diff --git a/patch/ros-humble-pid-controller.patch b/patch/ros-humble-pid-controller.patch
index 3fc24fef..95efb211 100644
--- a/patch/ros-humble-pid-controller.patch
+++ b/patch/ros-humble-pid-controller.patch
@@ -1,28 +1,28 @@
-diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
-index 15e903222a..6c9e00ef8b 100644
---- a/pid_controller/CMakeLists.txt
-+++ b/pid_controller/CMakeLists.txt
-@@ -45,7 +45,7 @@ ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
- 
- # Causes the visibility macros to use dllexport rather than dllimport,
- # which is appropriate when building the dll but not consuming it.
--target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER_BUILDING_DLL")
-+target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER__VISIBILITY_BUILDING_DLL")
- 
- pluginlib_export_plugin_description_file(controller_interface pid_controller.xml)
- 
-diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
-index f7b8cc4491..788f39f1ed 100644
---- a/pid_controller/include/pid_controller/pid_controller.hpp
-+++ b/pid_controller/include/pid_controller/pid_controller.hpp
-@@ -121,8 +121,10 @@ class PidController : public controller_interface::ChainableControllerInterface
-   std::unique_ptr<ControllerStatePublisher> state_publisher_;
- 
-   // override methods from ChainableControllerInterface
-+  PID_CONTROLLER__VISIBILITY_PUBLIC
-   std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
- 
-+  PID_CONTROLLER__VISIBILITY_PUBLIC
-   bool on_set_chained_mode(bool chained_mode) override;
- 
-   // internal methods
+diff --git a/pid_controller/CMakeLists.txt b/pid_controller/CMakeLists.txt
+index 81cbe6f006..d7798b579b 100644
+--- a/pid_controller/CMakeLists.txt
++++ b/pid_controller/CMakeLists.txt
+@@ -45,7 +45,7 @@ ament_target_dependencies(pid_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+ 
+ # Causes the visibility macros to use dllexport rather than dllimport,
+ # which is appropriate when building the dll but not consuming it.
+-target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER_BUILDING_DLL")
++target_compile_definitions(pid_controller PRIVATE "PID_CONTROLLER__VISIBILITY_BUILDING_DLL")
+ 
+ pluginlib_export_plugin_description_file(controller_interface pid_controller.xml)
+ 
+diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp
+index 105a915442..4919a739ce 100644
+--- a/pid_controller/include/pid_controller/pid_controller.hpp
++++ b/pid_controller/include/pid_controller/pid_controller.hpp
+@@ -119,8 +119,10 @@ class PidController : public controller_interface::ChainableControllerInterface
+   std::unique_ptr<ControllerStatePublisher> state_publisher_;
+ 
+   // override methods from ChainableControllerInterface
++  PID_CONTROLLER__VISIBILITY_PUBLIC
+   std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
+ 
++  PID_CONTROLLER__VISIBILITY_PUBLIC
+   bool on_set_chained_mode(bool chained_mode) override;
+ 
+   // internal methods
diff --git a/vinca_linux_64.yaml b/vinca_linux_64.yaml
index 0698bc50..ba1a48e5 100644
--- a/vinca_linux_64.yaml
+++ b/vinca_linux_64.yaml
@@ -21,6 +21,8 @@ packages_skip_by_deps:
   # - diagnostic_updater
   - cartographer
   - octomap
+  - pid-controller
+  - rosx-introspection
 
 packages_remove_from_deps:
   - cartographer
@@ -139,6 +141,7 @@ packages_select_by_deps:
 
   - gtsam
   - motion-capture-tracking
+  - rosbag2-storage-mcap
 
   # Needs fixing
   # - moveit-resources
diff --git a/vinca_win.yaml b/vinca_win.yaml
index 65df984e..c948d728 100644
--- a/vinca_win.yaml
+++ b/vinca_win.yaml
@@ -66,6 +66,7 @@ packages_select_by_deps:
   - gazebo-ros2-control
   - ros2-controllers-test-nodes
   - joint-state-publisher-gui
+  - rosbag2-storage-mcap
 
   # Broken for now until we migrate to newer gazebo
   # - desktop_full