diff --git a/patch/ros-noetic-rosmon-core.patch b/patch/ros-noetic-rosmon-core.patch
new file mode 100644
index 000000000..6fa3bf213
--- /dev/null
+++ b/patch/ros-noetic-rosmon-core.patch
@@ -0,0 +1,24 @@
+diff --git a/src/monitor/shim.cpp b/src/monitor/shim.cpp
+index 7dec1cc..da51913 100644
+--- a/src/monitor/shim.cpp
++++ b/src/monitor/shim.cpp
+@@ -15,6 +15,19 @@
+ #include <sys/resource.h>
+ #include <sys/prctl.h>
+ 
++// **NOTE: Adapted from https://reviews.llvm.org/D39717 **
++// Sufficiently old kernel headers don't provide this value, but we can still
++// call prctl with it. If the runtime kernel is new enough, the prctl call will
++// have the desired effect; if the kernel is too old, the call will error and we
++// can ignore said error.
++#ifndef PR_SET_PTRACER
++#define PR_SET_PTRACER 0x59616d61
++#endif
++
++#ifndef PR_SET_PTRACER_ANY
++#define PR_SET_PTRACER_ANY ((unsigned long)-1)
++#endif
++
+ static const struct option OPTIONS[] = {
+ 	{"help", no_argument, nullptr, 'h'},
+ 	{"namespace", required_argument, nullptr, 'n'},
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index ab5473809..67d9bd926 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -92,6 +92,11 @@ packages_select_by_deps:
   - handeye
   - criutils
   - baldor
+  - rosmon
+  - rosmon-msgs
+  - catch-ros
+  - rosfmt
+  - rqt-rosmon
 
   # - desktop
   # - amcl
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 1b3e6341e..ad63a9453 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -79,6 +79,7 @@ packages_select_by_deps:
   - gps-common
   - rosbridge_suite
 
+
   # ## Only limited number of packages to reduce maintainer burden
   # - catkin
   # - rviz
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index 162922279..e9444ea8c 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -78,6 +78,7 @@ packages_select_by_deps:
   - gps-common
   - rosbridge_suite
 
+
   # # For jackal
   # - gazebo-dev
   # - hector-gazebo-plugins
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 7f8ac7727..614121c4e 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -72,6 +72,7 @@ packages_select_by_deps:
   - tf2_tools
   - gps-common
 
+
   # # For jackal
   # - gazebo-dev
   # - gazebo-ros