diff --git a/.github/workflows/testpr.yml b/.github/workflows/testpr.yml
index e41423749..ddb539a54 100644
--- a/.github/workflows/testpr.yml
+++ b/.github/workflows/testpr.yml
@@ -43,7 +43,7 @@ jobs:
         environment-file: .github/testpr_environment.yml
 
     - shell: bash -l {0}
-      if: contains(matrix.os, 'linux-aarch64')
+      if: matrix.platform == 'linux-aarch64'
       run: |
         echo "::group::Configure binfmt_misc"
         docker run --rm --privileged multiarch/qemu-user-static:register --reset --credential yes
@@ -51,6 +51,12 @@ jobs:
         export GIT_BRANCH="$(basename $GITHUB_REF)"
         echo "::endgroup::"
 
+    - name: Install libgl1-mesa-dev (only for linux-aarch64)
+      if: matrix.platform == 'linux-aarch64'
+      shell: bash -l {0}
+      run: |
+        sudo apt-get install -y libgl1-mesa-dev libglu1-mesa-dev libx11-dev libxi-dev libxmu-dev
+
     - shell: bash -l {0}
       run: |
         conda config --show channels | grep defaults && conda config --remove channels defaults
diff --git a/patch/dependencies.yaml b/patch/dependencies.yaml
index 8e4268016..e0097b227 100644
--- a/patch/dependencies.yaml
+++ b/patch/dependencies.yaml
@@ -153,3 +153,6 @@ rqt_image_overlay:
 slam_toolbox:
   add_build: [{sel(build_platform != target_platform): qt-main}]
   add_host: ["REQUIRE_OPENGL"]
+vision_msgs_rviz_plugins:
+  add_build: [{sel(build_platform != target_platform): qt-main}]
+  add_host: ["REQUIRE_OPENGL"]
diff --git a/patch/ros-humble-vision-msgs-rviz-plugins.patch b/patch/ros-humble-vision-msgs-rviz-plugins.patch
new file mode 100644
index 000000000..507ae4223
--- /dev/null
+++ b/patch/ros-humble-vision-msgs-rviz-plugins.patch
@@ -0,0 +1,22 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d199135..feab5ac 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -68,7 +68,6 @@ add_library(${PROJECT_NAME} SHARED
+ target_include_directories(${PROJECT_NAME} PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+-  ${Qt5Widgets_INCLUDE_DIRS}
+ )
+ 
+ target_link_libraries(${PROJECT_NAME} PUBLIC
+@@ -75,6 +75,9 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
+   rviz_ogre_vendor::OgreMain
+   rviz_ogre_vendor::OgreOverlay
+   rviz_common::rviz_common
++  rviz_default_plugins::rviz_default_plugins
++  Qt5::Core
++  Qt5::Widgets
+ )
+ 
+ 
diff --git a/vinca_linux_aarch64.yaml b/vinca_linux_aarch64.yaml
index 81a583f87..645de0059 100644
--- a/vinca_linux_aarch64.yaml
+++ b/vinca_linux_aarch64.yaml
@@ -67,8 +67,8 @@ packages_select_by_deps:
   - vision-msgs
   - slam-toolbox
 
-  # package request
   - ros2_control
+  - vision-msgs-rviz-plugins
 
   # - rviz2
   # - behaviortree_cpp_v3
diff --git a/vinca_win.yaml b/vinca_win.yaml
index d4cc3c4ec..5fe616e24 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -39,10 +39,9 @@ skip_existing:
 
 packages_select_by_deps:
   # only subset of packages to reduce maintainer load
-
-  - ros2_control
-  - backward_ros
-  - ros_workspace
+  # - ros2_control
+  # - backward_ros
+  # - ros_workspace
   # - vision_msgs
   # - ros_environment
   # - ros_base