diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index ad156fd1..c77cd9f9 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -264,3 +264,8 @@ wasm_cpp:
 aws_sdk_cpp_vendor:
   add_host: ["aws-sdk-cpp"]
   add_run: ["aws-sdk-cpp"]
+polygon_rviz_plugins:
+  add_host: ["libgl-devel"]
+  add_run: ["libgl-devel"]
+py_trees:
+  add_host: ["poetry-core"]
diff --git a/patch/ros-humble-color-util.patch b/patch/ros-humble-color-util.patch
new file mode 100644
index 00000000..c0696770
--- /dev/null
+++ b/patch/ros-humble-color-util.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index bc98189..71ce465 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -19,6 +19,9 @@ find_package(ament_cmake REQUIRED)
+ find_package(std_msgs REQUIRED)
+ 
+ add_library(color_util src/convert.cpp)
++if(WIN32 AND MSVC)
++  set_target_properties(color_util PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
+ target_include_directories(color_util PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+   $<INSTALL_INTERFACE:include>
diff --git a/patch/ros-humble-polygon-utils.patch b/patch/ros-humble-polygon-utils.patch
new file mode 100644
index 00000000..8aa58ac4
--- /dev/null
+++ b/patch/ros-humble-polygon-utils.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index bc98189..71ce465 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -19,6 +19,9 @@ find_package(geometry_msgs REQUIRED)
+ find_package(polygon_msgs REQUIRED)
+ 
+ add_library(polygon_utils src/polygon_utils.cpp)
++if(WIN32 AND MSVC)
++  set_target_properties(polygon_utils PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
++endif()
+ target_include_directories(polygon_utils PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+   $<INSTALL_INTERFACE:include>
diff --git a/vinca.yaml b/vinca.yaml
index 95382eda..6a459336 100644
--- a/vinca.yaml
+++ b/vinca.yaml
@@ -315,6 +315,16 @@ packages_select_by_deps:
       - imu_tools
       - rplidar_ros
       - vector_pursuit_controller
+      - imu_transformer
+      - imu_calib
+      - polygon_msgs
+      - polygon_utils
+      - color_util
+      - rclc_parameter
+      - rclc_lifecycle
+      - rclc_examples
+      - ptz_action_server_msgs
+      - py_trees
   
   # These packages are only built on Linux as they depend on Linux-specific API
   - if: linux