbp/ublox_dgnss-release.git
-  version: 0.7.4
+  version: 0.7.5
 ublox_dgnss_node:
-  tag: release/lyrical/ublox_dgnss_node/0.7.4-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_uncrustify
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - rtcm_msgs
+  - std_msgs
+  - ublox_ubx_interfaces
+  - ublox_ubx_msgs
+  repository: https://github.com/aussierobots/ublox_dgnss
+  tag: release/lyrical/ublox_dgnss_node/0.7.5-1
   url: https://github.com/ros2-gbp/ublox_dgnss-release.git
-  version: 0.7.4
+  version: 0.7.5
 ublox_gps:
+  dependencies:
+  - ament_cmake_ros
+  - diagnostic_msgs
+  - diagnostic_updater
+  - geometry_msgs
+  - nmea_msgs
+  - rcl_interfaces
+  - rclcpp
+  - rclcpp_components
+  - rtcm_msgs
+  - sensor_msgs
+  - std_msgs
+  - tf2
+  - ublox_msgs
+  - ublox_serialization
+  repository: https://github.com/KumarRobotics/ublox
   tag: release/lyrical/ublox_gps/3.0.0-3
   url: https://github.com/ros2-gbp/ublox-release.git
   version: 3.0.0
 ublox_msgs:
+  dependencies:
+  - ament_cmake_ros
+  - rosidl_default_generators
+  - sensor_msgs
+  - std_msgs
+  - ublox_serialization
+  repository: https://github.com/KumarRobotics/ublox
   tag: release/lyrical/ublox_msgs/3.0.0-3
   url: https://github.com/ros2-gbp/ublox-release.git
   version: 3.0.0
 ublox_nav_sat_fix_hp_node:
-  tag: release/lyrical/ublox_nav_sat_fix_hp_node/0.7.4-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_uncrustify
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - std_msgs
+  - ublox_ubx_interfaces
+  - ublox_ubx_msgs
+  repository: https://github.com/aussierobots/ublox_dgnss
+  tag: release/lyrical/ublox_nav_sat_fix_hp_node/0.7.5-1
   url: https://github.com/ros2-gbp/ublox_dgnss-release.git
-  version: 0.7.4
+  version: 0.7.5
 ublox_serialization:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/KumarRobotics/ublox
   tag: release/lyrical/ublox_serialization/3.0.0-3
   url: https://github.com/ros2-gbp/ublox-release.git
   version: 3.0.0
 ublox_ubx_interfaces:
-  tag: release/lyrical/ublox_ubx_interfaces/0.7.4-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  repository: https://github.com/aussierobots/ublox_dgnss
+  tag: release/lyrical/ublox_ubx_interfaces/0.7.5-1
   url: https://github.com/ros2-gbp/ublox_dgnss-release.git
-  version: 0.7.4
+  version: 0.7.5
 ublox_ubx_msgs:
-  tag: release/lyrical/ublox_ubx_msgs/0.7.4-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - std_msgs
+  repository: https://github.com/aussierobots/ublox_dgnss
+  tag: release/lyrical/ublox_ubx_msgs/0.7.5-1
   url: https://github.com/ros2-gbp/ublox_dgnss-release.git
-  version: 0.7.4
+  version: 0.7.5
 udp_driver:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - asio_cmake_module
+  - io_context
+  - lifecycle_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - std_msgs
+  - udp_msgs
+  repository: https://github.com/ros-drivers/transport_drivers
   tag: release/lyrical/udp_driver/1.2.0-5
   url: https://github.com/ros2-gbp/transport_drivers-release.git
   version: 1.2.0
 udp_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/flynneva/udp_msgs
   tag: release/lyrical/udp_msgs/0.0.5-3
   url: https://github.com/ros2-gbp/udp_msgs-release.git
   version: 0.0.5
+unbag:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_index_python
+  - ament_lint_auto
+  - ament_lint_common
+  - rclpy
+  - ros2cli
+  - rosbag2_py
+  - rosidl_runtime_py
+  - sensor_msgs
+  - tf2_msgs
+  repository: https://github.com/ika-rwth-aachen/ros2_unbag
+  tag: release/lyrical/unbag/1.3.1-1
+  url: https://github.com/ros2-gbp/unbag-release.git
+  version: 1.3.1
 uncrustify_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/ament/uncrustify_vendor
   tag: release/lyrical/uncrustify_vendor/3.2.0-3
   url: https://github.com/ros2-gbp/uncrustify_vendor-release.git
   version: 3.2.0
 unique_identifier_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_core_generators
+  - rosidl_core_runtime
+  repository: https://github.com/ros2/unique_identifier_msgs
   tag: release/lyrical/unique_identifier_msgs/2.8.1-3
   url: https://github.com/ros2-gbp/unique_identifier_msgs-release.git
   version: 2.8.1
 ur:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - ur_calibration
+  - ur_controllers
+  - ur_dashboard_msgs
+  - ur_moveit_config
+  - ur_robot_driver
+  repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
   tag: release/lyrical/ur/6.0.0-1
   url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
   version: 6.0.0
+ur10_inverse_dynamics_solver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - inverse_dynamics_solver
+  - pluginlib
+  - rclcpp
+  - ros_testing
+  - rosbag2_cpp
+  - rosbag2_storage
+  - rosbag2_storage_default_plugins
+  - trajectory_msgs
+  - ur_description
+  repository: https://github.com/unisa-acg/inverse-dynamics-solver
+  tag: release/lyrical/ur10_inverse_dynamics_solver/3.0.0-1
+  url: https://github.com/ros2-gbp/inverse_dynamics_solver-release.git
+  version: 3.0.0
 ur_calibration:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gmock
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - ur_client_library
+  - ur_robot_driver
+  - yaml_cpp_vendor
+  repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
   tag: release/lyrical/ur_calibration/6.0.0-1
   url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
   version: 6.0.0
 ur_client_library:
-  tag: release/lyrical/ur_client_library/2.12.0-1
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/UniversalRobots/Universal_Robots_Client_Library
+  tag: release/lyrical/ur_client_library/2.14.1-1
   url: https://github.com/ros2-gbp/Universal_Robots_Client_Library-release.git
-  version: 2.12.0
+  version: 2.14.1
 ur_controllers:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - angles
+  - control_msgs
+  - controller_interface
+  - controller_manager
+  - generate_parameter_library
+  - geometry_msgs
+  - hardware_interface
+  - joint_trajectory_controller
+  - lifecycle_msgs
+  - pluginlib
+  - rclcpp_lifecycle
+  - rcutils
+  - realtime_tools
+  - ros2_control_test_assets
+  - std_msgs
+  - std_srvs
+  - tf2_geometry_msgs
+  - tf2_ros
+  - trajectory_msgs
+  - ur_dashboard_msgs
+  - ur_msgs
+  repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
   tag: release/lyrical/ur_controllers/6.0.0-1
   url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
   version: 6.0.0
 ur_dashboard_msgs:
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
   tag: release/lyrical/ur_dashboard_msgs/6.0.0-1
   url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
   version: 6.0.0
 ur_description:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - joint_state_publisher_gui
+  - launch
+  - launch_ros
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - robot_state_publisher
+  - rviz2
+  - urdf
+  - xacro
+  repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
   tag: release/lyrical/ur_description/4.3.1-1
   url: https://github.com/ros2-gbp/ur_description-release.git
   version: 4.3.1
 ur_moveit_config:
+  dependencies:
+  - ament_cmake
+  - moveit_configs_utils
+  - moveit_kinematics
+  - moveit_planners
+  - moveit_planners_chomp
+  - moveit_ros_move_group
+  - moveit_ros_visualization
+  - moveit_servo
+  - moveit_simple_controller_manager
+  - ur_description
+  - warehouse_ros_sqlite
+  - xacro
+  repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
   tag: release/lyrical/ur_moveit_config/6.0.0-1
   url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
   version: 6.0.0
 ur_msgs:
-  tag: release/lyrical/ur_msgs/2.5.0-3
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - control_msgs
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - trajectory_msgs
+  repository: https://github.com/ros-industrial/ur_msgs
+  tag: release/lyrical/ur_msgs/2.6.0-1
   url: https://github.com/ros2-gbp/ur_msgs-release.git
-  version: 2.5.0
+  version: 2.6.0
 ur_robot_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - backward_ros
+  - control_msgs
+  - controller_manager
+  - controller_manager_msgs
+  - force_torque_sensor_broadcaster
+  - forward_command_controller
+  - geometry_msgs
+  - hardware_interface
+  - joint_state_broadcaster
+  - joint_state_publisher
+  - joint_trajectory_controller
+  - launch
+  - launch_ros
+  - launch_testing_ament_cmake
+  - motion_primitives_controllers
+  - pluginlib
+  - pose_broadcaster
+  - rclcpp
+  - rclcpp_lifecycle
+  - rclpy
+  - robot_state_publisher
+  - ros2_controllers_test_nodes
+  - ros2run
+  - rviz2
+  - std_msgs
+  - std_srvs
+  - tf2_geometry_msgs
+  - ur_client_library
+  - ur_controllers
+  - ur_dashboard_msgs
+  - ur_description
+  - ur_msgs
+  - urdf
+  - xacro
+  repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
   tag: release/lyrical/ur_robot_driver/6.0.0-1
   url: https://github.com/ros2-gbp/Universal_Robots_ROS2_Driver-release.git
   version: 6.0.0
 ur_simulation_gz:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - gz_ros2_control
+  - joint_state_publisher
+  - launch
+  - launch_ros
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - ros_gz_bridge
+  - ros_gz_sim
+  - rviz2
+  - ur_controllers
+  - ur_description
+  - ur_moveit_config
+  - urdf
+  - xacro
+  repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_GZ_Simulation
   tag: release/lyrical/ur_simulation_gz/2.5.0-3
   url: https://github.com/ros2-gbp/ur_simulation_gz-release.git
   version: 2.5.0
 urdf:
+  dependencies:
+  - ament_cmake_google_benchmark
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - rcutils
+  - urdf_parser_plugin
+  - urdfdom
+  - urdfdom_headers
+  repository: https://github.com/ros2/urdf
   tag: release/lyrical/urdf/2.13.2-3
   url: https://github.com/ros2-gbp/urdf-release.git
   version: 2.13.2
 urdf_launch:
+  dependencies:
+  - ament_cmake
+  - joint_state_publisher
+  - joint_state_publisher_gui
+  - launch_ros
+  - robot_state_publisher
+  - rviz2
+  - rviz_common
+  - rviz_default_plugins
+  - xacro
+  repository: https://github.com/ros/urdf_launch
   tag: release/lyrical/urdf_launch/0.1.2-3
   url: https://github.com/ros2-gbp/urdf_launch-release.git
   version: 0.1.2
 urdf_parser_plugin:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - urdfdom_headers
+  repository: https://github.com/ros2/urdf
   tag: release/lyrical/urdf_parser_plugin/2.13.2-3
   url: https://github.com/ros2-gbp/urdf-release.git
   version: 2.13.2
 urdf_test:
-  tag: release/lyrical/urdf_test/2.1.1-3
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_pytest
+  - ament_lint_auto
+  - ament_lint_common
+  - launch
+  - rclpy
+  - xacro
+  repository: https://github.com/pal-robotics/urdf_test
+  tag: release/lyrical/urdf_test/2.1.2-1
   url: https://github.com/ros2-gbp/urdf_test-release.git
-  version: 2.1.1
+  version: 2.1.2
 urdf_tutorial:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - urdf_launch
+  repository: https://github.com/ros/urdf_tutorial
   tag: release/lyrical/urdf_tutorial/1.1.0-4
   url: https://github.com/ros2-gbp/urdf_tutorial-release.git
   version: 1.1.0
 urdfdom:
+  dependencies:
+  - console_bridge_vendor
+  - urdfdom_headers
+  repository: https://github.com/ros/urdfdom
   tag: release/lyrical/urdfdom/6.0.0-3
   url: https://github.com/ros2-gbp/urdfdom-release.git
   version: 6.0.0
 urdfdom_headers:
+  dependencies: []
+  repository: https://github.com/ros/urdfdom_headers
   tag: release/lyrical/urdfdom_headers/3.0.0-3
   url: https://github.com/ros2-gbp/urdfdom_headers-release.git
   version: 3.0.0
 urdfdom_py:
+  dependencies:
+  - rclpy
+  repository: https://github.com/ros/urdf_parser_py
   tag: release/lyrical/urdfdom_py/1.2.1-4
   url: https://github.com/ros2-gbp/urdfdom_py-release.git
   version: 1.2.1
 urg_c:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/ros-drivers/urg_c
   tag: release/lyrical/urg_c/1.0.4001-7
   url: https://github.com/ros2-gbp/urg_c-release.git
   version: 1.0.4001
 urg_node:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - diagnostic_updater
+  - laser_proc
+  - rclcpp
+  - rclcpp_components
+  - rosidl_default_generators
+  - sensor_msgs
+  - std_srvs
+  - urdf
+  - urg_c
+  - urg_node_msgs
+  repository: https://github.com/ros-drivers/urg_node
   tag: release/lyrical/urg_node/1.2.0-3
   url: https://github.com/ros2-gbp/urg_node-release.git
   version: 1.2.0
 urg_node_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - std_msgs
+  repository: https://github.com/ros-drivers/urg_node_msgs
   tag: release/lyrical/urg_node_msgs/1.0.1-10
   url: https://github.com/ros2-gbp/urg_node_msgs-release.git
   version: 1.0.1
 usb_cam:
+  dependencies:
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - camera_info_manager
+  - cv_bridge
+  - image_transport
+  - image_transport_plugins
+  - rclcpp
+  - rclcpp_components
+  - ros_environment
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  repository: https://github.com/ros-drivers/usb_cam
   tag: release/lyrical/usb_cam/0.8.1-3
   url: https://github.com/ros2-gbp/usb_cam-release.git
   version: 0.8.1
 v4l2_camera:
-  tag: release/lyrical/v4l2_camera/0.8.0-3
+  dependencies:
+  - ament_cmake_clang_format
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - camera_info_manager
+  - cv_bridge
+  - image_transport
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://gitlab.com/boldhearts/ros2_v4l2_camera
+  tag: release/lyrical/v4l2_camera/0.8.1-1
   url: https://github.com/ros2-gbp/ros2_v4l2_camera-release.git
-  version: 0.8.0
+  version: 0.8.1
 velodyne:
+  dependencies:
+  - ament_cmake
+  - velodyne_driver
+  - velodyne_laserscan
+  - velodyne_msgs
+  - velodyne_pointcloud
+  repository: https://github.com/ros-drivers/velodyne
   tag: release/lyrical/velodyne/2.5.1-3
   url: https://github.com/ros2-gbp/velodyne-release.git
   version: 2.5.1
 velodyne_driver:
+  dependencies:
+  - ament_cmake_gtest
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_updater
+  - rclcpp
+  - rclcpp_components
+  - tf2_ros
+  - velodyne_msgs
+  repository: https://github.com/ros-drivers/velodyne
   tag: release/lyrical/velodyne_driver/2.5.1-3
   url: https://github.com/ros2-gbp/velodyne-release.git
   version: 2.5.1
 velodyne_laserscan:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  repository: https://github.com/ros-drivers/velodyne
   tag: release/lyrical/velodyne_laserscan/2.5.1-3
   url: https://github.com/ros2-gbp/velodyne-release.git
   version: 2.5.1
 velodyne_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-drivers/velodyne
   tag: release/lyrical/velodyne_msgs/2.5.1-3
   url: https://github.com/ros2-gbp/velodyne-release.git
   version: 2.5.1
 velodyne_pointcloud:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_index_cpp
+  - ament_lint_auto
+  - ament_lint_common
+  - angles
+  - diagnostic_updater
+  - geometry_msgs
+  - message_filters
+  - rclcpp
+  - rclcpp_components
+  - sensor_msgs
+  - tf2
+  - tf2_ros
+  - velodyne_msgs
+  repository: https://github.com/ros-drivers/velodyne
   tag: release/lyrical/velodyne_pointcloud/2.5.1-3
   url: https://github.com/ros2-gbp/velodyne-release.git
   version: 2.5.1
+video_to_image_msg_publisher:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - rclcpp
+  - sensor_msgs
+  repository: https://github.com/gstavrinos/video_to_image_msg_publisher
+  tag: release/lyrical/video_to_image_msg_publisher/0.9.5-2
+  url: https://github.com/ros2-gbp/video_to_image_msg_publisher-release.git
+  version: 0.9.5
 vision_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-perception/vision_msgs
   tag: release/lyrical/vision_msgs/4.2.0-3
   url: https://github.com/ros2-gbp/vision_msgs-release.git
   version: 4.2.0
 vision_msgs_layers:
+  dependencies:
+  - ament_cmake_ros
+  - ament_lint_auto
+  - ament_lint_common
+  - rqt_image_overlay_layer
+  - vision_msgs
+  repository: https://github.com/ros-sports/vision_msgs_layers
   tag: release/lyrical/vision_msgs_layers/0.2.0-5
   url: https://github.com/ros2-gbp/vision_msgs_layers-release.git
   version: 0.2.0
 vision_msgs_rviz_plugins:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - rclcpp
+  - rclpy
+  - rviz2
+  - rviz_common
+  - rviz_default_plugins
+  - rviz_rendering
+  - vision_msgs
+  - yaml_cpp_vendor
+  repository: https://github.com/ros-perception/vision_msgs
   tag: release/lyrical/vision_msgs_rviz_plugins/4.2.0-3
   url: https://github.com/ros2-gbp/vision_msgs-release.git
   version: 4.2.0
 vision_opencv:
+  dependencies:
+  - ament_cmake
+  - cv_bridge
+  - image_geometry
+  repository: https://github.com/ros-perception/vision_opencv
   tag: release/lyrical/vision_opencv/4.1.0-3
   url: https://github.com/ros2-gbp/vision_opencv-release.git
   version: 4.1.0
 visp:
+  dependencies: []
+  repository: https://github.com/lagadic/visp
   tag: release/lyrical/visp/3.7.0-8
   url: https://github.com/ros2-gbp/visp-release.git
   version: 3.7.0
 visualization_msgs:
-  tag: release/lyrical/visualization_msgs/5.9.2-3
+  dependencies:
+  - ament_cmake
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - sensor_msgs
+  - std_msgs
+  repository: https://github.com/ros2/common_interfaces
+  tag: release/lyrical/visualization_msgs/5.9.3-1
   url: https://github.com/ros2-gbp/common_interfaces-release.git
-  version: 5.9.2
+  version: 5.9.3
 vitis_common:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - ament_vitis
+  repository: https://github.com/ros-acceleration/vitis_common
   tag: release/lyrical/vitis_common/0.4.2-5
   url: https://github.com/ros2-gbp/vitis_common-release.git
   version: 0.4.2
 vrpn:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/vrpn/vrpn
   tag: release/lyrical/vrpn/7.35.0-22
   url: https://github.com/ros2-gbp/vrpn-release.git
   version: 7.35.0
 vrpn_mocap:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - eigen3_cmake_module
+  - geometry_msgs
+  - rclcpp
+  - std_msgs
+  - tf2
+  - vrpn
+  repository: https://github.com/alvinsunyixiao/vrpn_mocap
   tag: release/lyrical/vrpn_mocap/1.1.0-5
   url: https://github.com/ros2-gbp/vrpn_mocap-release.git
   version: 1.1.0
 warehouse_ros:
-  tag: release/lyrical/warehouse_ros/2.0.6-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_lint_auto
+  - geometry_msgs
+  - pluginlib
+  - rclcpp
+  - std_msgs
+  - tf2
+  - tf2_geometry_msgs
+  - tf2_ros
+  repository: https://github.com/ros-planning/warehouse_ros
+  tag: release/lyrical/warehouse_ros/2.0.9-1
   url: https://github.com/ros2-gbp/warehouse_ros-release.git
-  version: 2.0.6
+  version: 2.0.9
 warehouse_ros_sqlite:
-  tag: release/lyrical/warehouse_ros_sqlite/1.0.7-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_copyright
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - class_loader
+  - geometry_msgs
+  - rclcpp
+  - warehouse_ros
+  repository: https://github.com/ros-planning/warehouse_ros_sqlite
+  tag: release/lyrical/warehouse_ros_sqlite/1.0.9-1
   url: https://github.com/ros2-gbp/warehouse_ros_sqlite-release.git
-  version: 1.0.7
+  version: 1.0.9
 web_video_server:
+  dependencies:
+  - ament_cmake_clang_tidy
+  - ament_cmake_copyright
+  - ament_cmake_lint_cmake
+  - ament_cmake_ros
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - async_web_server_cpp
+  - cv_bridge
+  - image_transport
+  - pluginlib
+  - rclcpp
+  - rclcpp_components
+  - rmw
+  - ros_environment
+  - sensor_msgs
+  repository: https://github.com/RobotWebTools/web_video_server
   tag: release/lyrical/web_video_server/3.1.1-1
   url: https://github.com/ros2-gbp/web_video_server-release.git
   version: 3.1.1
 webots_ros2:
+  dependencies:
+  - ament_copyright
+  - builtin_interfaces
+  - rclpy
+  - std_msgs
+  - webots_ros2_control
+  - webots_ros2_crazyflie
+  - webots_ros2_driver
+  - webots_ros2_epuck
+  - webots_ros2_husarion
+  - webots_ros2_importer
+  - webots_ros2_mavic
+  - webots_ros2_msgs
+  - webots_ros2_tesla
+  - webots_ros2_tests
+  - webots_ros2_tiago
+  - webots_ros2_turtlebot
+  - webots_ros2_universal_robot
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_control:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - controller_manager
+  - hardware_interface
+  - pluginlib
+  - rclcpp
+  - rclcpp_lifecycle
+  - ros_environment
+  - webots_ros2_driver
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_control/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_crazyflie:
+  dependencies:
+  - ament_copyright
+  - ament_flake8
+  - ament_pep257
+  - builtin_interfaces
+  - rclpy
+  - tf_transformations
+  - webots_ros2_driver
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_crazyflie/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_driver:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - pluginlib
+  - python_cmake_module
+  - rclcpp
+  - rclpy
+  - ros_environment
+  - sensor_msgs
+  - std_msgs
+  - tf2_geometry_msgs
+  - tf2_ros
+  - tinyxml2_vendor
+  - vision_msgs
+  - webots_ros2_importer
+  - webots_ros2_msgs
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_driver/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_epuck:
+  dependencies:
+  - ament_copyright
+  - builtin_interfaces
+  - controller_manager
+  - diff_drive_controller
+  - geometry_msgs
+  - joint_state_broadcaster
+  - nav_msgs
+  - rclpy
+  - robot_state_publisher
+  - rviz2
+  - sensor_msgs
+  - std_msgs
+  - tf2_ros
+  - webots_ros2_control
+  - webots_ros2_driver
+  - webots_ros2_msgs
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_epuck/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_husarion:
+  dependencies:
+  - controller_manager
+  - diff_drive_controller
+  - joint_state_broadcaster
+  - laser_filters
+  - robot_localization
+  - robot_state_publisher
+  - webots_ros2_control
+  - webots_ros2_driver
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_husarion/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_importer:
+  dependencies:
+  - ament_copyright
+  - builtin_interfaces
+  - xacro
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_importer/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_mavic:
+  dependencies:
+  - ament_copyright
+  - builtin_interfaces
+  - rclpy
+  - webots_ros2_driver
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_mavic/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  - vision_msgs
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_msgs/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_tesla:
+  dependencies:
+  - ackermann_msgs
+  - ament_copyright
+  - builtin_interfaces
+  - rclpy
+  - webots_ros2_driver
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_tesla/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_tests:
+  dependencies:
+  - ament_copyright
+  - geometry_msgs
+  - launch
+  - launch_testing
+  - launch_testing_ament_cmake
+  - launch_testing_ros
+  - rclpy
+  - ros2bag
+  - rosbag2_storage_default_plugins
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - tf2_ros
+  - webots_ros2_driver
+  - webots_ros2_epuck
+  - webots_ros2_husarion
+  - webots_ros2_mavic
+  - webots_ros2_tesla
+  - webots_ros2_tiago
+  - webots_ros2_turtlebot
+  - webots_ros2_universal_robot
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_tests/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_tiago:
+  dependencies:
+  - ament_copyright
+  - builtin_interfaces
+  - controller_manager
+  - diff_drive_controller
+  - geometry_msgs
+  - joint_state_broadcaster
+  - rclpy
+  - robot_state_publisher
+  - rviz2
+  - tf2_ros
+  - webots_ros2_control
+  - webots_ros2_driver
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_tiago/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_turtlebot:
+  dependencies:
+  - ament_copyright
+  - builtin_interfaces
+  - controller_manager
+  - diff_drive_controller
+  - joint_state_broadcaster
+  - rclpy
+  - robot_state_publisher
+  - rviz2
+  - tf2_ros
+  - webots_ros2_control
+  - webots_ros2_driver
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_turtlebot/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 webots_ros2_universal_robot:
+  dependencies:
+  - ament_copyright
+  - builtin_interfaces
+  - control_msgs
+  - controller_manager
+  - joint_state_broadcaster
+  - joint_trajectory_controller
+  - rclpy
+  - robot_state_publisher
+  - rviz2
+  - trajectory_msgs
+  - webots_ros2_control
+  - webots_ros2_driver
+  - xacro
+  repository: https://github.com/cyberbotics/webots_ros2
   tag: release/lyrical/webots_ros2_universal_robot/2025.0.1-3
   url: https://github.com/ros2-gbp/webots_ros2-release.git
   version: 2025.0.1
 wiimote:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - geometry_msgs
+  - rclcpp
+  - rclcpp_components
+  - rclcpp_lifecycle
+  - sensor_msgs
+  - std_msgs
+  - std_srvs
+  - wiimote_msgs
+  repository: https://github.com/ros-drivers/joystick_drivers
   tag: release/lyrical/wiimote/3.3.0-4
   url: https://github.com/ros2-gbp/joystick_drivers-release.git
   version: 3.3.0
 wiimote_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/ros-drivers/joystick_drivers
   tag: release/lyrical/wiimote_msgs/3.3.0-4
   url: https://github.com/ros2-gbp/joystick_drivers-release.git
   version: 3.3.0
+wireless_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - builtin_interfaces
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - std_msgs
+  repository: https://github.com/clearpathrobotics/wireless
+  tag: release/lyrical/wireless_msgs/3.0.1-1
+  url: https://github.com/clearpath-gbp/wireless-release.git
+  version: 3.0.1
+wireless_watcher:
+  dependencies:
+  - ament_lint_auto
+  - ament_lint_common
+  - diagnostic_updater
+  - rclcpp
+  - wireless_msgs
+  repository: https://github.com/clearpathrobotics/wireless
+  tag: release/lyrical/wireless_watcher/3.0.1-1
+  url: https://github.com/clearpath-gbp/wireless-release.git
+  version: 3.0.1
+wuji_hand2_beta1_description:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/wuji-technology/wuji-description
+  tag: release/lyrical/wuji_hand2_beta1_description/2026.8.19-1
+  url: https://github.com/wuji-technology/wuji-description-release.git
+  version: 2026.8.19
+wuji_hand2_beta2_description:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/wuji-technology/wuji-description
+  tag: release/lyrical/wuji_hand2_beta2_description/2026.8.19-1
+  url: https://github.com/wuji-technology/wuji-description-release.git
+  version: 2026.8.19
 xacro:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_index_python
+  - ament_lint_auto
+  repository: https://github.com/ros/xacro
   tag: release/lyrical/xacro/2.1.1-3
   url: https://github.com/ros2-gbp/xacro-release.git
   version: 2.1.1
+yaets:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_lint_auto
+  - ament_lint_common
+  - python_cmake_module
+  repository: https://github.com/fmrico/yaets
+  tag: release/lyrical/yaets/1.1.0-1
+  url: https://github.com/fmrico/yaets-release.git
+  version: 1.1.0
 yaml_cpp_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/ros2/yaml_cpp_vendor
   tag: release/lyrical/yaml_cpp_vendor/9.2.1-3
   url: https://github.com/ros2-gbp/yaml_cpp_vendor-release.git
   version: 9.2.1
 yasmin:
-  tag: release/lyrical/yasmin/5.0.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 yasmin_cli:
-  tag: release/lyrical/yasmin_cli/5.0.0-3
+  dependencies:
+  - ament_index_python
+  - rclpy
+  - ros2cli
+  - yasmin
+  - yasmin_editor
+  - yasmin_factory
+  - yasmin_plugins_manager
+  - yasmin_viewer
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin_cli/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 yasmin_demos:
-  tag: release/lyrical/yasmin_demos/5.0.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_index_cpp
+  - example_interfaces
+  - geometry_msgs
+  - nav_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclpy
+  - ros_environment
+  - yasmin
+  - yasmin_factory
+  - yasmin_ros
+  - yasmin_viewer
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin_demos/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 yasmin_editor:
-  tag: release/lyrical/yasmin_editor/5.0.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - rclpy
+  - ros_environment
+  - yasmin
+  - yasmin_factory
+  - yasmin_plugins_manager
+  - yasmin_ros
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin_editor/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 yasmin_factory:
-  tag: release/lyrical/yasmin_factory/5.0.0-3
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - ament_index_cpp
+  - ament_index_python
+  - class_loader
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclpy
+  - tinyxml2_vendor
+  - yasmin
+  - yasmin_msgs
+  - yasmin_ros
+  - yasmin_viewer
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin_factory/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 yasmin_msgs:
-  tag: release/lyrical/yasmin_msgs/5.0.0-3
+  dependencies:
+  - action_msgs
+  - ament_cmake
+  - rosidl_default_generators
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin_msgs/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 yasmin_pcl:
-  tag: release/lyrical/yasmin_pcl/5.0.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - pcl_conversions
+  - pluginlib
+  - sensor_msgs
+  - yasmin
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin_pcl/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 yasmin_plugins_manager:
-  tag: release/lyrical/yasmin_plugins_manager/5.0.0-3
+  dependencies:
+  - ament_index_python
+  - rclpy
+  - yasmin
+  - yasmin_factory
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin_plugins_manager/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 yasmin_ros:
-  tag: release/lyrical/yasmin_ros/5.0.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_gtest
+  - ament_cmake_pytest
+  - ament_cmake_python
+  - example_interfaces
+  - geometry_msgs
+  - pluginlib
+  - rclcpp
+  - rclcpp_action
+  - rclpy
+  - ros_environment
+  - rosidl_runtime_py
+  - std_msgs
+  - std_srvs
+  - tf2
+  - tf2_msgs
+  - tf2_py
+  - tf2_ros
+  - tf2_ros_py
+  - yasmin
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin_ros/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 yasmin_viewer:
-  tag: release/lyrical/yasmin_viewer/5.0.0-3
+  dependencies:
+  - ament_cmake
+  - ament_cmake_python
+  - ament_index_cpp
+  - rclcpp
+  - rclpy
+  - yasmin
+  - yasmin_msgs
+  - yasmin_ros
+  repository: https://github.com/uleroboticsgroup/yasmin
+  tag: release/lyrical/yasmin_viewer/6.1.1-1
   url: https://github.com/ros2-gbp/yasmin-release.git
-  version: 5.0.0
+  version: 6.1.1
 zbar_ros:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - cv_bridge
+  - rclcpp
+  - sensor_msgs
+  - std_msgs
+  - zbar_ros_interfaces
+  repository: https://github.com/ros-drivers/zbar_ros
   tag: release/lyrical/zbar_ros/0.7.0-3
   url: https://github.com/ros2-gbp/zbar_ros-release.git
   version: 0.7.0
 zbar_ros_interfaces:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - vision_msgs
+  repository: https://github.com/ros-drivers/zbar_ros
   tag: release/lyrical/zbar_ros_interfaces/0.7.0-3
   url: https://github.com/ros2-gbp/zbar_ros-release.git
   version: 0.7.0
 zed_description:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_lint_cmake
+  - ament_cmake_pep257
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - rviz2
+  - xacro
+  repository: https://github.com/stereolabs/zed-ros2-description
   tag: release/lyrical/zed_description/0.1.5-1
   url: https://github.com/ros2-gbp/zed-ros2-description-release.git
   version: 0.1.5
 zed_msgs:
+  dependencies:
+  - ament_cmake
+  - ament_cmake_auto
+  - ament_cmake_copyright
+  - ament_cmake_cppcheck
+  - ament_cmake_lint_cmake
+  - ament_cmake_pep257
+  - ament_cmake_uncrustify
+  - ament_cmake_xmllint
+  - ament_lint_auto
+  - builtin_interfaces
+  - geometry_msgs
+  - rosidl_default_generators
+  - rosidl_default_runtime
+  - shape_msgs
+  - std_msgs
+  repository: https://github.com/stereolabs/zed-ros2-interfaces
   tag: release/lyrical/zed_msgs/5.3.0-1
   url: https://github.com/ros2-gbp/zed-ros2-interfaces-release.git
   version: 5.3.0
 zenoh_bridge_dds:
+  dependencies:
+  - ament_cmake
+  repository: https://github.com/eclipse-zenoh/zenoh-plugin-dds
   tag: release/lyrical/zenoh_bridge_dds/0.5.0-6
   url: https://github.com/ros2-gbp/zenoh_bridge_dds-release.git
   version: 0.5.0
 zenoh_cpp_vendor:
-  tag: release/lyrical/zenoh_cpp_vendor/0.10.4-1
+  dependencies:
+  - ament_cmake
+  - ament_cmake_vendor_package
+  repository: https://github.com/ros2/rmw_zenoh
+  tag: release/lyrical/zenoh_cpp_vendor/0.10.5-1
   url: https://github.com/ros2-gbp/rmw_zenoh-release.git
-  version: 0.10.4
+  version: 0.10.5
 zenoh_security_tools:
-  tag: release/lyrical/zenoh_security_tools/0.10.4-1
+  dependencies:
+  - ament_lint_auto
+  - ament_lint_common
+  - rcpputils
+  - rcutils
+  - rmw_security_common
+  - zenoh_cpp_vendor
+  repository: https://github.com/ros2/rmw_zenoh
+  tag: release/lyrical/zenoh_security_tools/0.10.5-1
   url: https://github.com/ros2-gbp/rmw_zenoh-release.git
-  version: 0.10.4
+  version: 0.10.5
 zlib_point_cloud_transport:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - point_cloud_interfaces
+  - point_cloud_transport
+  - rclcpp
+  repository: https://github.com/ros-perception/point_cloud_transport_plugins
   tag: release/lyrical/zlib_point_cloud_transport/6.2.0-1
   url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git
   version: 6.2.0
 zmqpp_vendor:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/autowarefoundation/zmqpp_vendor
   tag: release/lyrical/zmqpp_vendor/0.0.2-5
   url: https://github.com/ros2-gbp/zmqpp_vendor-release.git
   version: 0.0.2
 zstd_cmake_module:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  repository: https://github.com/ros2/rosbag2
   tag: release/lyrical/zstd_cmake_module/0.33.3-1
   url: https://github.com/ros2-gbp/rosbag2-release.git
   version: 0.33.3
 zstd_image_transport:
-  tag: release/lyrical/zstd_image_transport/6.2.5-1
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - image_transport
+  repository: https://github.com/ros-perception/image_transport_plugins
+  tag: release/lyrical/zstd_image_transport/6.2.6-1
   url: https://github.com/ros2-gbp/image_transport_plugins-release.git
-  version: 6.2.5
+  version: 6.2.6
 zstd_point_cloud_transport:
+  dependencies:
+  - ament_cmake
+  - ament_lint_auto
+  - ament_lint_common
+  - pluginlib
+  - point_cloud_interfaces
+  - point_cloud_transport
+  - rclcpp
+  - zstd_cmake_module
+  repository: https://github.com/ros-perception/point_cloud_transport_plugins
   tag: release/lyrical/zstd_point_cloud_transport/6.2.0-1
   url: https://github.com/ros2-gbp/point_cloud_transport_plugins-release.git
   version: 6.2.0
diff --git a/vinca.yaml b/vinca.yaml
index 08de91ad..836944f7 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -5,19 +5,19 @@ conda_index:
   - robostack.yaml
   - packages-ignore.yaml
 
-# Reminder for next full rebuild, the next build number should be 23
-build_number: 22
+# Reminder for next full rebuild, the next build number should be 24
+build_number: 23
 
 mutex_package:
   name: "ros2-distro-mutex"
-  version: "0.18.0"
+  version: "0.19.0"
   upper_bound: "x.x"
   run_constraints:
     - libboost 1.90.*
     - libboost-devel 1.90.*
     - pcl 1.15.1.*
     - gazebo 11.*
-    - libprotobuf 6.33.5.*
+    - libprotobuf 7.35.1.*
     - vtk 9.6.2.*
 
 packages_skip_by_deps: