diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index b22d81a9a..1fce690be 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -59,7 +59,7 @@ jobs:
         conda config --show channels | grep defaults && conda config --remove channels defaults
         conda info
         conda config --show
-        mamba install -y pip rospkg networkx "catkin_pkg>=0.4.16" "ruamel.yaml>=0.16.6" "rosdistro>=0.8.0" "empy>=3.3.4"
+        mamba install -y pip rospkg networkx "catkin_pkg>=0.4.16" "ruamel.yaml>=0.16.6,<0.18" "rosdistro>=0.8.0" "empy>=3.3.4"
         mamba install -y boa --only-deps
     - name: install vinca and boa main
       shell: bash -l {0}
diff --git a/patch/ros-noetic-catkin.patch b/patch/ros-noetic-catkin.patch
index 3be77726a..9e2d81501 100644
--- a/patch/ros-noetic-catkin.patch
+++ b/patch/ros-noetic-catkin.patch
@@ -225,7 +225,7 @@ index b19f4c8aa..de8fd2d1f 100644
 +    list(APPEND imported_location_libnames ${imported_location_name})
 +  endif()
 +  if(imported_location_libnames)
-+    find_library(imported_location_library NAMES ${imported_location_libnames} HINTS ${imported_location_dir})
++    find_library(imported_location_library NAMES ${imported_location_libnames} HINTS ${imported_location_dir} NO_CACHE)
 +  endif()
 +  set(${VAR} "${imported_location_library}" PARENT_SCOPE)
 +endfunction()
diff --git a/patch/ros-noetic-cv-bridge.patch b/patch/ros-noetic-cv-bridge.patch
index a509470df..c6f45d381 100644
--- a/patch/ros-noetic-cv-bridge.patch
+++ b/patch/ros-noetic-cv-bridge.patch
@@ -2,7 +2,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 index ef804b9..6dac00e 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -3,33 +3,13 @@ project(cv_bridge)
+@@ -3,27 +3,9 @@ project(cv_bridge)
  
  find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
  
@@ -29,12 +29,7 @@ index ef804b9..6dac00e 100644
 +find_package(Boost REQUIRED python)
  
 -find_package(OpenCV ${_opencv_version} REQUIRED
++find_package(OpenCV 4 QUIET)
 +find_package(OpenCV 4 REQUIRED
    COMPONENTS
-     opencv_core
-     opencv_imgproc
-     opencv_imgcodecs
--  CONFIG
- )
- 
- catkin_package(
\ No newline at end of file
+     opencv_core
\ No newline at end of file
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 7d9f33e09..dc98f1af4 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -37,44 +37,44 @@ skip_existing:
   - https://conda.anaconda.org/robostack-staging/
 
 packages_select_by_deps:
-  - cras_cpp_common  # maintainer peci1
-  - cras_py_common  # maintainer peci1
-  - cras_docs_common  # maintainer peci1
-  - cras_topic_tools  # maintainer peci1
-  - image_transport_codecs  # maintainer peci1
-  - point_cloud_transport  # maintainer peci1
-  - point_cloud_transport_plugins  # maintainer peci1
-  - draco_point_cloud_transport  # maintainer peci1
-  - sensor_filters  # maintainer peci1
-  - cras_relative_positional_controller  # maintainer peci1
-  - cras_msgs  # maintainer peci1
-  - compass_msgs  # maintainer peci1
-  - magnetometer_compass  # maintainer peci1
-  - electronic_io_msgs  # maintainer peci1
-  - electronic_io  # maintainer peci1
-  - point_cloud_color  # maintainer peci1
-  - rosmsg_cpp  # maintainer peci1
-  - snmp_ros  # maintainer peci1
-  - robot_body_filter  # maintainer peci1
-  - static_transform_mux  # maintainer peci1
-  - tf_remapper_cpp  # maintainer peci1
-  - roslint  # maintainer peci1
-  - tf2_server  # maintainer peci1
-  - rosbash_params  # maintainer peci1
-  - dynamic_robot_state_publisher  # maintainer peci1
-  - tf2_client  # maintainer peci1
-  - tf_static_publisher  # maintainer peci1
-  - movie_publisher  # maintainer peci1
-  - geometric_shapes
-  - teleop-twist-keyboard
-  - rosserial-client
-  - rosserial-arduino
-  - rosserial
-  - global-planner
-  - navigation
-  - ecl-core
-  - ecl-threads
-  - jsk-visualization
+  # - cras_cpp_common  # maintainer peci1
+  # - cras_py_common  # maintainer peci1
+  # - cras_docs_common  # maintainer peci1
+  # - cras_topic_tools  # maintainer peci1
+  # - image_transport_codecs  # maintainer peci1
+  # - point_cloud_transport  # maintainer peci1
+  # - point_cloud_transport_plugins  # maintainer peci1
+  # - draco_point_cloud_transport  # maintainer peci1
+  # - sensor_filters  # maintainer peci1
+  # - cras_relative_positional_controller  # maintainer peci1
+  # - cras_msgs  # maintainer peci1
+  # - compass_msgs  # maintainer peci1
+  # - magnetometer_compass  # maintainer peci1
+  # - electronic_io_msgs  # maintainer peci1
+  # - electronic_io  # maintainer peci1
+  # - point_cloud_color  # maintainer peci1
+  # - rosmsg_cpp  # maintainer peci1
+  # - snmp_ros  # maintainer peci1
+  # - robot_body_filter  # maintainer peci1
+  # - static_transform_mux  # maintainer peci1
+  # - tf_remapper_cpp  # maintainer peci1
+  # - roslint  # maintainer peci1
+  # - tf2_server  # maintainer peci1
+  # - rosbash_params  # maintainer peci1
+  # - dynamic_robot_state_publisher  # maintainer peci1
+  # - tf2_client  # maintainer peci1
+  # - tf_static_publisher  # maintainer peci1
+  # - movie_publisher  # maintainer peci1
+  # - geometric_shapes
+  # - teleop-twist-keyboard
+  # - rosserial-client
+  # - rosserial-arduino
+  # - rosserial
+  # - global-planner
+  # - navigation
+  # - ecl-core
+  # - ecl-threads
+  # - jsk-visualization
   # - actionlib
   # - foxglove_bridge
   # - ros-babel-fish
@@ -109,7 +109,7 @@ packages_select_by_deps:
   # - pcl-ros
   # - pcl-conversions
   # ## Only limited number of packages to reduce maintainer burden
-  # - catkin
+  - catkin
   # - ros-control
   # - ros-controllers
   # - imu-sensor-controller
@@ -173,8 +173,8 @@ packages_select_by_deps:
   # - moveit
   # - robot_localization
   # - gazebo-dev
-  - gazebo-ros
-  - hector-gazebo-plugins
+  # - gazebo-ros
+  # - hector-gazebo-plugins
   # - gazebo-ros-control
   # - gazebo-plugins
   # - lms1xx
@@ -182,7 +182,7 @@ packages_select_by_deps:
   # - interactive_marker_twist_server
   # - diff-drive-controller
   # - joint-state-controller
-  - joy
+  # - joy
   # - robot-localization
   # - teleop-twist-joy
   # - twist-mux
@@ -380,7 +380,7 @@ packages_select_by_deps:
   # - zbar-ros
   # - avt-vimba-camera
   # - apriltag_ros
-  # - cv_bridge
+  - cv_bridge
   # - cv_camera
   # - grid-map-filters
   # - image-geometry
@@ -623,7 +623,7 @@ packages_select_by_deps:
   # - pr2-power-drivers
   # - pr2-run-stop-auto-restart
   # - pr2-self-test-msgs
-  - pr2-teleop
+  # - pr2-teleop
   # - pr2-tilt-laser-interface
   # - pr2-tuckarm
   # - pr2-tuck-arms-action
@@ -984,7 +984,7 @@ packages_select_by_deps:
   # - ros-type-introspection
   # - rqt
   # - rqt-controller-manager
-  - rqt-ez-publisher
+  # - rqt-ez-publisher
   # - rqt-joint-trajectory-controller
   # - rx-service-tools
   # - safety-limiter-msgs
@@ -996,7 +996,7 @@ packages_select_by_deps:
   # - service-tools
   # - sick-safetyscanners
   # - sick-scan
-  - slam-gmapping
+  # - slam-gmapping
   # - slam-toolbox-rviz
   # - slic
   # - slime-wrapper
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index e77b31ab5..d8c664c99 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -28,54 +28,55 @@ skip_existing:
   - https://conda.anaconda.org/robostack-staging/
 
 packages_select_by_deps:
-  - cras_cpp_common  # maintainer peci1
-  - cras_py_common  # maintainer peci1
-  - cras_docs_common  # maintainer peci1
-  - cras_topic_tools  # maintainer peci1
-  - image_transport_codecs  # maintainer peci1
-  - point_cloud_transport  # maintainer peci1
-  - point_cloud_transport_plugins  # maintainer peci1
-  - draco_point_cloud_transport  # maintainer peci1
-  - sensor_filters  # maintainer peci1
-  - cras_relative_positional_controller  # maintainer peci1
-  - cras_msgs  # maintainer peci1
-  - compass_msgs  # maintainer peci1
+  - cv_bridge
+  # - cras_cpp_common  # maintainer peci1
+  # - cras_py_common  # maintainer peci1
+  # - cras_docs_common  # maintainer peci1
+  # - cras_topic_tools  # maintainer peci1
+  # - image_transport_codecs  # maintainer peci1
+  # - point_cloud_transport  # maintainer peci1
+  # - point_cloud_transport_plugins  # maintainer peci1
+  # - draco_point_cloud_transport  # maintainer peci1
+  # - sensor_filters  # maintainer peci1
+  # - cras_relative_positional_controller  # maintainer peci1
+  # - cras_msgs  # maintainer peci1
+  # - compass_msgs  # maintainer peci1
   # does not work on aarch64 (yet) # - magnetometer_compass  # maintainer peci1
-  - electronic_io_msgs  # maintainer peci1
-  - electronic_io  # maintainer peci1
-  - point_cloud_color  # maintainer peci1
-  - rosmsg_cpp  # maintainer peci1
-  - snmp_ros  # maintainer peci1
-  - robot_body_filter  # maintainer peci1
-  - static_transform_mux  # maintainer peci1
-  - tf_remapper_cpp  # maintainer peci1
-  - roslint  # maintainer peci1
-  - tf2_server  # maintainer peci1
-  - rosbash_params  # maintainer peci1
-  - dynamic_robot_state_publisher  # maintainer peci1
-  - tf2_client  # maintainer peci1
-  - tf_static_publisher  # maintainer peci1
-  - movie_publisher  # maintainer peci1
-  - geometric_shapes
-  - actionlib
-  - foxglove_bridge
-  - ros-babel-fish
-  - ros-babel-fish-test-msgs
-  - moveit_visual_tools
-  - rviz_visual_tools
-  - rgbd-launch
-  - microstrain-inertial-driver
-  - microstrain-inertial-msgs
-  - usb-cam
-  - octomap-ros
-  - octomap-mapping
-  - octomap-server
-  - ackermann-msgs
-  - fake-localization
-  - realsense2-description
+  # - electronic_io_msgs  # maintainer peci1
+  # - electronic_io  # maintainer peci1
+  # - point_cloud_color  # maintainer peci1
+  # - rosmsg_cpp  # maintainer peci1
+  # - snmp_ros  # maintainer peci1
+  # - robot_body_filter  # maintainer peci1
+  # - static_transform_mux  # maintainer peci1
+  # - tf_remapper_cpp  # maintainer peci1
+  # - roslint  # maintainer peci1
+  # - tf2_server  # maintainer peci1
+  # - rosbash_params  # maintainer peci1
+  # - dynamic_robot_state_publisher  # maintainer peci1
+  # - tf2_client  # maintainer peci1
+  # - tf_static_publisher  # maintainer peci1
+  # - movie_publisher  # maintainer peci1
+  # - geometric_shapes
+  # - actionlib
+  # - foxglove_bridge
+  # - ros-babel-fish
+  # - ros-babel-fish-test-msgs
+  # - moveit_visual_tools
+  # - rviz_visual_tools
+  # - rgbd-launch
+  # - microstrain-inertial-driver
+  # - microstrain-inertial-msgs
+  # - usb-cam
+  # - octomap-ros
+  # - octomap-mapping
+  # - octomap-server
+  # - ackermann-msgs
+  # - fake-localization
+  # - realsense2-description
 
   # - rqt-gui
-  # - catkin
+  - catkin
   # - kdl-parser-py
   # - imu-tools
   # - rqt-controller-manager
diff --git a/vinca_osx.yaml b/vinca_osx.yaml
index 2c7a95675..33ccca8bd 100644
--- a/vinca_osx.yaml
+++ b/vinca_osx.yaml
@@ -29,13 +29,14 @@ skip_existing:
   - https://conda.anaconda.org/robostack-staging/
 
 packages_select_by_deps:
-  - rospack
-  - microstrain-inertial-driver
-  - microstrain-inertial-msgs
-  - octomap-ros
-  - ackermann-msgs
-  - fake-localization
-  - realsense2-description
+  - cv_bridge
+  # - rospack
+  # - microstrain-inertial-driver
+  # - microstrain-inertial-msgs
+  # - octomap-ros
+  # - ackermann-msgs
+  # - fake-localization
+  # - realsense2-description
 
   # - rviz
   # - python-qt-binding
@@ -100,7 +101,7 @@ packages_select_by_deps:
 
 
   # # ## Only limited number of packages to reduce maintainer burden
-  # - catkin
+  - catkin
   # - rviz
   # - desktop
   # - desktop_full
diff --git a/vinca_osx_arm64.yaml b/vinca_osx_arm64.yaml
index 8d0fb8d65..311698869 100644
--- a/vinca_osx_arm64.yaml
+++ b/vinca_osx_arm64.yaml
@@ -31,16 +31,18 @@ skip_existing:
   # - /Users/fischert/mambaforge/conda-bld
 
 packages_select_by_deps:
+  - cv_bridge
+  - catkin
   ##
   #  TODO OSX-ARM64
   ##
-  - rospack
-  - microstrain-inertial-driver
-  - microstrain-inertial-msgs
-  - octomap-ros
-  - ackermann-msgs
-  - fake-localization
-  - realsense2-description
+  # - rospack
+  # - microstrain-inertial-driver
+  # - microstrain-inertial-msgs
+  # - octomap-ros
+  # - ackermann-msgs
+  # - fake-localization
+  # - realsense2-description
 
   # - rviz
   # - python-qt-binding
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 3106d637e..3b7bb6d20 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -31,21 +31,22 @@ skip_existing:
   - https://conda.anaconda.org/robostack-staging/
 
 packages_select_by_deps:
-  - actionlib
-  - foxglove_bridge
-  - ros-babel-fish
-  - ros-babel-fish-test-msgs
-  - moveit_visual_tools
-  - rviz_visual_tools
-  - rgbd-launch
-  - octomap-ros
-  - ackermann-msgs
-  - fake-localization
-  - realsense2-description
+  - cv_bridge
+  # - actionlib
+  # - foxglove_bridge
+  # - ros-babel-fish
+  # - ros-babel-fish-test-msgs
+  # - moveit_visual_tools
+  # - rviz_visual_tools
+  # - rgbd-launch
+  # - octomap-ros
+  # - ackermann-msgs
+  # - fake-localization
+  # - realsense2-description
   
   # - desktop
   # - rqt-gui
-  # - catkin
+  - catkin
   # - teleop_twist_keyboard
   # - perception_pcl
   # - rosbridge_suite
@@ -462,7 +463,7 @@ packages_select_by_deps:
   # # DONE Win
   # ##
 
-  - rosserial-arduino
+  # - rosserial-arduino
   # - rosbash
   # - tf2_web_republisher
   # - grid_map