diff --git a/.github/workflows/osx.yml b/.github/workflows/osx.yml
new file mode 100644
index 000000000..ca351c3a8
--- /dev/null
+++ b/.github/workflows/osx.yml
@@ -0,0 +1,24 @@
+jobs:
+  stage_0_job_0:
+    name: moveit-ros-planning-interface
+    runs-on: macos-11
+    strategy:
+      fail-fast: false
+    needs: []
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+    - name: Build ros-noetic-moveit-ros-planning-interface
+      env:
+        ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+        CURRENT_RECIPES: ros-noetic-moveit-ros-planning-interface
+      run: |
+        export CI=azure
+        export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
+        export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
+        .scripts/build_osx.sh
+name: build_osx
+on:
+  push:
+    branches:
+    - buildbranch_osx
diff --git a/activate.bat b/activate.bat
new file mode 100644
index 000000000..48ff1d713
--- /dev/null
+++ b/activate.bat
@@ -0,0 +1,15 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+@if not defined CONDA_PREFIX goto:eof
+
+@REM Don't do anything when we are in conda build.
+@if defined SYS_PREFIX exit /b 0
+
+@set "QT_PLUGIN_PATH=%CONDA_PREFIX%\Library\plugins"
+
+@call "%CONDA_PREFIX%\Library\local_setup.bat"
+@set PYTHONHOME=
+@set "ROS_OS_OVERRIDE=conda:win64"
+@set "ROS_ETC_DIR=%CONDA_PREFIX%\Library\etc\ros"
+@set "AMENT_PREFIX_PATH=%CONDA_PREFIX%\Library"
+@set "AMENT_PYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe"
diff --git a/activate.ps1 b/activate.ps1
new file mode 100644
index 000000000..137e67aef
--- /dev/null
+++ b/activate.ps1
@@ -0,0 +1,16 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if ($null -eq ${env:CONDA_PREFIX}) { Exit }
+
+# Don't do anything when we are in conda build.
+if ($null -ne ${env:SYS_PREFIX}) { Exit 0 }
+
+$Env:QT_PLUGIN_PATH="${env:CONDA_PREFIX}\Library\plugins"
+
+& "${env:CONDA_PREFIX}\Library\local_setup.ps1"
+
+$Env:PYTHONHOME=''
+$Env:ROS_OS_OVERRIDE='conda:win64'
+$Env:ROS_ETC_DIR="${env:CONDA_PREFIX}\Library\etc\ros"
+$Env:AMENT_PREFIX_PATH="${env:CONDA_PREFIX}\Library"
+$Env:AMENT_PYTHON_EXECUTABLE="${env:CONDA_PREFIX}\python.exe"
diff --git a/activate.sh b/activate.sh
new file mode 100644
index 000000000..aece97080
--- /dev/null
+++ b/activate.sh
@@ -0,0 +1,26 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+# if [ -z "${CONDA_PREFIX}" ]; then
+#     exit 0;
+# fi
+
+# Not sure if this is necessary on UNIX?
+# export QT_PLUGIN_PATH=$CONDA_PREFIX\plugins
+
+if [ "$CONDA_BUILD" = "1" -a "$target_platform" != "$build_platform" ]; then
+    # ignore sourcing
+    echo "Not activating ROS when cross-compiling";
+else
+    source $CONDA_PREFIX/setup.sh
+fi
+
+case "$OSTYPE" in
+  darwin*)  export ROS_OS_OVERRIDE="conda:osx"; export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp";;
+  linux*)   export ROS_OS_OVERRIDE="conda:linux";;
+esac
+
+export ROS_ETC_DIR=$CONDA_PREFIX/etc/ros
+export AMENT_PREFIX_PATH=$CONDA_PREFIX
+
+# Looks unnecessary for UNIX
+# unset PYTHONHOME=
diff --git a/bld_ament_cmake.bat b/bld_ament_cmake.bat
new file mode 100644
index 000000000..7aa6fc90a
--- /dev/null
+++ b/bld_ament_cmake.bat
@@ -0,0 +1,38 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal EnableDelayedExpansion
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+rd /s /q build
+mkdir build
+pushd build
+
+:: set "CMAKE_GENERATOR=Ninja"
+
+:: try to fix long paths issues by using default generator
+set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
+
+cmake ^
+    -G "%CMAKE_GENERATOR%" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DBUILD_TESTING=OFF ^
+    -DCMAKE_OBJECT_PATH_MAX=255 ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
diff --git a/bld_ament_python.bat b/bld_ament_python.bat
new file mode 100644
index 000000000..f6e3c9616
--- /dev/null
+++ b/bld_ament_python.bat
@@ -0,0 +1,25 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+pushd %SRC_DIR%\%PKG_NAME%\src\work
+set "PKG_NAME_SHORT=%PKG_NAME:*ros-noetic-=%"
+set "PKG_NAME_SHORT=%PKG_NAME_SHORT:-=_%"
+
+:: If there is a setup.cfg that contains install-scripts then use pip to install
+findstr install[-_]scripts setup.cfg
+if "%errorlevel%" == "0" (
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+         --install-scripts=%LIBRARY_PREFIX%\lib\%PKG_NAME_SHORT%
+) else (
+    %PYTHON% setup.py install --single-version-externally-managed --record=files.txt ^
+        --prefix=%LIBRARY_PREFIX% ^
+        --install-lib=%SP_DIR% ^
+        --install-scripts=%LIBRARY_PREFIX%\bin
+)
+
+if errorlevel 1 exit 1
diff --git a/bld_catkin.bat b/bld_catkin.bat
new file mode 100644
index 000000000..f2d597637
--- /dev/null
+++ b/bld_catkin.bat
@@ -0,0 +1,80 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin
+:: if ROS (1) is build as shared library . However, some packages are not
+:: passing compilation flags from CMake to other build systems (such as qmake),
+:: so we enable it explicitly via the CL environment variable, see
+:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170
+set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1
+
+set "CATKIN_BUILD_BINARY_PACKAGE_ARGS=-DCATKIN_BUILD_BINARY_PACKAGE=1"
+if "%PKG_NAME%" == "ros-noetic-catkin" (
+    :: create catkin cookie to make it is a catkin workspace
+    type NUL > %LIBRARY_PREFIX%\.catkin
+    :: keep the workspace activation scripts (e.g., local_setup.bat)
+    set CATKIN_BUILD_BINARY_PACKAGE_ARGS=
+)
+
+rd /s /q build
+mkdir build
+pushd build
+
+set SKIP_TESTING=ON
+
+cmake ^
+    -G "Ninja" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=ON ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBoost_USE_STATIC_LIBS=OFF ^
+    %CATKIN_BUILD_BINARY_PACKAGE_ARGS% ^
+    -DCATKIN_SKIP_TESTING=%SKIP_TESTING% ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+if "%PKG_NAME%" == "ros-noetic-eigenpy" (
+    cmake --build . --config Release --target all --parallel 1
+    if errorlevel 1 exit 1
+) else (
+    cmake --build . --config Release --target all
+    if errorlevel 1 exit 1
+)
+
+if "%SKIP_TESTING%" == "OFF" (
+    cmake --build . --config Release --target run_tests
+    if errorlevel 1 exit 1
+)
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
+
+if "%PKG_NAME%" == "ros-noetic-catkin" (
+    :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+    :: This will allow them to be run on environment activation.
+    for %%F in (activate deactivate) DO (
+        if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+        copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+    )
+)
+
+if "%PKG_NAME%" == "ros-noetic-ros-workspace" (
+    :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+    :: This will allow them to be run on environment activation.
+    for %%F in (activate deactivate) DO (
+        if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+        copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+        copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1
+    )
+)
diff --git a/bld_catkin_merge.bat b/bld_catkin_merge.bat
new file mode 100644
index 000000000..f2c6cf722
--- /dev/null
+++ b/bld_catkin_merge.bat
@@ -0,0 +1,34 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin
+:: if ROS (1) is build as shared library . However, some packages are not
+:: passing compilation flags from CMake to other build systems (such as qmake),
+:: so we enable it explicitly via the CL environment variable, see
+:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170
+set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1
+
+set CATKIN_MAKE_ISOLATED=src\ros-noetic-catkin\bin\catkin_make_isolated
+set CMAKE_PREFIX_PATH=%CMAKE_PREFIX_PATH:\=/%
+
+%PYTHON% %CATKIN_MAKE_ISOLATED% ^
+    --install-space %LIBRARY_PREFIX% ^
+    --use-ninja ^
+    --install ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DCATKIN_SKIP_TESTING=ON
+if errorlevel 1 exit 1
+
+:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+:: This will allow them to be run on environment activation.
+for %%F in (activate deactivate) DO (
+    if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+    copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+)
diff --git a/bld_colcon_merge.bat b/bld_colcon_merge.bat
new file mode 100644
index 000000000..9d012eff4
--- /dev/null
+++ b/bld_colcon_merge.bat
@@ -0,0 +1,28 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
+
+colcon build ^
+    --event-handlers console_cohesion+ ^
+    --merge-install ^
+    --install-base %LIBRARY_PREFIX% ^
+    --cmake-args ^
+     -G Ninja ^
+     -DCMAKE_BUILD_TYPE=Release ^
+     -DBUILD_TESTING=OFF ^
+     -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+     -DPYTHON_EXECUTABLE=%PYTHON%
+if errorlevel 1 exit 1
+
+:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+:: This will allow them to be run on environment activation.
+for %%F in (activate deactivate) DO (
+    if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+    copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+)
diff --git a/build_ament_cmake.sh b/build_ament_cmake.sh
new file mode 100644
index 000000000..01c63b554
--- /dev/null
+++ b/build_ament_cmake.sh
@@ -0,0 +1,68 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+rm -rf build
+mkdir build
+cd build
+
+# necessary for correctly linking SIP files (from python_qt_bindings)
+export LINK=$CXX
+
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
+  PYTHON_EXECUTABLE=$PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="10.15"
+else
+  PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="11.0"
+fi
+
+echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
+echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
+
+export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
+echo "Using Python ${ROS_PYTHON_VERSION}"
+echo "Using site-package dir ${SP_DIR}"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~${BUILD_PREFIX}/lib/python${ROS_PYTHON_VERSION}/site-packages~g" {} + || true
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
+fi
+
+if [[ $target_platform =~ linux.* ]]; then
+    export CFLAGS="${CFLAGS} -D__STDC_FORMAT_MACROS=1"
+    export CXXFLAGS="${CXXFLAGS} -D__STDC_FORMAT_MACROS=1"
+fi;
+
+# Needed for qt-gui-cpp ..
+if [[ $target_platform =~ linux.* ]]; then
+  ln -s $GCC ${BUILD_PREFIX}/bin/gcc
+  ln -s $GXX ${BUILD_PREFIX}/bin/g++
+fi;
+
+cmake \
+    -G "Ninja" \
+    -DCMAKE_INSTALL_PREFIX=$PREFIX \
+    -DCMAKE_PREFIX_PATH=$PREFIX \
+    -DAMENT_PREFIX_PATH=$PREFIX \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_FIND_STRATEGY=LOCATION \
+    -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
+    -DPYTHON_INSTALL_DIR=$SP_DIR \
+    -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+    -DBUILD_SHARED_LIBS=ON  \
+    -DBUILD_TESTING=OFF \
+    -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+    $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target install
diff --git a/build_ament_python.sh b/build_ament_python.sh
new file mode 100644
index 000000000..b9d35ea19
--- /dev/null
+++ b/build_ament_python.sh
@@ -0,0 +1,17 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+pushd $SRC_DIR/$PKG_NAME/src/work
+
+# If there is a setup.cfg that contains install-scripts then we should not set it here
+if [ -f setup.cfg ] && grep -q "install[-_]scripts" setup.cfg; then
+  # Remove e.g. ros-humble- from PKG_NAME
+  PKG_NAME_SHORT=${PKG_NAME#*ros-noetic-}
+  # Substitute "-" with "_"
+  PKG_NAME_SHORT=${PKG_NAME_SHORT//-/_}
+  INSTALL_SCRIPTS_ARG="--install-scripts=$PREFIX/lib/$PKG_NAME_SHORT"
+  echo "WARNING: setup.cfg not set, will set INSTALL_SCRIPTS_ARG to: $INSTALL_SCRIPTS_ARG"
+  $PYTHON setup.py install --prefix="$PREFIX" --install-lib="$SP_DIR" $INSTALL_SCRIPTS_ARG --single-version-externally-managed --record=files.txt
+else
+  $PYTHON -m pip install . --no-deps -vvv
+fi
diff --git a/build_catkin.sh b/build_catkin.sh
new file mode 100644
index 000000000..4dd855a8c
--- /dev/null
+++ b/build_catkin.sh
@@ -0,0 +1,119 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+CATKIN_BUILD_BINARY_PACKAGE="ON"
+
+if [ "${PKG_NAME}" == "ros-noetic-catkin" ]; then
+    # create catkin cookie to make it is a catkin workspace
+    touch $PREFIX/.catkin
+    # keep the workspace activation scripts (e.g., local_setup.bat)
+    CATKIN_BUILD_BINARY_PACKAGE="OFF"
+fi
+
+rm -rf build
+mkdir build
+cd build
+
+# necessary for correctly linking SIP files (from python_qt_bindings)
+export LINK=$CXX
+
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
+  PYTHON_EXECUTABLE=$PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="10.15"
+else
+  PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="11.0"
+fi
+
+echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
+echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
+
+export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
+echo "Using Python $ROS_PYTHON_VERSION"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
+  # way around bad CPU type issues
+  # rm $PREFIX/bin/doxygen || echo "doxygen not found"
+  # rm $PREFIX/bin/dia || echo "dia not found"
+  # rm $PREFIX/bin/dot || echo "dot not found"
+fi
+
+# NOTE: there might be undefined references occurring
+# in the Boost.system library, depending on the C++ versions
+# used to compile Boost. We can avoid them by forcing the use of
+# the header-only version of the library.
+export CXXFLAGS="$CXXFLAGS -DBOOST_ERROR_CODE_HEADER_ONLY"
+
+if [[ $target_platform =~ linux.* ]]; then
+    export CFLAGS="$CFLAGS -D__STDC_FORMAT_MACROS=1";
+    export CXXFLAGS="$CXXFLAGS -D__STDC_FORMAT_MACROS=1";
+    # I am too scared to turn this on for now ...
+    # export LDFLAGS="$LDFLAGS -lrt";
+    # Some qt stuff uses g++ directly - fix these use cases
+    ln -s $GXX $BUILD_PREFIX/bin/g++
+fi
+
+export SKIP_TESTING=ON
+
+cmake ${CMAKE_ARGS} -DCMAKE_INSTALL_PREFIX=$PREFIX \
+         -DCMAKE_PREFIX_PATH=$PREFIX \
+         -DCMAKE_BUILD_TYPE=Release \
+         -DCMAKE_INSTALL_LIBDIR=lib \
+         -DCMAKE_NO_SYSTEM_FROM_IMPORTED=ON \
+         -DCMAKE_FIND_FRAMEWORK=LAST \
+         -DBUILD_SHARED_LIBS=ON \
+         -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
+         -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
+         -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+         -DPython3_FIND_STRATEGY=LOCATION \
+         -DPYTHON_INSTALL_DIR=$SP_DIR \
+         -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
+         -DSETUPTOOLS_DEB_LAYOUT=OFF \
+         -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+         -DCATKIN_BUILD_BINARY_PACKAGE=$CATKIN_BUILD_BINARY_PACKAGE \
+         -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+         -G "Ninja" \
+         $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target all
+
+if [[ "$SKIP_TESTING" == "OFF" ]]; then
+    cmake --build . --config Release --target run_tests
+fi
+
+cmake --build . --config Release --target install
+
+if [ "${PKG_NAME}" == "ros-noetic-catkin" ]; then
+    # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
+    # This will allow them to be run on environment activation.
+    for CHANGE in "activate" "deactivate"
+    do
+        mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+        cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+    done
+fi
+
+if [ "${PKG_NAME}" == "ros-noetic-environment" ]; then
+   for SCRIPT in "1.ros_distro.sh" "1.ros_etc_dir.sh" "1.ros_package_path.sh" "1.ros_python_version.sh" "1.ros_version.sh"
+   do
+       mkdir -p "${PREFIX}/etc/conda/activate.d"
+       cp "${PREFIX}/etc/catkin/profile.d/${SCRIPT}" "${PREFIX}/etc/conda/activate.d/${SCRIPT}"
+   done
+fi
+
+if [ "${PKG_NAME}" == "ros-noetic-ros-workspace" ]; then
+    # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
+    # This will allow them to be run on environment activation.
+    for CHANGE in "activate" "deactivate"
+    do
+        mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+        cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+    done
+fi
diff --git a/buildorder.txt b/buildorder.txt
new file mode 100644
index 000000000..91082c33e
--- /dev/null
+++ b/buildorder.txt
@@ -0,0 +1 @@
+ros-noetic-moveit-ros-planning-interface
\ No newline at end of file
diff --git a/deactivate.bat b/deactivate.bat
new file mode 100644
index 000000000..6de79ccaf
--- /dev/null
+++ b/deactivate.bat
@@ -0,0 +1,18 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+@if not defined CONDA_PREFIX goto:eof
+
+@set ROS_OS_OVERRIDE=
+@set ROS_DISTRO=
+@set ROS_ETC_DIR=
+@set ROS_PACKAGE_PATH=
+@set ROS_PYTHON_VERSION=
+@set ROS_VERSION=
+@set PYTHONHOME=
+@set PYTHONPATH=
+@set CMAKE_PREFIX_PATH=
+@set AMENT_PREFIX_PATH=
+@set COLCON_PREFIX_PATH=
+@set QT_PLUGIN_PATH=
+@set ROS_LOCALHOST_ONLY=
+@set ament_python_executable=
diff --git a/deactivate.ps1 b/deactivate.ps1
new file mode 100644
index 000000000..9db51e1c2
--- /dev/null
+++ b/deactivate.ps1
@@ -0,0 +1,18 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if ($null -eq ${env:CONDA_PREFIX}) { Exit }
+
+$Env:ROS_OS_OVERRIDE=''
+$Env:ROS_DISTRO=''
+$Env:ROS_ETC_DIR=''
+$Env:ROS_PACKAGE_PATH=''
+$Env:ROS_PYTHON_VERSION=''
+$Env:ROS_VERSION=''
+$Env:PYTHONHOME=''
+$Env:PYTHONPATH=''
+$Env:CMAKE_PREFIX_PATH=''
+$Env:AMENT_PREFIX_PATH=''
+$Env:COLCON_PREFIX_PATH=''
+$Env:QT_PLUGIN_PATH=''
+$Env:ROS_LOCALHOST_ONLY=''
+$Env:ament_python_executable=''
diff --git a/deactivate.sh b/deactivate.sh
new file mode 100644
index 000000000..87d4d8359
--- /dev/null
+++ b/deactivate.sh
@@ -0,0 +1,21 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+if [ -z "${CONDA_PREFIX}" ]; then
+	exit 0
+fi
+
+unset ROS_DISTRO
+unset ROS_ETC_DIR
+unset ROS_PACKAGE_PATH
+unset ROS_PYTHON_VERSION
+unset CMAKE_PREFIX_PATH
+unset AMENT_PREFIX_PATH
+unset COLCON_PREFIX_PATH
+unset ROS_VERSION
+unset ROS_OS_OVERRIDE
+# unset PYTHONPATH
+# unset PYTHONHOME
+# unset QT_PLUGIN_PATH
+unset ROS_LOCALHOST_ONLY
+unset ament_python_executable
+unset RMW_IMPLEMENTATION
diff --git a/recipes/ros-noetic-moveit-ros-planning-interface/bld_catkin.bat b/recipes/ros-noetic-moveit-ros-planning-interface/bld_catkin.bat
new file mode 100644
index 000000000..f2d597637
--- /dev/null
+++ b/recipes/ros-noetic-moveit-ros-planning-interface/bld_catkin.bat
@@ -0,0 +1,80 @@
+:: Generated by vinca http://github.com/RoboStack/vinca.
+:: DO NOT EDIT!
+setlocal
+set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
+
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
+:: ROS_BUILD_SHARED_LIBS is always defined in CMake by catkin
+:: if ROS (1) is build as shared library . However, some packages are not
+:: passing compilation flags from CMake to other build systems (such as qmake),
+:: so we enable it explicitly via the CL environment variable, see
+:: https://learn.microsoft.com/en-us/cpp/build/reference/cl-environment-variables?view=msvc-170
+set CL=/DROS_BUILD_SHARED_LIBS=1 /DNOGDI=1
+
+set "CATKIN_BUILD_BINARY_PACKAGE_ARGS=-DCATKIN_BUILD_BINARY_PACKAGE=1"
+if "%PKG_NAME%" == "ros-noetic-catkin" (
+    :: create catkin cookie to make it is a catkin workspace
+    type NUL > %LIBRARY_PREFIX%\.catkin
+    :: keep the workspace activation scripts (e.g., local_setup.bat)
+    set CATKIN_BUILD_BINARY_PACKAGE_ARGS=
+)
+
+rd /s /q build
+mkdir build
+pushd build
+
+set SKIP_TESTING=ON
+
+cmake ^
+    -G "Ninja" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=ON ^
+    -DBUILD_SHARED_LIBS=ON ^
+    -DPYTHON_EXECUTABLE=%PYTHON% ^
+    -DPython_EXECUTABLE=%PYTHON% ^
+    -DPython3_EXECUTABLE=%PYTHON% ^
+    -DSETUPTOOLS_DEB_LAYOUT=OFF ^
+    -DBoost_USE_STATIC_LIBS=OFF ^
+    %CATKIN_BUILD_BINARY_PACKAGE_ARGS% ^
+    -DCATKIN_SKIP_TESTING=%SKIP_TESTING% ^
+    %SRC_DIR%\%PKG_NAME%\src\work
+if errorlevel 1 exit 1
+
+if "%PKG_NAME%" == "ros-noetic-eigenpy" (
+    cmake --build . --config Release --target all --parallel 1
+    if errorlevel 1 exit 1
+) else (
+    cmake --build . --config Release --target all
+    if errorlevel 1 exit 1
+)
+
+if "%SKIP_TESTING%" == "OFF" (
+    cmake --build . --config Release --target run_tests
+    if errorlevel 1 exit 1
+)
+
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
+
+if "%PKG_NAME%" == "ros-noetic-catkin" (
+    :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+    :: This will allow them to be run on environment activation.
+    for %%F in (activate deactivate) DO (
+        if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+        copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+    )
+)
+
+if "%PKG_NAME%" == "ros-noetic-ros-workspace" (
+    :: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+    :: This will allow them to be run on environment activation.
+    for %%F in (activate deactivate) DO (
+        if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+        copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+        copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1
+    )
+)
diff --git a/recipes/ros-noetic-moveit-ros-planning-interface/build_catkin.sh b/recipes/ros-noetic-moveit-ros-planning-interface/build_catkin.sh
new file mode 100644
index 000000000..4dd855a8c
--- /dev/null
+++ b/recipes/ros-noetic-moveit-ros-planning-interface/build_catkin.sh
@@ -0,0 +1,119 @@
+# Generated by vinca http://github.com/RoboStack/vinca.
+# DO NOT EDIT!
+
+CATKIN_BUILD_BINARY_PACKAGE="ON"
+
+if [ "${PKG_NAME}" == "ros-noetic-catkin" ]; then
+    # create catkin cookie to make it is a catkin workspace
+    touch $PREFIX/.catkin
+    # keep the workspace activation scripts (e.g., local_setup.bat)
+    CATKIN_BUILD_BINARY_PACKAGE="OFF"
+fi
+
+rm -rf build
+mkdir build
+cd build
+
+# necessary for correctly linking SIP files (from python_qt_bindings)
+export LINK=$CXX
+
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" != "1" ]]; then
+  PYTHON_EXECUTABLE=$PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="10.15"
+else
+  PYTHON_EXECUTABLE=$BUILD_PREFIX/bin/python
+  PKG_CONFIG_EXECUTABLE=$BUILD_PREFIX/bin/pkg-config
+  OSX_DEPLOYMENT_TARGET="11.0"
+fi
+
+echo "USING PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}"
+echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
+
+export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
+echo "Using Python $ROS_PYTHON_VERSION"
+
+# see https://github.com/conda-forge/cross-python-feedstock/issues/24
+if [[ "$CONDA_BUILD_CROSS_COMPILATION" == "1" ]]; then
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~$PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true
+  find $PREFIX/share/rosidl* -type f -exec sed -i "s~\${_IMPORT_PREFIX}/lib/python$ROS_PYTHON_VERSION/site-packages~$BUILD_PREFIX/lib/python$ROS_PYTHON_VERSION/site-packages~g" {} + || true
+  find $PREFIX/lib/cmake -type f -exec sed -i "s~message(FATAL_ERROR \"The imported target~message(WARNING \"The imported target~g" {} + || true
+  # way around bad CPU type issues
+  # rm $PREFIX/bin/doxygen || echo "doxygen not found"
+  # rm $PREFIX/bin/dia || echo "dia not found"
+  # rm $PREFIX/bin/dot || echo "dot not found"
+fi
+
+# NOTE: there might be undefined references occurring
+# in the Boost.system library, depending on the C++ versions
+# used to compile Boost. We can avoid them by forcing the use of
+# the header-only version of the library.
+export CXXFLAGS="$CXXFLAGS -DBOOST_ERROR_CODE_HEADER_ONLY"
+
+if [[ $target_platform =~ linux.* ]]; then
+    export CFLAGS="$CFLAGS -D__STDC_FORMAT_MACROS=1";
+    export CXXFLAGS="$CXXFLAGS -D__STDC_FORMAT_MACROS=1";
+    # I am too scared to turn this on for now ...
+    # export LDFLAGS="$LDFLAGS -lrt";
+    # Some qt stuff uses g++ directly - fix these use cases
+    ln -s $GXX $BUILD_PREFIX/bin/g++
+fi
+
+export SKIP_TESTING=ON
+
+cmake ${CMAKE_ARGS} -DCMAKE_INSTALL_PREFIX=$PREFIX \
+         -DCMAKE_PREFIX_PATH=$PREFIX \
+         -DCMAKE_BUILD_TYPE=Release \
+         -DCMAKE_INSTALL_LIBDIR=lib \
+         -DCMAKE_NO_SYSTEM_FROM_IMPORTED=ON \
+         -DCMAKE_FIND_FRAMEWORK=LAST \
+         -DBUILD_SHARED_LIBS=ON \
+         -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
+         -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
+         -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+         -DPython3_FIND_STRATEGY=LOCATION \
+         -DPYTHON_INSTALL_DIR=$SP_DIR \
+         -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
+         -DSETUPTOOLS_DEB_LAYOUT=OFF \
+         -DCATKIN_SKIP_TESTING=$SKIP_TESTING \
+         -DCATKIN_BUILD_BINARY_PACKAGE=$CATKIN_BUILD_BINARY_PACKAGE \
+         -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
+         -G "Ninja" \
+         $SRC_DIR/$PKG_NAME/src/work
+
+cmake --build . --config Release --target all
+
+if [[ "$SKIP_TESTING" == "OFF" ]]; then
+    cmake --build . --config Release --target run_tests
+fi
+
+cmake --build . --config Release --target install
+
+if [ "${PKG_NAME}" == "ros-noetic-catkin" ]; then
+    # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
+    # This will allow them to be run on environment activation.
+    for CHANGE in "activate" "deactivate"
+    do
+        mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+        cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+    done
+fi
+
+if [ "${PKG_NAME}" == "ros-noetic-environment" ]; then
+   for SCRIPT in "1.ros_distro.sh" "1.ros_etc_dir.sh" "1.ros_package_path.sh" "1.ros_python_version.sh" "1.ros_version.sh"
+   do
+       mkdir -p "${PREFIX}/etc/conda/activate.d"
+       cp "${PREFIX}/etc/catkin/profile.d/${SCRIPT}" "${PREFIX}/etc/conda/activate.d/${SCRIPT}"
+   done
+fi
+
+if [ "${PKG_NAME}" == "ros-noetic-ros-workspace" ]; then
+    # Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
+    # This will allow them to be run on environment activation.
+    for CHANGE in "activate" "deactivate"
+    do
+        mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+        cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+    done
+fi
diff --git a/recipes/ros-noetic-moveit-ros-planning-interface/patch/ros-noetic-moveit-ros-planning-interface.patch b/recipes/ros-noetic-moveit-ros-planning-interface/patch/ros-noetic-moveit-ros-planning-interface.patch
new file mode 100644
index 000000000..6370b1968
--- /dev/null
+++ b/recipes/ros-noetic-moveit-ros-planning-interface/patch/ros-noetic-moveit-ros-planning-interface.patch
@@ -0,0 +1,114 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 73f1aa3ea4..67528cf75c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -19,6 +19,9 @@ find_package(catkin REQUIRED COMPONENTS
+ )
+ moveit_build_options()
+ 
++find_package(PkgConfig REQUIRED)
++pkg_check_modules(EIGENPY REQUIRED eigenpy)
++
+ find_package(PythonInterp REQUIRED)
+ find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED)
+ 
+@@ -77,8 +80,11 @@ include_directories(SYSTEM
+                     ${catkin_INCLUDE_DIRS}
+                     ${Boost_INCLUDE_DIRS}
+                     ${EIGEN3_INCLUDE_DIRS}
++                    ${EIGENPY_INCLUDE_DIRS}
+                     ${PYTHON_INCLUDE_DIRS})
+ 
++link_directories(${EIGENPY_LIBRARY_DIRS})
++
+ add_subdirectory(py_bindings_tools)
+ add_subdirectory(common_planning_interface_objects)
+ add_subdirectory(planning_scene_interface)
+diff --git a/move_group_interface/CMakeLists.txt b/move_group_interface/CMakeLists.txt
+index d822174bf0..c3eb1686c0 100644
+--- a/move_group_interface/CMakeLists.txt
++++ b/move_group_interface/CMakeLists.txt
+@@ -2,7 +2,7 @@ set(MOVEIT_LIB_NAME moveit_move_group_interface)
+ 
+ add_library(${MOVEIT_LIB_NAME} src/move_group_interface.cpp)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+-target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface ${catkin_LIBRARIES} ${Boost_LIBRARIES})
++target_link_libraries(${MOVEIT_LIB_NAME} moveit_common_planning_interface_objects moveit_planning_scene_interface ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${EIGENPY_LIBRARIES})
+ add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})
+ 
+ add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_move_group.cpp)
+diff --git a/move_group_interface/include/moveit/move_group_interface/move_group_interface.h b/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+index 17de157197..fdae58ab37 100644
+--- a/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
++++ b/move_group_interface/include/moveit/move_group_interface/move_group_interface.h
+@@ -56,6 +56,20 @@
+ #include <utility>
+ #include <tf2_ros/buffer.h>
+ 
++#include <ros/macros.h>
++
++// Import/export for windows dll's and visibility for gcc shared libraries.
++
++#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
++  #ifdef moveit_move_group_interface_EXPORTS // we are building a shared lib/dll
++    #define MOVEIT_MOVE_GROUP_INTERFACE_DECL ROS_HELPER_EXPORT
++  #else // we are using shared lib/dll
++    #define MOVEIT_MOVE_GROUP_INTERFACE_DECL ROS_HELPER_IMPORT
++  #endif
++#else // ros is being built around static libraries
++  #define MOVEIT_MOVE_GROUP_INTERFACE_DECL
++#endif
++
+ namespace moveit
+ {
+ /** \brief Simple interface to MoveIt components */
+@@ -70,7 +84,7 @@ MOVEIT_CLASS_FORWARD(MoveGroupInterface);  // Defines MoveGroupInterfacePtr, Con
+     \brief Client class to conveniently use the ROS interfaces provided by the move_group node.
+ 
+     This class includes many default settings to make things easy to use. */
+-class MoveGroupInterface
++class MOVEIT_MOVE_GROUP_INTERFACE_DECL MoveGroupInterface
+ {
+ public:
+   /** \brief Default ROS parameter name from where to read the robot's URDF. Set to 'robot_description' */
+diff --git a/py_bindings_tools/CMakeLists.txt b/py_bindings_tools/CMakeLists.txt
+index 1f82d7e4dc..2f9112fb85 100644
+--- a/py_bindings_tools/CMakeLists.txt
++++ b/py_bindings_tools/CMakeLists.txt
+@@ -1,8 +1,14 @@
+ set(MOVEIT_LIB_NAME moveit_py_bindings_tools)
+ 
++find_package(PythonInterp REQUIRED)
++find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED)
++
+ add_library(${MOVEIT_LIB_NAME} src/roscpp_initializer.cpp)
+ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+-target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PYTHON_LIBRARIES})
++target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
++if(NOT APPLE)
++  target_link_libraries(${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES})
++endif(NOT APPLE)
+ 
+ install(TARGETS ${MOVEIT_LIB_NAME}
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+@@ -10,13 +16,19 @@ install(TARGETS ${MOVEIT_LIB_NAME}
+   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+ 
+ add_library(${MOVEIT_LIB_NAME}_python src/wrap_python_roscpp_initializer.cpp)
+-target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${PYTHON_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
++target_link_libraries(${MOVEIT_LIB_NAME}_python ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
++if(NOT APPLE)
++  target_link_libraries(${MOVEIT_LIB_NAME}_python ${PYTHON_LIBRARIES})
++endif(NOT APPLE)
+ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
+ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES OUTPUT_NAME _moveit_roscpp_initializer PREFIX "")
+ set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}")
+ if(WIN32)
+   set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .pyd)
+ endif(WIN32)
++if(APPLE)
++  set_target_properties(${MOVEIT_LIB_NAME}_python PROPERTIES SUFFIX .so)
++endif(APPLE)
+ 
+ install(TARGETS ${MOVEIT_LIB_NAME}_python
+   DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION})
diff --git a/recipes/ros-noetic-moveit-ros-planning-interface/recipe.yaml b/recipes/ros-noetic-moveit-ros-planning-interface/recipe.yaml
new file mode 100644
index 000000000..f4b1d814f
--- /dev/null
+++ b/recipes/ros-noetic-moveit-ros-planning-interface/recipe.yaml
@@ -0,0 +1,87 @@
+package:
+  name: ros-noetic-moveit-ros-planning-interface
+  version: 1.1.13
+source:
+  git_url: https://github.com/ros-gbp/moveit-release.git
+  git_rev: release/noetic/moveit_ros_planning_interface/1.1.13-2
+  folder: ros-noetic-moveit-ros-planning-interface/src/work
+  patches:
+    - patch/ros-noetic-moveit-ros-planning-interface.patch
+
+build:
+  script:
+    sel(win): bld_catkin.bat
+    sel(unix): build_catkin.sh
+  number: 20
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - "{{ compiler('cxx') }}"
+    - "{{ compiler('c') }}"
+    - sel(linux64): sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - sel(unix): make
+    - sel(unix): coreutils
+    - sel(osx): tapi
+    - sel(build_platform != target_platform): pkg-config
+    - cmake
+    - cython
+    - sel(build_platform != target_platform): python
+    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
+    - sel(build_platform != target_platform): numpy
+  host:
+    - catkin_pkg
+    - eigen
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - python
+    - ros-distro-mutex 0.5 noetic
+    - ros-noetic-actionlib
+    - ros-noetic-catkin
+    - ros-noetic-eigenpy
+    - ros-noetic-geometry-msgs
+    - ros-noetic-moveit-msgs
+    - ros-noetic-moveit-resources-fanuc-moveit-config
+    - ros-noetic-moveit-resources-panda-moveit-config
+    - ros-noetic-moveit-ros-manipulation
+    - ros-noetic-moveit-ros-move-group
+    - ros-noetic-moveit-ros-planning
+    - ros-noetic-moveit-ros-warehouse
+    - ros-noetic-rosconsole
+    - ros-noetic-roscpp
+    - ros-noetic-rospy
+    - ros-noetic-rostest
+    - ros-noetic-tf2
+    - ros-noetic-tf2-eigen
+    - ros-noetic-tf2-geometry-msgs
+    - ros-noetic-tf2-ros
+  run:
+    - python
+    - ros-distro-mutex 0.5 noetic
+    - ros-noetic-actionlib
+    - ros-noetic-eigenpy
+    - ros-noetic-geometry-msgs
+    - ros-noetic-moveit-msgs
+    - ros-noetic-moveit-ros-manipulation
+    - ros-noetic-moveit-ros-move-group
+    - ros-noetic-moveit-ros-planning
+    - ros-noetic-moveit-ros-warehouse
+    - ros-noetic-rosconsole
+    - ros-noetic-roscpp
+    - ros-noetic-rospy
+    - ros-noetic-tf2
+    - ros-noetic-tf2-eigen
+    - ros-noetic-tf2-geometry-msgs
+    - ros-noetic-tf2-ros
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
diff --git a/vinca.yaml b/vinca.yaml
new file mode 100644
index 000000000..d5e9ff017
--- /dev/null
+++ b/vinca.yaml
@@ -0,0 +1,891 @@
+ros_distro: noetic
+mutex_package: ros-distro-mutex 0.5 noetic
+
+# mapping for package keys
+conda_index:
+  - robostack.yaml
+  - packages-ignore.yaml
+
+build_number: 20
+
+# Ignore all dependencies of selected packages
+skip_all_deps: false
+
+# If full rebuild, the build number of the existing package has
+# to match the selected build number for skipping
+full_rebuild: true
+
+packages_skip_by_deps:
+  # - rviz
+  # - diagnostic_updater
+  - eigenpy
+  - hpp-fcl
+  - pinocchio
+
+packages_remove_from_deps:
+  - stage-ros
+  - stage
+
+skip_existing:
+  # - https://conda.anaconda.org/robostack/
+  - https://conda.anaconda.org/robostack-staging/
+
+# This list contains lots of commented-out package names. That is okay.
+# Not all packages need to be rebuilt with every pull request.
+# Do not be afraid if you see a package commented out after some time - it just means it is not being built now.
+# For sure it will be uncommented and built with next full rebuild. Full rebuilds happen occasionally (few times a year).
+# The list of all maintained packages is at https://robostack.github.io/noetic.html .
+packages_select_by_deps:
+  - rospack
+  - microstrain-inertial-driver
+  - microstrain-inertial-msgs
+  - octomap-ros
+  - ackermann-msgs
+  - fake-localization
+  - realsense2-description
+
+  - rviz
+  - python-qt-binding
+  - qt-gui-cpp
+  - actionlib
+  - ros-babel-fish
+  - ros-babel-fish-test-msgs
+  - moveit_visual_tools
+  - rviz_visual_tools
+  - rgbd-launch
+
+  - plotjuggler
+  - plotjuggler_ros
+
+  - python-qt-binding
+  - qt-gui
+  - qt-gui-cpp
+  - ros-control
+  - ros-controllers
+  - imu-sensor-controller
+  - ackermann-steering-controller
+  - rqt-gui
+  - rqt-ez-publisher
+  - pcl-ros
+  - pcl-conversions
+  - velodyne-description
+  - effort-controllers
+  - velocity-controllers
+  - turtlebot3-teleop
+  - force-torque-sensor-controller
+  - gripper-action-controller
+  - rqt-gui-cpp
+  - rqt-gui-py
+  - joint-trajectory-controller
+  - velodyne-simulator
+  - velodyne-gazebo-plugins
+
+  - kdl-parser-py
+  - imu-tools
+  - rqt-controller-manager
+  - dynamixel-sdk
+  - hector-map-tools
+  - hector-nav-msgs
+  - hector-trajectory-server
+  - radar-msgs
+  - geometry2
+  - tf2
+  - tf2_bullet
+  - tf2_eigen
+  - tf2_geometry_msgs
+  - tf2_kdl
+  - tf2_msgs
+  - tf2_py
+  - tf2_ros
+  - tf2_sensor_msgs
+  - tf2_tools
+  - gps-common
+  - rosbridge_suite
+
+
+  # ## Only limited number of packages to reduce maintainer burden
+  - catkin
+  - rviz
+  - desktop
+  - desktop_full
+  - perception
+  - simulators
+  - moveit
+  - robot_localization
+  - amcl
+  - map-server
+  - move-base
+  - gmapping
+  - turtlebot3
+  - turtlebot3-simulations
+  - teb-local-planner
+
+  - gazebo-dev
+  - gazebo-ros
+  - hector-gazebo-plugins
+  - gazebo-ros-control
+  - gazebo-plugins
+  - lms1xx
+  - controller-manager
+  - interactive_marker_twist_server
+  - diff-drive-controller
+  - joint-state-controller
+  - joy
+  - robot-localization
+  - teleop-twist-joy
+  - twist-mux
+  - pointgrey-camera-description
+  - nmea-msgs
+  - geometry-msgs
+  - nmea-navsat-driver
+  - rosserial-server
+  - imu-filter-madgwick
+  - rosserial-python
+  - tf2_web_republisher
+  - libfranka
+  - franka
+  - franka-gripper
+  - franka-hw
+  - franka-msgs
+  - franka-description
+  - franka-control
+  - franka_example_controllers
+  - franka_ros
+  - combined-robot-hw
+  - panda-moveit-config
+  - moveit-ros-visualization
+  - moveit-ros-planning-interface
+  - niryo_one_simulation
+  - turtlebot3
+  - turtlebot3-fake
+  - librealsense2
+  - realsense2_camera
+  - ur-msgs
+  - rosdoc-lite
+  - ros_numpy
+  
+  - sound-play
+  - pid
+
+  ## PREVIOUSLY SUPPORTED PACKAGES, NOW NOT PACKAGED ANYMORE UNTIL REQUESTED
+  ##
+  #  TODO OSX
+  ##
+
+  # -  mavros-msgs
+  # -  mavros
+  # - libmavconn
+  # - mavros-extras
+  # - mavlink
+  
+
+  # - grid_map  # fails with tbb-error, probably need to use cmake instead of pkg-config. See grid-map-osx branch
+  # - pybind11_catkin  # need to be unvendored
+
+  # Fix after rebuild
+  # - ur_client_library
+  # - tsid
+  # - mavros
+  # - tesseract-collision
+  # - tesseract-common
+  # - tesseract-geometry
+  # - tesseract-scene-graph
+  # - tesseract-srdf
+  # - tesseract-support
+  # - robot-calibration
+  # - mbf-costmap-nav
+  # - mbf-simple-nav
+  # - mbf-abstract-nav
+
+  # - openslam-gmapping
+  # - turtlesim
+  # - rviz
+  # - arbotix-controllers
+  # - arbotix-sensors
+  # - audibot
+  # - autoware-msgs
+  # - cartesian-trajectory-controller
+  # - cartesian-trajectory-interpolation
+  # - cob-base-controller-utils
+  # - cob-frame-tracker
+  # - cob-gazebo-plugins
+  # - cob-gazebo-ros-control
+  # - cob-lookat-action
+  # - cob-mapping-slam
+  # - cob-model-identifier
+  # - cob-navigation-global
+  # - cob-navigation-slam
+  # - cob-omni-drive-controller
+  # - cob-tricycle-controller
+  # - collada-parser
+  # - collada-urdf
+  # - costmap-queue
+  # - dataspeed-pds-rqt
+  # - dataspeed-pds-scripts
+  # - dual-quaternions-ros
+  # - dynamic-graph-tutorial
+  # - ecl-config
+  # - ecl-console
+  # - ecl-converters-lite
+  # - ecl-errors
+  # - ecl-exceptions
+  # - ecl-filesystem
+  # - ecl-io
+  # - ecl-ipc
+  # - ecl-lite
+  # - ecl-sigslots-lite
+  # - ecl-time
+  # - ecl-time-lite
+  # - ecl-tools
+  # - ethercat-trigger-controllers
+  # - fetch-calibration
+  # - fetch-drivers
+  # - fetch-ikfast-plugin
+  # - fetch-open-auto-dock
+  # - fkie-master-sync
+  # - flexbe-mirror
+  # - flexbe-onboard
+  # - flexbe-states
+  # - flexbe-testing
+  # - flexbe-widget
+  # - gazebo-ros-control-select-joints
+  # - geographic-info
+  # - gpp-plugin
+  # - grid-map-loader
+  # - grid-map-ros
+  # - grid-map-rviz-plugin
+  # - grid-map-visualization
+  # - handeye
+  # - hector-geotiff-plugins
+  # - imu-monitor
+  # - industrial-trajectory-filters
+  # - industrial-utils
+  # - ixblue-ins
+  # - joint-trajectory-action-tools
+  # - joint-trajectory-generator
+  # - laser-cb-detector
+  # - leo
+  # - magical-ros2-conversion-tool
+  # - mir-gazebo
+  # - monocam-settler
+  # - move-base-flex
+  # - moveit-resources-prbt-ikfast-manipulator-plugin
+  # - nav-2d-utils
+  # - open-manipulator-gazebo
+  # - open-manipulator-p-gazebo
+  # - open-manipulator-p-simulations
+  # - open-manipulator-simulations
+  # - osm-cartography
+  # - p2os-driver
+  # - p2os-urdf
+  # - pass-through-controllers
+  # - pincher-arm-bringup
+  # - pincher-arm-ikfast-plugin
+  # - pincher-arm-moveit-demos
+  # - pr2-arm-kinematics
+  # - pr2-arm-move-ik
+  # - pr2-calibration-controllers
+  # - pr2-common
+  # - pr2-controller-interface
+  # - pr2-controller-manager
+  # - pr2-gripper-action
+  # - pr2-head-action
+  # - pr2-kinematics
+  # - pr2-mannequin-mode
+  # - pr2-mechanism
+  # - pr2-mechanism-controllers
+  # - pr2-mechanism-diagnostics
+  # - pr2-mechanism-model
+  # - pr2-tuckarm
+  # - rc-reason-clients
+  # - robot-controllers
+  # - robot-mechanism-controllers
+  # - ros-control-boilerplate
+  # - ros-emacs-utils
+  # - ros-realtime
+  # - roslisp-repl
+  # - rosrt
+  # - route-network
+  # - sbpl-recovery
+  # - scaled-joint-trajectory-controller
+  # - sot-core
+  # - sot-tools
+  # - swri-opencv-util
+  # - swri-profiler
+  # - swri-profiler-tools
+  # - swri-roscpp
+  # - teleop-tools
+  # - test-osm
+  # - toposens-description
+  # - trac-ik
+  # - trac-ik-examples
+  # - trac-ik-kinematics-plugin
+  # - trac-ik-lib
+  # - trac-ik-python
+  # - track-odometry
+  # - trajectory-tracker
+  # - turtlebot3-autorace-driving
+  # - turtlebot3-simulations
+  # - ublox
+  # - ublox-gps
+  # - ublox-msgs
+  # - unique-identifier
+  # - urdf-geometry-parser
+  # - usb-cam-controllers
+  # - variant
+  # - variant-topic-tools
+  # - virtual-force-publisher
+  # - volta-base
+  # - volta-control
+  # - volta-description
+  # - volta-localization
+  # - volta-msgs
+  # - volta-navigation
+  # - volta-rules
+  # - wifi-ddwrt
+  # - wireless-watcher
+  # - wu-ros-tools
+  # - abb-rapid-sm-addin-msgs
+  # - arbotix-python
+  # - audibot-gazebo
+  # - automotive-autonomy-msgs
+  # - autoware-external-msgs
+  # - calibration-estimation
+  # - can-dbc-parser
+  # - cob-3d-mapping-msgs
+  # - cob-calibration-data
+  # - cob-collision-velocity-filter
+  # - cob-common
+  # - cob-dashboard
+  # - cob-default-robot-config
+  # - cob-environments
+  # - cob-gazebo-objects
+  # - cob-gazebo-worlds
+  # - cob-grasp-generation
+  # - cob-linear-nav
+  # - cob-navigation-local
+  # - cob-substitute
+  # - cob-trajectory-controller
+  # - combined-robot-hw-tests
+  # - costmap-cspace
+  # - criutils
+  # - dataspeed-can-msg-filters
+  # - driver-common
+  # - dual-quaternions
+  # - dwb-msgs
+  # - dynamic-graph-python
+  # - dynamixel-sdk-examples
+  # - dynamixel-workbench-msgs
+  # - ecl-build
+  # - ecl-command-line
+  # - ecl-eigen
+  # - ecl-mpl
+  # - executive-smach-visualization
+  # - fetch-driver-msgs
+  # - fingertip-pressure
+  # - fkie-master-discovery
+  # - flexbe-core
+  # - flexbe-input
+  # - geodesy
+  # - geometry2
+  # - gpp-prune-path
+  # - gpp-update-map
+  # - graceful-controller-ros
+  # - grid-map-costmap-2d
+  # - grid-map-cv
+  # - grid-map-octomap
+  # - hector-compressed-map-transport
+  # - hector-geotiff
+  # - hector-map-server
+  # - hector-trajectory-server
+  # - imu-from-ios-sensorlog
+  # - industrial-deprecated
+  # - iris-lama-ros
+  # - ixblue-ins-driver
+  # - jderobot-drones
+  # - joint-states-settler
+  # - joint-trajectory-action
+  # - joy-teleop
+  # - joystick-interrupt
+  # - jsk-common-msgs
+  # - jsk-recognition-msgs
+  # - label-manager
+  # - laser-filtering
+  # - leo-teleop
+  # - leo-viz
+  # - lockfree
+  # - locomotor-msgs
+  # - map-organizer
+  # - marti-nav-msgs
+  # - mesh-msgs-transform
+  # - mir-driver
+  # - nav-core2
+  # - neonavigation-msgs
+  # - obj-to-pointcloud
+  # - ocean-battery-driver
+  # - omron-os32c-driver
+  # - open-manipulator-msgs
+  # - opw-kinematics
+  # - pilz-status-indicator-rqt
+  # - pilz-testutils
+  # - pincher-arm-moveit-config
+  # - power-monitor
+  # - pr2-app-manager
+  # - pr2-computer-monitor
+  # - pr2-dashboard-aggregator
+  # - pr2-position-scripts
+  # - pr2-self-test-msgs
+  # - pr2-teleop
+  # - pr2-tuck-arms-action
+  # - py-trees-ros
+  # - qt-gui-core
+  # - rc-reason-msgs
+  # - robot-controllers-interface
+  # - robotis-manipulator
+  # - rosbag-pandas
+  # - rosbag-snapshot
+  # - roscompile
+  # - rqt-py-trees
+  # - sbpl-lattice-planner
+  # - single-joint-position-action
+  # - slime-ros
+  # - speed-scaling-state-controller
+  # - swri-console-util
+  # - abb-egm-msgs
+  # - abb-rapid-msgs
+  # - abb-robot-msgs
+  # - ackermann-msgs
+  # - actionlib-tools
+  # - allocators
+  # - app-manager
+  # - apriltag
+  # - arbotix-firmware
+  # - arbotix-msgs
+  # - assimp-devel
+  # - assisted-teleop
+  # - async-comm
+  # - async-web-server-cpp
+  # - audibot-description
+  # - audio-common-msgs
+  # - automotive-navigation-msgs
+  # - automotive-platform-msgs
+  # - autoware-can-msgs
+  # - autoware-config-msgs
+  # - autoware-lanelet2-msgs
+  # - autoware-map-msgs
+  # - autoware-system-msgs
+  # - auv-msgs
+  # - backward-ros
+  # - baldor
+  # - behaviortree-cpp-v3
+  # - boost-sml
+  # - bosch-locator-bridge
+  # - bota-signal-handler
+  # - calibration-msgs
+  # - can-msgs
+  # - capabilities
+  # - carla-msgs
+  # - cartesian-control-msgs
+  # - cartesian-interface
+  # - cartesian-msgs
+  # - catkin-virtualenv
+  # - cob-actions
+  # - cob-android-msgs
+  # - cob-android-resource-server
+  # - cob-android-settings
+  # - cob-base-velocity-smoother
+  # - cob-control-mode-adapter
+  # - cob-control-msgs
+  # - cob-default-env-config
+  # - cob-description
+  # - cob-docker-control
+  # - cob-footprint-observer
+  # - cob-gazebo-tools
+  # - cob-hardware-emulation
+  # - cob-interactive-teleop
+  # - cob-light
+  # - cob-mecanum-controller
+  # - cob-moveit-config
+  # - cob-msgs
+  # - cob-navigation-config
+  # - cob-object-detection-msgs
+  # - cob-perception-msgs
+  # - cob-reflector-referencing
+  # - cob-safety-controller
+  # - cob-scan-unifier
+  # - cob-sick-lms1xx
+  # - cob-srvs
+  # - cob-supported-robots
+  # - cob-utilities
+  # - cob-vision-utils
+  # - color-util
+  # - computer-status-msgs
+  # - control-box-rst
+  # - controller-manager-tests
+  # - convex-decomposition
+  # - costmap-cspace-msgs
+  # - csm
+  # - darknet-ros-msgs
+  # - dataspeed-pds-msgs
+  # - dataspeed-ulc-msgs
+  # - dbw-fca-description
+  # - dbw-fca-msgs
+  # - dbw-mkz-description
+  # - dbw-mkz-msgs
+  # - dbw-polaris-description
+  # - dbw-polaris-msgs
+  # - ddynamic-reconfigure-python
+  # - delphi-esr-msgs
+  # - delphi-mrr-msgs
+  # - delphi-srr-msgs
+  # - derived-object-msgs
+  # - dialogflow-task-executive
+  # - dnn-detect
+  # - driver-base
+  # - drone-assets
+  # - drone-wrapper
+  # - dynamic-edt-3d
+  # - dynamic-graph
+  # - dynamic-tf-publisher
+  # - dynamixel-sdk
+  # - easy-markers
+  # - ecl-license
+  # - eiquadprog
+  # - exotica-val-description
+  # - explore-lite
+  # - fadecandy-msgs
+  # - fetch-auto-dock-msgs
+  # - fetch-description
+  # - fetch-maps
+  # - fetch-teleop
+  # - fetch-tools
+  # - find-object-2d
+  # - fkie-message-filters
+  # - fkie-multimaster-msgs
+  # - flexbe-msgs
+  # - four-wheel-steering-msgs
+  # - foxglove-msgs
+  # - gazebo-video-monitor-msgs
+  # - gdrive-ros
+  # - generic-throttle
+  # - genmypy
+  # - goal-passer
+  # - gpp-interface
+  # - graceful-controller
+  # - grasping-msgs
+  # - grid-map-core
+  # - grid-map-msgs
+  # - hector-gazebo-worlds
+  # - hector-imu-attitude-to-tf
+  # - hector-imu-tools
+  # - hector-map-tools
+  # - hector-mapping
+  # - hector-marker-drawing
+  # - hector-nav-msgs
+  # - hector-xacro-tools
+  # - image-cb-detector
+  # - image-exposure-msgs
+  # - imu-processors
+  # - industrial-msgs
+  # - industrial-robot-status-interface
+  # - interval-intersection
+  # - ipa-3d-fov-visualization
+  # - iris-lama
+  # - ivcon
+  # - ixblue-ins-msgs
+  # - ixblue-stdbin-decoder
+  # - jderobot-assets
+  # - joy-listener
+  # - jsk-footstep-msgs
+  # - jsk-gui-msgs
+  # - jsk-hark-msgs
+  # - jsk-network-tools
+  # - jsk-tilt-laser
+  # - kalman-filter
+  # - kartech-linear-actuator-msgs
+  # - key-teleop
+  # - kobuki-msgs
+  # - laser-filters-jsk-patch
+  # - led-msgs
+  # - leo-description
+  # - lgsvl-msgs
+  # # - libdlib
+  # - log-view
+  # - lpg-planner
+  # - map-laser
+  # - map-organizer-msgs
+  # - marker-msgs
+  # - marti-can-msgs
+  # - marti-common-msgs
+  # - marti-data-structures
+  # - marti-dbw-msgs
+  # - marti-perception-msgs
+  # - marti-sensor-msgs
+  # - marti-status-msgs
+  # - marti-visualization-msgs
+  # - mcl-3dl-msgs
+  # - mesh-msgs
+  # - message-to-tf
+  # - mini-maxwell
+  # - mir-actions
+  # - mir-description
+  # - mir-msgs
+  # - mobile-robot-simulator
+  # - mobileye-560-660-msgs
+  # - mocap-optitrack
+  # - mouse-teleop
+  # - move-base-sequence
+  # - moveit-python
+  # - moveit-resources
+  # - moveit-runtime
+  # - mpc-local-planner-msgs
+  # - mqtt-bridge
+  # - mrpt-msgs
+  # - mrt-cmake-modules
+  # - multirobot-map-merge
+  # - multisense-description
+  # - nav-2d-msgs
+  # - nav-grid
+  # - ncd-parser
+  # - neo-local-planner
+  # - neobotix-usboard-msgs
+  # - neonavigation-common
+  # - network-interface
+  # - nonpersistent-voxel-layer
+  # - novatel-oem7-msgs
+  # - ntpd-driver
+  # - odva-ethernetip
+  # - openzen-sensor
+  # - p2os-doc
+  # - p2os-msgs
+  # - p2os-teleop
+  # - pacmod-msgs
+  # - paho-mqtt-c
+  # - parameter-pa
+  # - people-msgs
+  # - pgm-learner
+  # - phidgets-msgs
+  # - picovoice-msgs
+  # - pid
+  # - pilz-industrial-motion-testutils
+  # - pilz-msgs
+  # - pilz-utils
+  # - pincher-arm-description
+  # - pinocchio
+  # - planner-cspace-msgs
+  # - polar-scan-matcher
+  # - pose-base-controller
+  # - pose-follower
+  # - posedetection-msgs
+  # - power-msgs
+  # - pr2-common-action-msgs
+  # - pr2-controllers-msgs
+  # - pr2-description
+  # - pr2-hardware-interface
+  # - pr2-machine
+  # - pr2-mechanism-msgs
+  # - pr2-msgs
+  # - prosilica-gige-sdk
+  # - py-trees
+  # - py-trees-msgs
+  # - pyquaternion
+  # - qt-gui-app
+  # - raw-description
+  # - razor-imu-9dof
+  # - rc-common-msgs
+  # - rc-visard-description
+  # - remote-rosbag-record
+  # - robot-calibration-msgs
+  # - robot-controllers-msgs
+  # - roboticsgroup-upatras-gazebo-plugins
+  # - rokubimini
+  # - rokubimini-description
+  # - rokubimini-msgs
+  # - ros-babel-fish-test-msgs
+  # - ros-industrial-cmake-boilerplate
+  # - ros-introspection
+  # - ros-pytest
+  # - ros-type-introspection
+  # - rosatomic
+  # - rosbag-snapshot-msgs
+  # - rosbaglive
+  # - rosdiagnostic
+  # - rosemacs
+  # - rosfmt
+  # - rosmon-msgs
+  # - rosparam-shortcuts
+  # - rospatlite
+  # - rosping
+  # - rospy-message-converter
+  # - rosserial-chibios
+  # - rosserial-embeddedlinux
+  # - rosserial-mbed
+  # - rosserial-tivac
+  # - rosserial-vex-cortex
+  # - rosserial-vex-v5
+  # - rosserial-windows
+  # - rosserial-xbee
+  # - rostwitter
+  # - rqt
+  # - rqt-controller-manager
+  # - rqt-drone-teleop
+  - rqt-ez-publisher
+  # - rqt-ground-robot-teleop
+  # - rqt-joint-trajectory-controller
+  # - rx-service-tools
+  # - safety-limiter-msgs
+  # - sbpl
+  # - schunk-description
+  # - sdc21x0
+  # - septentrio-gnss-driver
+  # - service-tools
+  # - settlerlib
+  # - sick-safetyscanners
+  # - sick-tim
+  # - slam-gmapping
+  # - slam-toolbox-rviz
+  # - slic
+  # - slider-publisher
+  # - slime-wrapper
+  # - smach-viewer
+  # - sob-layer
+  # - soem
+  # - sophus
+  # - sound-play
+  # - speech-recognition-msgs
+  # - speed-scaling-interface
+  # - swri-console
+  # - swri-dbw-interface
+  # - swri-math-util
+  # - swri-prefix-tools
+  # - swri-profiler-msgs
+  # - swri-rospy
+  # - swri-string-util
+  # - swri-system-util
+  # - swri-yaml-util
+  # - tablet-socket-msgs
+  # - taskflow
+  # - teleop-legged-robots
+  # - teleop-tools-msgs
+  # - teleop-twist-keyboard
+  # - tf2-bullet
+  # - tf2-tools
+  # - timestamp-tools
+  # - toposens-msgs
+  # - trajectory-tracker-msgs
+  # - turtlebot3-autorace-camera
+  # - turtlebot3-autorace-core
+  # - turtlebot3-autorace-detect
+  # - turtlebot3-autorace-msgs
+  # - turtlebot3-gazebo
+  # - twist-recovery
+  # - ublox-serialization
+  # - unique-id
+  # - urg-stamped
+  # - usb-cam-hardware-interface
+  # - variant-msgs
+  # - vector-map-msgs
+  # - velodyne-pcl
+  # - view-controller-msgs
+  # - vision-msgs
+  # - vrpn
+  # - webots-ros
+  # - wge100-camera-firmware
+  # - willow-maps
+  # - wireless-msgs
+  # - xpp-msgs
+  # - xpp-states
+  # - xv-11-laser-driver
+
+  # ##
+  # # DONE OSX
+  # ##
+  # - moveit-msgs
+  # - rviz
+  # - moveit_core
+  # - moveit_kinematics
+  # - robot_state_publisher
+  # - tf_conversions
+  # - kdl_parser_py
+  # - rosserial
+  # - rosserial-arduino
+  # - rosserial-python
+  # - rosserial-msgs
+  # - rviz
+  # - tf2_web_republisher
+  # - franka_ros
+  # - franka_example_controllers
+  # - libfranka
+  # - franka_visualization
+  # - franka_hw
+  # - franka_gripper
+  # - franka_ros
+  # - franka_msgs
+  # - franka_description
+  # - franka_control
+  # - fcl
+  # - eigenpy
+  # - kdl_parser_py
+  # - catkin
+  # - rospack
+  # - pluginlib
+  # - qt_gui_cpp
+  # - velodyne_simulator
+  # - rviz
+  # - hector_gazebo_plugins
+  # - navigation
+  # - catkin
+  # - desktop
+  # - desktop_full
+  # - slam_karto
+  # - class_loader
+  # - robot
+  # - executive_smach
+  # - geometry_tutorials
+  # - interactive_marker_tutorials
+  # - joint_state_publisher_gui
+  # - nodelet_core
+  # - robot_state_publisher
+  # - diagnostic_analysis
+  # - diagnostic_common_diagnostics
+  # - ros_control
+  # - ros_controllers
+  # - rviz_visual_tools
+  # - perception
+  # - perception_pcl
+  # - joy
+  # - imu_tools
+  # - velodyne
+  # - robot_localization
+  # - urg_node
+  # - moveit
+  # - slam_toolbox
+  # - turtlebot3
+  # - cnpy
+  # - turtlebot3_fake
+  # - gmapping
+  # - interactive_marker_twist_server
+  # - teleop_twist_joy
+  # - twist_mux
+  # - pointgrey_camera_description
+  # - lms1xx
+  # - nmea_msgs
+  # - rosserial
+  # - nmea_navsat_driver
+  # - rosserial_server
+  # - robot_upstart
+  # - nmea_comms
+
+  ##
+  # NOT RELEASED ON NOETIC...
+  ##
+  # - niryo_one_simulation
+
+  ##
+  # PROBLEMS:
+  ##
+  # - rtabmap_ros  # openni is missing, and need to find names for
+  # {'libfreenect-dev', 'libopenni-dev', 'tango-icon-theme', 'libvtk-qt'}
+  # - behavior_tree  # isn't released?
+
+patch_dir: patch
diff --git a/vinca_f77689b8dc.json b/vinca_f77689b8dc.json
new file mode 100644
index 000000000..2daee55e5
--- /dev/null
+++ b/vinca_f77689b8dc.json
@@ -0,0 +1 @@
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