diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
new file mode 100644
index 000000000..54f60351a
--- /dev/null
+++ b/.github/workflows/build.yaml
@@ -0,0 +1,16 @@
+# Placeholder, so that GitHub names this workflow path "build" in the Actions list.
+#
+# The real build.yaml lives on the buildbranch_<distro>_<platform> branches (pushed by
+# main.yaml, generated by `rs <distro> gha`); every branch has its own, with
+# `run-name: <distro> <platform>`. GitHub shows one workflow per path and takes its name
+# from the default branch's file; without one on main it kept the name of the first
+# branch that registered the path. This file is never triggered on its own.
+name: build
+on:
+  workflow_dispatch:
+jobs:
+  placeholder:
+    runs-on: ubuntu-latest
+    permissions: {}
+    steps:
+      - run: echo "Builds run from the buildbranch_<distro>_<platform> branches' own build.yaml."
diff --git a/distros/humble/patch/dependencies.yaml b/distros/humble/patch/dependencies.yaml
index 3f8d989cd..c9c2e5370 100644
--- a/distros/humble/patch/dependencies.yaml
+++ b/distros/humble/patch/dependencies.yaml
@@ -62,10 +62,6 @@ mimick_vendor:
   add_build: ["vcstool"]
 moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-mrpt2:
-  add_host: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros2-octomap"]
-  add_run: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros2-octomap"]
-  add_build: ["${{ cdt('libxcomposite-devel') if linux }}"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}"]
 nav2_util:
diff --git a/distros/humble/patch/ros2-examples-rclcpp-minimal-publisher.emscripten.patch b/distros/humble/patch/ros2-examples-rclcpp-minimal-publisher.emscripten.patch
deleted file mode 100644
index 9e432d2a7..000000000
--- a/distros/humble/patch/ros2-examples-rclcpp-minimal-publisher.emscripten.patch
+++ /dev/null
@@ -1,36 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 504411d57..a11cd4ce6 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -13,24 +13,25 @@ endif()
- find_package(ament_cmake REQUIRED)
- find_package(rclcpp REQUIRED)
- find_package(std_msgs REQUIRED)
-+find_package(Python COMPONENTS Interpreter Development REQUIRED)
- 
- add_executable(publisher_lambda lambda.cpp)
--ament_target_dependencies(publisher_lambda rclcpp std_msgs)
-+target_link_libraries(publisher_lambda PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(publisher_member_function member_function.cpp)
--ament_target_dependencies(publisher_member_function rclcpp std_msgs)
-+target_link_libraries(publisher_member_function PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(publisher_member_function_with_type_adapter member_function_with_type_adapter.cpp)
--ament_target_dependencies(publisher_member_function_with_type_adapter rclcpp std_msgs)
-+target_link_libraries(publisher_member_function_with_type_adapter PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(publisher_member_function_with_unique_network_flow_endpoints member_function_with_unique_network_flow_endpoints.cpp)
--ament_target_dependencies(publisher_member_function_with_unique_network_flow_endpoints rclcpp std_msgs)
-+target_link_libraries(publisher_member_function_with_unique_network_flow_endpoints PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(publisher_wait_for_all_acked member_function_with_wait_for_all_acked.cpp)
--ament_target_dependencies(publisher_wait_for_all_acked rclcpp std_msgs)
-+target_link_libraries(publisher_wait_for_all_acked PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(publisher_not_composable not_composable.cpp)
--ament_target_dependencies(publisher_not_composable rclcpp std_msgs)
-+target_link_libraries(publisher_not_composable PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- install(TARGETS
-   publisher_lambda
diff --git a/distros/humble/patch/ros2-examples-rclcpp-minimal-subscriber.emscripten.patch b/distros/humble/patch/ros2-examples-rclcpp-minimal-subscriber.emscripten.patch
deleted file mode 100644
index b05d0de1a..000000000
--- a/distros/humble/patch/ros2-examples-rclcpp-minimal-subscriber.emscripten.patch
+++ /dev/null
@@ -1,40 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 617c70014..049458fcc 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -14,27 +14,28 @@ find_package(ament_cmake REQUIRED)
- find_package(rclcpp REQUIRED)
- find_package(rclcpp_components REQUIRED)
- find_package(std_msgs REQUIRED)
-+find_package(Python COMPONENTS Interpreter Development REQUIRED)
- 
- add_executable(subscriber_lambda lambda.cpp)
--ament_target_dependencies(subscriber_lambda rclcpp std_msgs)
-+target_link_libraries(subscriber_lambda PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(subscriber_member_function member_function.cpp)
--ament_target_dependencies(subscriber_member_function rclcpp std_msgs)
-+target_link_libraries(subscriber_member_function PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(subscriber_member_function_with_topic_statistics member_function_with_topic_statistics.cpp)
--ament_target_dependencies(subscriber_member_function_with_topic_statistics rclcpp std_msgs)
-+target_link_libraries(subscriber_member_function_with_topic_statistics PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(subscriber_member_function_with_type_adapter member_function_with_type_adapter.cpp)
--ament_target_dependencies(subscriber_member_function_with_type_adapter rclcpp std_msgs)
-+target_link_libraries(subscriber_member_function_with_type_adapter PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(subscriber_member_function_with_unique_network_flow_endpoints member_function_with_unique_network_flow_endpoints.cpp)
--ament_target_dependencies(subscriber_member_function_with_unique_network_flow_endpoints rclcpp std_msgs)
-+target_link_libraries(subscriber_member_function_with_unique_network_flow_endpoints PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(subscriber_not_composable not_composable.cpp)
--ament_target_dependencies(subscriber_not_composable rclcpp std_msgs)
-+target_link_libraries(subscriber_not_composable PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_executable(subscriber_content_filtering content_filtering.cpp)
--ament_target_dependencies(subscriber_content_filtering rclcpp std_msgs)
-+target_link_libraries(subscriber_content_filtering PUBLIC ${std_msgs_TARGETS} rclcpp::rclcpp Python::Python)
- 
- add_library(wait_set_subscriber_library SHARED
-     wait_set_subscriber.cpp
diff --git a/distros/humble/patch/ros2-rclcpp-components.emscripten.patch b/distros/humble/patch/ros2-rclcpp-components.emscripten.patch
deleted file mode 100644
index ec9acc8c0..000000000
--- a/distros/humble/patch/ros2-rclcpp-components.emscripten.patch
+++ /dev/null
@@ -1,68 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 0b9cda78..5fe961e9 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -19,6 +19,7 @@ find_package(class_loader REQUIRED)
- find_package(composition_interfaces REQUIRED)
- find_package(rclcpp REQUIRED)
- find_package(rcpputils REQUIRED)
-+find_package(Python COMPONENTS Interpreter Development REQUIRED)
- 
- # Add an interface library that can be dependend upon by libraries who register components
- add_library(component INTERFACE)
-@@ -37,12 +38,15 @@ add_library(
- target_include_directories(component_manager PUBLIC
-   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
--ament_target_dependencies(component_manager
--  "ament_index_cpp"
--  "class_loader"
--  "composition_interfaces"
--  "rclcpp"
--  "rcpputils"
-+target_link_libraries(component_manager PUBLIC
-+  ${composition_interfaces_TARGETS}
-+  rclcpp::rclcpp
-+)
-+target_link_libraries(component_manager PRIVATE
-+  ament_index_cpp::ament_index_cpp
-+  class_loader::class_loader
-+  rcpputils::rcpputils
-+  Python::Python
- )
- target_compile_definitions(component_manager
-   PRIVATE "RCLCPP_COMPONENTS_BUILDING_LIBRARY")
-@@ -51,10 +55,7 @@ add_executable(
-   component_container
-   src/component_container.cpp
- )
--target_link_libraries(component_container component_manager)
--ament_target_dependencies(component_container
--  "rclcpp"
--)
-+target_link_libraries(component_container component_manager rclcpp::rclcpp)
- 
- set(node_main_template_install_dir "share/${PROJECT_NAME}")
- install(FILES
-@@ -65,19 +66,13 @@ add_executable(
-   component_container_mt
-   src/component_container_mt.cpp
- )
--target_link_libraries(component_container_mt component_manager)
--ament_target_dependencies(component_container_mt
--  "rclcpp"
--)
-+target_link_libraries(component_container_mt component_manager rclcpp::rclcpp)
- 
- add_executable(
-   component_container_isolated
-   src/component_container_isolated.cpp
- )
--target_link_libraries(component_container_isolated component_manager)
--ament_target_dependencies(component_container_isolated
--  "rclcpp"
--)
-+target_link_libraries(component_container_isolated component_manager rclcpp::rclcpp)
- 
- 
- if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
diff --git a/distros/humble/patch/ros2-rclpy.emscripten.patch b/distros/humble/patch/ros2-rclpy.emscripten.patch
deleted file mode 100644
index 52e8e2fad..000000000
--- a/distros/humble/patch/ros2-rclpy.emscripten.patch
+++ /dev/null
@@ -1,26 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 3add4d5..c0ce5bb 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -70,7 +70,7 @@ function(configure_build_install_location _library_name)
- endfunction()
- 
- # Split from main extension and converted to pybind11
--pybind11_add_module(_rclpy_pybind11
-+pybind11_add_module(_rclpy_pybind11 MODULE NO_EXTRAS
-   src/rclpy/_rclpy_logging.cpp
-   src/rclpy/_rclpy_pybind11.cpp
-   src/rclpy/action_client.cpp
-diff --git a/src/rclpy/_rclpy_logging.cpp b/src/rclpy/_rclpy_logging.cpp
-index c510b0a..854e79e 100644
---- a/src/rclpy/_rclpy_logging.cpp
-+++ b/src/rclpy/_rclpy_logging.cpp
-@@ -129,7 +129,7 @@ rclpy_logging_rcutils_log(
-   uint64_t line_number)
- {
-   RCUTILS_LOGGING_AUTOINIT;
--  rcutils_log_location_t logging_location = {function_name, file_name, line_number};
-+  rcutils_log_location_t logging_location = {function_name, file_name,  static_cast<size_t>(line_number)};
-   rcutils_log(&logging_location, severity, name, "%s", message);
- }
- 
diff --git a/distros/humble/vinca.yaml b/distros/humble/vinca.yaml
index 6ddebe7c5..c7b0309e3 100644
--- a/distros/humble/vinca.yaml
+++ b/distros/humble/vinca.yaml
@@ -29,7 +29,6 @@ packages_exclude:
       - ros_ign_gazebo  # Ignition Fortress (libignition-gazebo6) isn't installable on win-64
       - ros_ign_gazebo_demos  # Ignition Fortress (libignition-gazebo6) isn't installable on win-64
       - ros_ign_image  # Fortress-based gz integration isn't supported on humble Windows (old ros-humble#68)
-      - test_ros_gz_bridge  # Fortress-based gz integration isn't supported on humble Windows (old ros-humble#68)
       - velodyne_gazebo_plugins  # links Gazebo Classic's Ogre libraries; win-64 has no OgreBites.lib
 
 packages_skip:
diff --git a/distros/jazzy/patch/dependencies.yaml b/distros/jazzy/patch/dependencies.yaml
index 756b4bdf4..08606693f 100644
--- a/distros/jazzy/patch/dependencies.yaml
+++ b/distros/jazzy/patch/dependencies.yaml
@@ -98,10 +98,6 @@ mimick_vendor:
   add_host: ["setuptools <81"]
 moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-mrpt2:
-  add_host: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros2-octomap"]
-  add_run: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros2-octomap"]
-  add_build: ["${{ cdt('libxcomposite-devel') if linux }}"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}"]
 nav2_mppi_controller:
@@ -138,10 +134,6 @@ roboplan_ros_examples:
   add_host: ["ros2-ament-cmake"]
 ros_gz_sim:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-ros_ign_gazebo:
-  add_host: ["ros2-std-msgs", "ros2-rclcpp", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-ros_ign_interfaces:
-  add_host: ["ros2-rcl-interfaces"]
 ros_image_to_qimage:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 rqt_gui_cpp:
diff --git a/distros/jazzy/pkg_additional_info.yaml b/distros/jazzy/pkg_additional_info.yaml
index 9b1bae0c1..42bd2018b 100644
--- a/distros/jazzy/pkg_additional_info.yaml
+++ b/distros/jazzy/pkg_additional_info.yaml
@@ -36,10 +36,6 @@ iceoryx_posh:
     dep_name: libiceoryx-posh
     max_pin: 'x.x'
     override_version: '2.95.8'
-ignition_cmake2_vendor:
-  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
-ignition_math6_vendor:
-  additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 libcamera:
   generate_dummy_package_with_run_deps:
     dep_name: libcamera
diff --git a/distros/lyrical/patch/dependencies.yaml b/distros/lyrical/patch/dependencies.yaml
index 3a1626666..3afca8d83 100644
--- a/distros/lyrical/patch/dependencies.yaml
+++ b/distros/lyrical/patch/dependencies.yaml
@@ -28,9 +28,6 @@ foxglove_bridge:
   add_host: ["ros2-ament-cmake"]
 geometric_shapes:
   add_host: ["libboost-devel", "octomap"]
-grid_map_octomap:
-  add_host: ["octomap"]
-  add_run: ["octomap"]
 grid_map_rviz_plugin:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "qt6-main"]
 gz_cmake_vendor:
@@ -107,10 +104,6 @@ moveit_core:
   add_host: ["eigen-abi-devel"]
 moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-mrpt2:
-  add_host: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros2-octomap"]
-  add_run: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros2-octomap"]
-  add_build: ["${{ cdt('libxcomposite-devel') if linux }}"]
 nav2_constrained_smoother:
   add_host: ["${{ 'openblas' if win }}", "ceres-solver"]
 openvdb_vendor:
@@ -163,10 +156,6 @@ rmf_visualization_schedule:
   add_host: ["asio"]
 ros_gz_sim:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
-ros_ign_gazebo:
-  add_host: ["ros2-std-msgs", "ros2-rclcpp", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-ros_ign_interfaces:
-  add_host: ["ros2-rcl-interfaces"]
 ros_image_to_qimage:
   # Qt6, like rqt_gui_cpp (patch/ros2-ros-image-to-qimage.patch)
   remove_host: ["qt-main"]
diff --git a/distros/lyrical/pkg_additional_info.yaml b/distros/lyrical/pkg_additional_info.yaml
index 19cf149df..6606e5f4c 100644
--- a/distros/lyrical/pkg_additional_info.yaml
+++ b/distros/lyrical/pkg_additional_info.yaml
@@ -11,12 +11,6 @@ gtsam:
     # the version on ros is actually an alpha, not a properly released version,
     # see https://discourse.ros.org/t/on-new-gtsam-version-without-boost/44307
     override_version: '4.2.0'
-hpp_fcl:
-  generate_dummy_package_with_run_deps:
-    dep_name: 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
@@ -52,10 +46,6 @@ magic_enum:
   generate_dummy_package_with_run_deps:
     dep_name: magic_enum
     max_pin: 'x.x'
-octomap:
-  generate_dummy_package_with_run_deps:
-    dep_name: octomap
-    max_pin: 'x.x'
 ompl:
   generate_dummy_package_with_run_deps:
     dep_name: ompl
diff --git a/distros/rolling/patch/dependencies.yaml b/distros/rolling/patch/dependencies.yaml
index 1a8324f17..e904ee4f0 100644
--- a/distros/rolling/patch/dependencies.yaml
+++ b/distros/rolling/patch/dependencies.yaml
@@ -104,10 +104,6 @@ moveit_core:
   add_host: ["eigen-abi-devel"]
 moveit_visual_tools:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel"]
-mrpt2:
-  add_host: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros2-octomap"]
-  add_run: ["assimp", "octomap", "tinyxml2", "libboost-devel", "jsoncpp", "gtest", "libboost-python-devel", "libdc1394", "xorg-libxcomposite", "libftdi", "ros2-octomap"]
-  add_build: ["${{ cdt('libxcomposite-devel') if linux }}"]
 pcl_conversions:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libboost-devel", "eigen-abi-devel"]
 pinocchio:
@@ -154,10 +150,6 @@ roboplan_ros_examples:
   add_host: ["ros2-ament-cmake"]
 ros_gz_sim:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "ros2-gz-sensors-vendor"]
-ros_ign_gazebo:
-  add_host: ["ros2-std-msgs", "ros2-rclcpp", "${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-ros_ign_interfaces:
-  add_host: ["ros2-rcl-interfaces"]
 ros_image_to_qimage:
   # Qt6, like rqt_gui_cpp (patch/ros2-ros-image-to-qimage.patch)
   remove_host: ["qt-main"]
diff --git a/distros/rolling/pkg_additional_info.yaml b/distros/rolling/pkg_additional_info.yaml
index f1ec97d09..080140186 100644
--- a/distros/rolling/pkg_additional_info.yaml
+++ b/distros/rolling/pkg_additional_info.yaml
@@ -11,12 +11,6 @@ gtsam:
     # the version on ros is actually an alpha, not a properly released version,
     # see https://discourse.ros.org/t/on-new-gtsam-version-without-boost/44307
     override_version: '4.2.0'
-hpp_fcl:
-  generate_dummy_package_with_run_deps:
-    dep_name: hpp-fcl
-    max_pin: 'x.x.x'
-    # the version on ros is outdated w.r.t. to the conda-forge one
-    override_version: '3.0.2'
 iceoryx_binding_c:
   generate_dummy_package_with_run_deps:
     dep_name: libiceoryx-binding-c
@@ -51,10 +45,6 @@ magic_enum:
   generate_dummy_package_with_run_deps:
     dep_name: magic_enum
     max_pin: 'x.x'
-octomap:
-  generate_dummy_package_with_run_deps:
-    dep_name: octomap
-    max_pin: 'x.x'
 ompl:
   generate_dummy_package_with_run_deps:
     dep_name: ompl
diff --git a/shared/patch/dependencies.yaml b/shared/patch/dependencies.yaml
index 0a42505a2..f15ef8dba 100644
--- a/shared/patch/dependencies.yaml
+++ b/shared/patch/dependencies.yaml
@@ -10,8 +10,6 @@ camera_calibration:
   add_run: ["libopencv * *qt6*"]
 dolly_ignition:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-embree_vendor:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}", "libpng", "libjpeg-turbo", "openimageio", "tbb", "tbb-devel", "embree"]
 fmilibrary_vendor:
   add_host: ["fmilib"]
 foonathan_memory_vendor:
@@ -41,12 +39,6 @@ google_benchmark_vendor:
   add_run: ["benchmark"]
 gscam:
   add_host: ["glib"]
-ign_rviz:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-ign_rviz_common:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-ign_rviz_plugins:
-  add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
 ignition_cmake2_vendor:
   add_host: ["libignition-cmake2"]
   add_run: ["libignition-cmake2"]
@@ -120,13 +112,8 @@ pybind11_vendor:
   add_run: ["pybind11"]
 rmw_zenoh_cpp:
   add_host: ["libzenohc", "libzenohcxx"]
-ros1_rosbag_storage_vendor:
-  add_host: ["ros-noetic-roscpp", "ros-noetic-roslz4", "ros-noetic-rostest"]
-  add_run: ["ros-noetic-roscpp", "ros-noetic-roslz4"]
 ros_ign_gazebo_demos:
   add_host: ["${{ 'libgl-devel' if linux }}", "${{ 'libopengl-devel' if linux }}"]
-rosbag2_bag_v2_plugins:
-  add_host: ["ros-noetic-roscpp"]
 rosx_introspection:
   add_host: ["rapidjson"]
 rviz2:
diff --git a/shared/pkg_additional_info.yaml b/shared/pkg_additional_info.yaml
index 0de6803f7..fb6276522 100644
--- a/shared/pkg_additional_info.yaml
+++ b/shared/pkg_additional_info.yaml
@@ -123,6 +123,12 @@ pybind11_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR"
 robot_state_publisher:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
+rosbag2_performance_benchmarking_msgs:
+  additional_cmake_args:
+    # MSVC can't open object files whose path exceeds 260 characters (error C1083 with ''):
+    # name the intermediate directories and object files by short hashes (CMake >= 4.2)
+    if: win
+    then: "-DCMAKE_INTERMEDIATE_DIR_STRATEGY=SHORT"
 rosx_introspection:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 sbg_driver:
diff --git a/shared/robostack.yaml b/shared/robostack.yaml
index e1dd8aeac..e84f49465 100644
--- a/shared/robostack.yaml
+++ b/shared/robostack.yaml
@@ -1248,6 +1248,7 @@ socat:
     linux: [socat]
     osx: [socat]
     win64: []
+# also a ROS package in humble and jazzy, see tl_expected
 sophus:
   robostack: [sophus]
 spacenavd:
@@ -1276,6 +1277,10 @@ tinyxml:
   robostack: [tinyxml]
 tinyxml2:
   robostack: [tinyxml2]
+# tl_expected and sophus are also ROS packages in humble and jazzy. Mapping their keys to
+# conda-forge makes every dependent use conda-forge's build (vinca prefers a mapped key over
+# the ROS package), which is the one with the CMake config other packages expect (e.g. rsl
+# needs tl-expected's); the ROS packages themselves are then never built.
 tl_expected:
   robostack: [cpp-expected]
 udev:
diff --git a/shared/vinca.yaml b/shared/vinca.yaml
index c93bc0853..2ec817aca 100644
--- a/shared/vinca.yaml
+++ b/shared/vinca.yaml
@@ -20,10 +20,7 @@ mutex_package:
 # pixi used by the generated build workflows; keep in sync with .github/workflows.
 setup_pixi_version: "0.11.0"
 pixi_version: "0.81.0"
-# Mapped to conda-forge in shared/robostack.yaml (tl_expected -> cpp-expected,
-# sophus -> sophus). Where they are also ROS packages (humble, jazzy), vinca
-# would otherwise build the ROS package under the conda-forge name, which shadows the
-# conda-forge package (e.g. no tl-expected CMake config for rsl).
+
 packages_select_by_deps:
   - ackermann_msgs
   - ament_cmake
@@ -32,15 +29,15 @@ packages_select_by_deps:
   - ament_cmake_clang_tidy
   - ament_cmake_core
   - ament_cmake_mypy
-  - ament_cmake_nose  # Parity sweep with ros-humble (2026-09-04): packages humble ships that jazzy's meta-package tree doesn't pull in on its own.
-  - ament_cmake_vendor_package # Requested in https://github.com/RoboStack/ros-humble/pull/210
+  - ament_cmake_nose
+  - ament_cmake_vendor_package
   - ament_flake8
   - ament_lint
   - ament_lint_common
   - ament_pep257
   - ament_pycodestyle
   - apex_test_tools
-  - apriltag # AprilRobotics
+  - apriltag
   - apriltag_detector
   - apriltag_detector_mit
   - apriltag_detector_umich
@@ -93,20 +90,18 @@ packages_select_by_deps:
   - autoware_v2x_msgs
   - autoware_vehicle_info_utils
   - autoware_vehicle_msgs
-  - avt_vimba_camera_msgs # Allied Vision Technologies
-  - aws_robomaker_small_warehouse_world # AWS Robotics
+  - aws_robomaker_small_warehouse_world
   - battery_state_broadcaster
   - behaviortree_cpp
   - behaviortree_cpp_v3
   - better_launch
-  - bno055 # flynneva
+  - bno055
   - bond_core
   - bondcpp
   - builtin_interfaces
   - can_msgs
   - cartographer_ros
-  - cascade_lifecycle_msgs # Requested in https://www.linkedin.com/feed/update/urn:li:activity:7346559234177703938/
-  - cl_ros2_timer
+  - cascade_lifecycle_msgs
   - clearpath_common
   - cm_executors
   - color_util
@@ -117,12 +112,11 @@ packages_select_by_deps:
   - demo_nodes_py
   - desktop
   - desktop_full
-  - dev_tools
   - diagnostic_remote_logging
   - diagnostics
   - diff_drive_controller
   - flex_sync
-  - foxglove_bridge # win: backport jazzy's win.patch; osx: unsupported arm64-Darwin platform
+  - foxglove_bridge
   - foxglove_msgs
   - gazebo_dev
   - gazebo_msgs
@@ -134,14 +128,14 @@ packages_select_by_deps:
   - geodesy
   - geographic_info
   - geometry_tutorials
-  - graph_msgs # PickNik Robotics
+  - graph_msgs
   - grid_map_cmake_helpers
   - grid_map_core
   - grid_map_cv
   - grid_map_msgs
   - grid_map_ros
   - gripper_controllers
-  - gtsam # todo: switch to dummy vendored package that just depends on the conda-forge's gtsam, so it works also on Windows; requested in https://github.com/RoboStack/ros-humble/issues/307
+  - gtsam
   - gz_ros2_control
   - gz_ros2_control_demos
   - imu_calib
@@ -159,30 +153,30 @@ packages_select_by_deps:
   - irobot_create_msgs
   - irobot_create_nodes
   - irobot_create_toolbox
-  - joint_state_publisher # probably this should not be here as there is some strange porting to ros2
+  - joint_state_publisher
   - joy
-  - joy_linux # Requires Linux-specific joystick interfaces
+  - joy_linux
   - joy_teleop
   - key_teleop
   - kinematics_interface
   - kinematics_interface_kdl
   - lanelet2
   - laser_segmentation
-  - libg2o # error C2338 static_assert: iterator type in g2o/examples/sphere/create_sphere.vcxproj must be unsigned 32-bit+
+  - libg2o
   - libnabo
   - libpointmatcher
   - librealsense2
   - magic_enum
   - marker_msgs
   - mavlink
-  - mavros # libmavconn currently fails to build on macOS and windows
-  - mavros_extras # on macos it fails with https://github.com/RoboStack/ros-jazzy/pull/135#issuecomment-3772187665
+  - mavros
+  - mavros_extras
   - mavros_msgs
-  - microstrain_inertial_description # Microstrain IMU packages; fail on windows with FileTracker error FTK1011
+  - microstrain_inertial_description
   - microstrain_inertial_driver
   - microstrain_inertial_examples
   - microstrain_inertial_msgs
-  - microstrain_inertial_rqt # requested in RoboStack/ros-humble#352
+  - microstrain_inertial_rqt
   - mocap4r2_control
   - mocap4r2_control_msgs
   - mocap4r2_dummy_driver
@@ -197,19 +191,19 @@ packages_select_by_deps:
   - moveit
   - moveit2_tutorials
   - moveit_chomp_optimizer_adapter
-  - moveit_hybrid_planning # Windows error: error C3861: '__builtin_unreachable': identifier not found
+  - moveit_hybrid_planning
   - moveit_planners_chomp
   - moveit_py
   - moveit_resources
   - moveit_ros_control_interface
   - moveit_ros_occupancy_map_monitor
-  - moveit_ros_perception # removed in jazzy, never supported windows or macos, no packages depend on it
+  - moveit_ros_perception
   - moveit_ros_trajectory_cache
-  - moveit_runtime # CMake errors related to OpenCV on macos, probably fixable
+  - moveit_runtime
   - moveit_servo
   - moveit_task_constructor_demo
   - moveit_visual_tools
-  - mujoco_3d_lidar # conda-forge's libmujoco now covers linux/osx/win; only depends on mujoco_vendor.
+  - mujoco_3d_lidar
   - mujoco_ros2_control_msgs
   - mujoco_vendor
   - nav2_bringup
@@ -217,7 +211,7 @@ packages_select_by_deps:
   - nav2_minimal_tb3_sim
   - nav2_minimal_tb4_sim
   - navigation2
-  - negotiated # Generic dependency used by Isaac ROS without Jazzy rosdistro releases.
+  - negotiated
   - nmea_msgs
   - nmea_navsat_driver
   - nonpersistent_voxel_layer
@@ -235,9 +229,9 @@ packages_select_by_deps:
   - plotjuggler
   - plotjuggler_msgs
   - plotjuggler_ros
-  - point_cloud_transport_plugins # Not yet supported on Windows; Error: LINK : fatal error LNK1181: cannot open input file 'zstd.lib' [%SRC_DIR%\build\zstd_point_cloud_transport.vcxproj]
+  - point_cloud_transport_plugins
   - point_cloud_transport_py
-  - pointcloud_to_laserscan # requested in https://github.com/RoboStack/ros-humble/issues/249
+  - pointcloud_to_laserscan
   - polygon_msgs
   - polygon_utils
   - proxsuite
@@ -255,7 +249,6 @@ packages_select_by_deps:
   - rclc_lifecycle
   - rclc_parameter
   - rclcpp
-  - rclcpp_async
   - rclcpp_cascade_lifecycle
   - rclpy
   - rclpy_cascade_lifecycle
@@ -263,14 +256,14 @@ packages_select_by_deps:
   - rclpy_message_converter_msgs
   - rcpputils
   - rcutils
-  - realsense2_camera # IntelRealSense
-  - realsense2_description # IntelRealSense
+  - realsense2_camera
+  - realsense2_description
   - realtime_tools
   - rmf_demos
   - rmw
   - rmw_stats_shim
   - rmw_zenoh_cpp
-  - roboplan # requested in https://github.com/RoboStack/ros-rolling/issues/28; Requested in https://github.com/RoboStack/ros-jazzy/issues/250
+  - roboplan
   - roboplan_cartesian_planning
   - roboplan_common
   - roboplan_core
@@ -285,9 +278,8 @@ packages_select_by_deps:
   - roboplan_rrt
   - roboplan_simple_ik
   - roboplan_toppra
-  - robot
   - robot_controllers
-  - robot_localization # win-64 LNK2019/LNK2001 unresolved symbols in rosidl fastrtps typesupport libs; root cause unclear, skip rather than guess blind
+  - robot_localization
   - robotiq_controllers
   - robotiq_description
   - ros2_control
@@ -300,7 +292,7 @@ packages_select_by_deps:
   - ros_core
   - ros_environment
   - ros_gz
-  - ros_gz_interfaces # Modern gz-sim integration isn't supported on Humble/Windows (see issue #68); this is the only part we include, for Linux/macOS.
+  - ros_gz_interfaces
   - ros_ign
   - ros_ign_interfaces
   - ros_workspace
@@ -342,15 +334,14 @@ packages_select_by_deps:
   - sick_safetyscanners_base
   - sick_scan_xd
   - simulation
-  - simulation_interfaces # requested in https://github.com/RoboStack/ros-humble/issues/304
+  - simulation_interfaces
   - slam_toolbox
   - smacc2_msgs
-  - stubborn_buddies # Open RMF; Requested in https://github.com/RoboStack/ros-humble/issues/325
-  - system_modes # Micro-ROS
-  - teleop
+  - stubborn_buddies
+  - system_modes
   - teleop_tools
-  - tf_transformations # DLu
-  - topic_based_ros2_control # Generic dependency used by Isaac ROS without Jazzy rosdistro releases.
+  - tf_transformations
+  - topic_based_ros2_control
   - topic_tools
   - toppra
   - tracetools
@@ -372,30 +363,30 @@ packages_select_by_deps:
   - turtlebot4_simulator
   - turtlebot4_viz
   - twist_mux
-  - twist_stamper # Requested in https://github.com/RoboStack/ros-rolling/issues/12
-  - ublox # Kumar Robotics; compilation fails on Windows and osx
+  - twist_stamper
+  - ublox
   - udp_driver
   - ur
-  - ur_calibration # Universal Robots, requested in https://github.com/RoboStack/ros-humble/issues/217
+  - ur_calibration
   - ur_client_library
-  - ur_robot_driver # Universal Robots
+  - ur_robot_driver
   - ur_simulation_gz
   - urdf_launch
   - urdf_tutorial
   - urg_node
   - vector_pursuit_controller
-  - velodyne_simulator # Dataspeed Inc.
+  - velodyne_simulator
   - vision_msgs
   - yaml_cpp_vendor
-  - zed_description # Requested in https://github.com/RoboStack/ros-humble/issues/421
+  - zed_description
 
   - if: linux
     then:
       - aerostack2
       - apex_containers
-      - apriltag_ros  # These packages are currently only build on Linux,; as trying to build them in the past on macos or Windows resulted in errors
+      - apriltag_ros  # earlier macOS and Windows builds failed
       - avt_vimba_camera # ships some Linux .so in the repo, so it only supports linux
-      - camera_ros # Depends on libcamera that is only available on linux; Depends on libcamera, only available on linux
+      - camera_ros # Depends on libcamera, only available on linux
       - can_dbc_parser
       - easynav
       - easynav_bonxai_maps_manager
@@ -494,7 +485,7 @@ packages_select_by_deps:
       - rqt_image_overlay
       - septentrio_gnss_driver
       - slider_publisher
-      - spatio_temporal_voxel_layer # Uses linux-specific flags in  https://github.com/SteveMacenski/spatio_temporal_voxel_layer/blob/e23d730d35407bd8e2bf9c33d10388a6a07c735d/spatio_temporal_voxel_layer/CMakeLists.txt#L124,; Uses linux-specific flags (CMakeLists.txt#L124), should be easy to fix
+      - spatio_temporal_voxel_layer # Uses linux-specific flags in CMakeLists.txt, should be easy to fix
       - turtlebot4_base
       - turtlebot4_bringup
       - turtlebot4_cpp_tutorials
@@ -528,7 +519,6 @@ packages_select_by_deps:
       - autoware_ekf_localizer # Windows error: error C2338: static_assert failed: 'First argument to logging macros must be an rclcpp::Logger'
       - autoware_internal_localization_msgs # Generated Python type support exceeds MSVC path handling
       - autoware_lanelet2_utils # Windows errors: C3546 (no parameter packs to expand), C2678 (no operator '|' for transform_view)
-      - autoware_lanlet2_utils # Windows errors: C3546 (no parameter packs to expand), C2678 (no operator '|' for transform_view)
       - autoware_motion_utils # Windows error: error C2765: 'function': an explicit specialization of a function template cannot have any default arguments
       - autoware_osqp_interface
       - autoware_pose_initializer # depends on autoware_motion_utils
@@ -538,7 +528,7 @@ packages_select_by_deps:
       - cloudini_lib
       - cloudini_ros
       - dual_laser_merger
-      - event_camera_codecs # uses endian.h, Linux-only; issue #228
+      - event_camera_codecs # uses endian.h, unix-only; issue #228
       - event_camera_renderer # doesn't support Windows shared library
       - ffmpeg_image_transport # TODO on windows: fix iconv link issue
       - foxglove_compressed_video_transport
@@ -571,7 +561,7 @@ packages_select_by_deps:
       - plansys2_bringup
       - plansys2_bt_actions
       - popf
-      - rclc_examples # MSVC C2055 on rcl_timer_t in callback signatures; root cause unresolved, already excluded on humble too
+      - rclc_examples # MSVC C2055 on rcl_timer_t in callback signatures; root cause unresolved
       - rosgraph_monitor
       - rqt_action
       - rqt_bag
@@ -585,8 +575,8 @@ packages_select_by_deps:
       - rviz_satellite
       - smacc2
       - spacenav
-      - swri_console # Until sync of: https://github.com/ros/rosdistro/pull/49750; MSVC compile error (numeric_limits<T>::max()/min() macro collision); jazzy excludes it from win-64 pending rosdistro sync, see ros/rosdistro#49750
-      - swri_serial_util # Serial communication only implemented for linux; needs sys/ioctl.h/termios.h (POSIX serial APIs); not on Windows (shared/patch/ros2-swri-serial-util.patch makes it build on macOS)
+      - swri_console # MSVC compile error (numeric_limits<T>::max()/min() macro collision)
+      - swri_serial_util # needs POSIX serial APIs (sys/ioctl.h, termios.h); shared/patch/ros2-swri-serial-util.patch makes it build on macOS
       - system_modes_msgs
       - trac_ik
       - ublox_dgnss # Aussie Robots