diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index 9be3126b..c7512355 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -45,6 +45,12 @@ jobs:
         pixi-version: v0.75.0
         frozen: true
 
+    - name: Check sorting
+      if: matrix.platform == 'linux-64'
+      shell: bash -l {0}
+      run: |
+        pixi run sort --check
+
     - name: Long paths workarounds for win-64
       shell: bash -l {0}
       if: matrix.platform == 'win-64'
diff --git a/pkg_additional_info.yaml b/pkg_additional_info.yaml
index 886bd8a0..dad73573 100644
--- a/pkg_additional_info.yaml
+++ b/pkg_additional_info.yaml
@@ -88,6 +88,8 @@ libcamera:
     override_version: '0.5.2'
 libcurl_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
+libg2o:
+  additional_cmake_args: "-DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF -DBUILD_LGPL_SHARED_LIBS=ON"
 liblz4_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR_IGNORE_SATISFIED_CHECK"
 librealsense2:
@@ -133,8 +135,6 @@ pybind11_vendor:
   additional_cmake_args: "-DAMENT_VENDOR_POLICY=NEVER_VENDOR"
 robot_state_publisher:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
-libg2o:
-  additional_cmake_args: "-DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF -DBUILD_LGPL_SHARED_LIBS=ON"
 rosx_introspection:
   additional_cmake_args: "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON"
 rviz_ogre_vendor:
diff --git a/vinca.yaml b/vinca.yaml
index 08de91ad..188a5495 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -148,7 +148,6 @@ packages_select_by_deps:
   - rmw_zenoh_cpp  # requested in https://github.com/RoboStack/ros-humble/issues/252
   - robot
   - robot-localization
-  - rtabmap
   - ros2_control
   - ros2_controllers
   - ros2_fmt_logger
@@ -162,8 +161,10 @@ packages_select_by_deps:
   - rosidl_buffer_backend
   - rosidl_buffer_backend_registry
   - rosidl_buffer_py
+  - rosidlcpp
   - rqt_robot_monitor
   - rqt_runtime_monitor
+  - rtabmap
   - rviz_visual_tools
   - sbg_driver
   - simulation