diff --git a/patch/ros-jazzy-kinematics-interface.patch b/patch/ros-jazzy-kinematics-interface.patch
deleted file mode 100644
index 1e74a3cf4..000000000
--- a/patch/ros-jazzy-kinematics-interface.patch
+++ /dev/null
@@ -1,11 +0,0 @@
-diff --git a/kinematics_interface/CMakeLists.txt b/kinematics_interface/CMakeLists.txt
-index 27a6269..06549d9 100644
---- a/kinematics_interface/CMakeLists.txt
-+++ b/kinematics_interface/CMakeLists.txt
-@@ -45,5 +45,5 @@ install(
- )
-
- ament_export_targets(export_kinematics_interface HAS_LIBRARY_TARGET)
--ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
-+ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} Eigen3)
- ament_package()
\ No newline at end of file
diff --git a/patch/ros-jazzy-warehouse-ros-sqlite.patch b/patch/ros-jazzy-warehouse-ros-sqlite.patch
deleted file mode 100644
index b670a49b1..000000000
--- a/patch/ros-jazzy-warehouse-ros-sqlite.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 79137d2..1b480aa 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -8,7 +8,7 @@ endif()
- find_package(ament_cmake REQUIRED)
- find_package(sqlite3_vendor REQUIRED)
- find_package(SQLite3 REQUIRED)
--find_package(Boost REQUIRED COMPONENTS filesystem system thread)
-+find_package(Boost REQUIRED COMPONENTS filesystem thread)
- find_package(class_loader REQUIRED)
- find_package(OpenSSL REQUIRED)
- find_package(rclcpp REQUIRED)
diff --git a/pixi.lock b/pixi.lock
index ec95d4aee..8e5c47c95 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -70,9 +70,9 @@ environments:
       - conda: https://prefix.dev/conda-forge/linux-64/ncurses-6.6-hdb14827_1.conda
       - conda: https://prefix.dev/conda-forge/linux-64/openssl-3.6.4-h781a0a9_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/patchelf-0.19.1-hee9eb32_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/python-3.12.14-h8ab3286_0_cpython.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/python-3.12.14-h8ab3286_1_cpython.conda
       - conda: https://prefix.dev/conda-forge/linux-64/pyyaml-6.0.3-py312h8a5da7c_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/rattler-build-0.57.2-he64ecbb_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/rattler-build-0.75.0-hf01adef_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/rattler-index-0.30.11-h58ba7e0_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/readline-8.3-hd6e31c0_1.conda
       - conda: https://prefix.dev/conda-forge/linux-64/rhash-1.4.6-hb03c661_2.conda
@@ -105,7 +105,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/noarch/pyparsing-3.3.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/pysocks-1.7.1-pyha55dd90_7.conda
       - conda: https://prefix.dev/conda-forge/noarch/python-dateutil-2.9.0.post0-pyhe01879c_2.conda
-      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-8_cp312.conda
+      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-9_cp312.conda
       - conda: https://prefix.dev/conda-forge/noarch/requests-2.34.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rich-15.0.0-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rosdistro-1.0.1-pyhd8ed1ab_0.conda
@@ -153,9 +153,9 @@ environments:
       - conda: https://prefix.dev/conda-forge/linux-aarch64/ncurses-6.6-h2b6f883_1.conda
       - conda: https://prefix.dev/conda-forge/linux-aarch64/openssl-3.6.4-he6ad1d5_0.conda
       - conda: https://prefix.dev/conda-forge/linux-aarch64/patchelf-0.19.1-hfb11796_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/python-3.12.14-ha505bbe_0_cpython.conda
+      - conda: https://prefix.dev/conda-forge/linux-aarch64/python-3.12.14-ha505bbe_1_cpython.conda
       - conda: https://prefix.dev/conda-forge/linux-aarch64/pyyaml-6.0.3-py312ha4530ae_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-aarch64/rattler-build-0.57.2-hb434046_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-aarch64/rattler-build-0.75.0-hc342849_0.conda
       - conda: https://prefix.dev/conda-forge/linux-aarch64/rattler-index-0.30.11-h9889dc0_0.conda
       - conda: https://prefix.dev/conda-forge/linux-aarch64/readline-8.3-ha7194a6_1.conda
       - conda: https://prefix.dev/conda-forge/linux-aarch64/rhash-1.4.6-he30d5cf_2.conda
@@ -188,7 +188,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/noarch/pyparsing-3.3.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/pysocks-1.7.1-pyha55dd90_7.conda
       - conda: https://prefix.dev/conda-forge/noarch/python-dateutil-2.9.0.post0-pyhe01879c_2.conda
-      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-8_cp312.conda
+      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-9_cp312.conda
       - conda: https://prefix.dev/conda-forge/noarch/requests-2.34.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rich-15.0.0-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rosdistro-1.0.1-pyhd8ed1ab_0.conda
@@ -223,7 +223,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/noarch/pyparsing-3.3.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/pysocks-1.7.1-pyha55dd90_7.conda
       - conda: https://prefix.dev/conda-forge/noarch/python-dateutil-2.9.0.post0-pyhe01879c_2.conda
-      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-8_cp312.conda
+      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-9_cp312.conda
       - conda: https://prefix.dev/conda-forge/noarch/requests-2.34.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rich-15.0.0-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rosdistro-1.0.1-pyhd8ed1ab_0.conda
@@ -261,7 +261,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/osx-64/openssl-3.6.4-h332eb6d_0.conda
       - conda: https://prefix.dev/conda-forge/osx-64/python-3.12.14-hd04fa83_0_cpython.conda
       - conda: https://prefix.dev/conda-forge/osx-64/pyyaml-6.0.3-py312h51361c1_1.conda
-      - conda: https://prefix.dev/conda-forge/osx-64/rattler-build-0.57.2-h4728fb8_1.conda
+      - conda: https://prefix.dev/conda-forge/osx-64/rattler-build-0.75.0-h1311731_0.conda
       - conda: https://prefix.dev/conda-forge/osx-64/rattler-index-0.30.11-hbc4d974_0.conda
       - conda: https://prefix.dev/conda-forge/osx-64/readline-8.3-h000c2f7_1.conda
       - conda: https://prefix.dev/conda-forge/osx-64/rhash-1.4.6-ha1e9b39_2.conda
@@ -296,7 +296,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/noarch/pyparsing-3.3.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/pysocks-1.7.1-pyha55dd90_7.conda
       - conda: https://prefix.dev/conda-forge/noarch/python-dateutil-2.9.0.post0-pyhe01879c_2.conda
-      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-8_cp312.conda
+      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-9_cp312.conda
       - conda: https://prefix.dev/conda-forge/noarch/requests-2.34.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rich-15.0.0-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rosdistro-1.0.1-pyhd8ed1ab_0.conda
@@ -332,9 +332,9 @@ environments:
       - conda: https://prefix.dev/conda-forge/osx-arm64/markupsafe-3.0.3-py312h04c11ed_1.conda
       - conda: https://prefix.dev/conda-forge/osx-arm64/ncurses-6.6-he64c551_1.conda
       - conda: https://prefix.dev/conda-forge/osx-arm64/openssl-3.6.4-h55eecbc_0.conda
-      - conda: https://prefix.dev/conda-forge/osx-arm64/python-3.12.14-hd1323d7_0_cpython.conda
+      - conda: https://prefix.dev/conda-forge/osx-arm64/python-3.12.14-hd1323d7_1_cpython.conda
       - conda: https://prefix.dev/conda-forge/osx-arm64/pyyaml-6.0.3-py312h04c11ed_1.conda
-      - conda: https://prefix.dev/conda-forge/osx-arm64/rattler-build-0.57.2-h6fdd925_1.conda
+      - conda: https://prefix.dev/conda-forge/osx-arm64/rattler-build-0.75.0-h74d5219_0.conda
       - conda: https://prefix.dev/conda-forge/osx-arm64/rattler-index-0.30.11-hcb0414c_0.conda
       - conda: https://prefix.dev/conda-forge/osx-arm64/readline-8.3-h8b90a29_1.conda
       - conda: https://prefix.dev/conda-forge/osx-arm64/rhash-1.4.6-h84a0fba_2.conda
@@ -371,7 +371,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/noarch/pyparsing-3.3.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/pysocks-1.7.1-pyh09c184e_7.conda
       - conda: https://prefix.dev/conda-forge/noarch/python-dateutil-2.9.0.post0-pyhe01879c_2.conda
-      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-8_cp312.conda
+      - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-9_cp312.conda
       - conda: https://prefix.dev/conda-forge/noarch/requests-2.34.2-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rich-15.0.0-pyhcf101f3_0.conda
       - conda: https://prefix.dev/conda-forge/noarch/rosdistro-1.0.1-pyhd8ed1ab_0.conda
@@ -404,9 +404,9 @@ environments:
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       - conda: https://prefix.dev/conda-forge/win-64/markupsafe-3.0.3-py312h05f76fc_1.conda
       - conda: https://prefix.dev/conda-forge/win-64/openssl-3.6.4-hf411b9b_0.conda
-      - conda: https://prefix.dev/conda-forge/win-64/python-3.12.14-hb12b558_0_cpython.conda
+      - conda: https://prefix.dev/conda-forge/win-64/python-3.12.14-hb12b558_1_cpython.conda
       - conda: https://prefix.dev/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_1.conda
-      - conda: https://prefix.dev/conda-forge/win-64/rattler-build-0.57.2-h18a1a76_1.conda
+      - conda: https://prefix.dev/conda-forge/win-64/rattler-build-0.75.0-he94b42d_0.conda
       - conda: https://prefix.dev/conda-forge/win-64/rattler-index-0.30.11-h91801bb_0.conda
       - conda: https://prefix.dev/conda-forge/win-64/ruamel.yaml-0.17.40-py312he70551f_0.conda
       - conda: https://prefix.dev/conda-forge/win-64/ruamel.yaml.clib-0.2.15-py312he5662c2_3.conda
@@ -447,8 +447,6 @@ packages:
   - python_abi 3.12.* *_cp312
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause AND MIT AND EPL-2.0
-  purls:
-  - pkg:pypi/backports-zstd?source=hash-mapping
   run_exports: {}
   size: 240967
   timestamp: 1786861419155
@@ -465,8 +463,6 @@ packages:
   - libbrotlicommon 1.2.0 h39a168f_3
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/brotli?source=compressed-mapping
   run_exports: {}
   size: 367032
   timestamp: 1786622975850
@@ -510,8 +506,6 @@ packages:
   - python_abi 3.12.* *_cp312
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/cffi?source=hash-mapping
   run_exports: {}
   size: 302100
   timestamp: 1786775110054
@@ -533,7 +527,6 @@ packages:
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   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 20991288
   timestamp: 1757877168657
@@ -541,7 +534,7 @@ packages:
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   md5: 935cbcbc760832a8b79a3e689f89b3ca
   license: MIT
-  purls: []
+  license_family: MIT
   run_exports: {}
   size: 5064192
   timestamp: 1787873878517
@@ -792,7 +785,6 @@ packages:
   - libgcc >=13
   license: LGPL-2.1-only
   license_family: GPL
-  purls: []
   run_exports:
     weak:
     - libnsl >=2.0.1,<2.1.0a0
@@ -906,7 +898,6 @@ packages:
   - libgcc >=14
   - __glibc >=2.17,<3.0.a0
   license: LGPL-2.1-or-later
-  purls: []
   run_exports:
     weak:
     - libxcrypt >=4.4.38
@@ -983,9 +974,10 @@ packages:
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   size: 152278
   timestamp: 1787380796884
-- conda: https://prefix.dev/conda-forge/linux-64/python-3.12.14-h8ab3286_0_cpython.conda
-  sha256: ceb9c724de53ee3560f121dbfcb00fe8acb22c08691158fce7b6c32425855626
-  md5: e9dcdd23a1c68738eb3257d23d5f7285
+- conda: https://prefix.dev/conda-forge/linux-64/python-3.12.14-h8ab3286_1_cpython.conda
+  build_number: 1
+  sha256: 9ea40fd91c6e563cd4e128b1062b56ecbcdbfe4d87a45823999db280dd4dc4d2
+  md5: 610b1ca76efa5f0c73bec36db551005d
   depends:
   - __glibc >=2.17,<3.0.a0
   - bzip2 >=1.0.8,<2.0a0
@@ -1000,21 +992,20 @@ packages:
   - libxcrypt >=4.4.38
   - libzlib >=1.3.2,<2.0a0
   - ncurses >=6.6,<7.0a0
-  - openssl >=3.5.7,<4.0a0
+  - openssl >=3.5.8,<4.0a0
   - readline >=8.3,<9.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
   constrains:
   - python_abi 3.12.* *_cp312
   license: Python-2.0
-  purls: []
   run_exports:
     weak:
     - python_abi 3.12.* *_cp312
     noarch:
     - python
-  size: 31590137
-  timestamp: 1787353586056
+  size: 31603988
+  timestamp: 1788279181353
 - conda: https://prefix.dev/conda-forge/linux-64/python-3.14.7-hcd007b5_104_cp314.conda
   build_number: 104
   sha256: 5aaf3af8d4f99541fef4e746ae58677acda6ce02cfa5751abc3d1cc29ea8f732
@@ -1059,27 +1050,25 @@ packages:
   - yaml >=0.2.5,<0.3.0a0
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/pyyaml?source=hash-mapping
   run_exports: {}
   size: 198293
   timestamp: 1770223620706
-- conda: https://prefix.dev/conda-forge/linux-64/rattler-build-0.57.2-he64ecbb_1.conda
-  sha256: 7050df6859e1f3c1223dead79b1f4aa5b92f7519db7ad7cb5982d87fd2999852
-  md5: 4d9aed902b2afb49657a4e85f493aedd
+- conda: https://prefix.dev/conda-forge/linux-64/rattler-build-0.75.0-hf01adef_0.conda
+  sha256: 304df89e62a43f0c303b199da73b7f0f80d279bbe6995579abe892f6eea116a9
+  md5: 21ddb2e506f2c6c6645108e8b7d29fd3
   depends:
   - patchelf
   - __glibc >=2.17,<3.0.a0
-  - libgcc >=14
-  - openssl >=3.5.5,<4.0a0
+  - libstdcxx >=15
+  - libgcc >=15
+  - openssl >=3.5.8,<4.0a0
   constrains:
   - __glibc >=2.17
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
-  size: 19271452
-  timestamp: 1770649397185
+  size: 20001197
+  timestamp: 1787768626015
 - conda: https://prefix.dev/conda-forge/linux-64/rattler-index-0.30.11-h58ba7e0_0.conda
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   md5: b8bb8df7330e8726565e1f6bdc8e2cd4
@@ -1092,7 +1081,6 @@ packages:
   - __glibc >=2.17
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 6905864
   timestamp: 1785754668905
@@ -1148,6 +1136,7 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - python_abi 3.12.* *_cp312
   license: MIT
+  license_family: MIT
   run_exports: {}
   size: 158535
   timestamp: 1788170287387
@@ -1207,8 +1196,7 @@ packages:
   - zstd >=1.5.7,<1.6.0a0
   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause
-  purls:
-  - pkg:pypi/zstandard?source=compressed-mapping
+  license_family: BSD
   run_exports: {}
   size: 466734
   timestamp: 1787896527572
@@ -1251,8 +1239,6 @@ packages:
   - python_abi 3.12.* *_cp312
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause AND MIT AND EPL-2.0
-  purls:
-  - pkg:pypi/backports-zstd?source=hash-mapping
   run_exports: {}
   size: 241995
   timestamp: 1786861408180
@@ -1268,8 +1254,6 @@ packages:
   - libbrotlicommon 1.2.0 h384ecca_3
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/brotli?source=compressed-mapping
   run_exports: {}
   size: 367476
   timestamp: 1786622919850
@@ -1310,8 +1294,6 @@ packages:
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   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/cffi?source=hash-mapping
   run_exports: {}
   size: 324384
   timestamp: 1786775066660
@@ -1332,7 +1314,6 @@ packages:
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   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 20216587
   timestamp: 1757877248575
@@ -1340,7 +1321,7 @@ packages:
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   md5: 410eac0a18d0b689c40884b9b554ace4
   license: MIT
-  purls: []
+  license_family: MIT
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   size: 4574716
   timestamp: 1787873866482
@@ -1574,7 +1555,6 @@ packages:
   - libgcc >=13
   license: LGPL-2.1-only
   license_family: GPL
-  purls: []
   run_exports:
     weak:
     - libnsl >=2.0.1,<2.1.0a0
@@ -1680,7 +1660,6 @@ packages:
   depends:
   - libgcc >=14
   license: LGPL-2.1-or-later
-  purls: []
   run_exports:
     weak:
     - libxcrypt >=4.4.38
@@ -1751,9 +1730,10 @@ packages:
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   size: 155619
   timestamp: 1787380792832
-- conda: https://prefix.dev/conda-forge/linux-aarch64/python-3.12.14-ha505bbe_0_cpython.conda
-  sha256: 2aad9ec93f36eb001acb79de1ee09218c6b94f8aae0ce8e69b5f8c549007dffd
-  md5: b0d552e86b70de2b8078b6ab4b576d8a
+- conda: https://prefix.dev/conda-forge/linux-aarch64/python-3.12.14-ha505bbe_1_cpython.conda
+  build_number: 1
+  sha256: 23afa6e1856e48fac969bc79ffa7a1f4a67b4c5b0656b42340d08dc55ed3a32d
+  md5: adb21af2d9b91afda9a97792ddc32d59
   depends:
   - bzip2 >=1.0.8,<2.0a0
   - ld_impl_linux-aarch64 >=2.36.1
@@ -1767,21 +1747,20 @@ packages:
   - libxcrypt >=4.4.38
   - libzlib >=1.3.2,<2.0a0
   - ncurses >=6.6,<7.0a0
-  - openssl >=3.5.7,<4.0a0
+  - openssl >=3.5.8,<4.0a0
   - readline >=8.3,<9.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
   constrains:
   - python_abi 3.12.* *_cp312
   license: Python-2.0
-  purls: []
   run_exports:
     weak:
     - python_abi 3.12.* *_cp312
     noarch:
     - python
-  size: 13671907
-  timestamp: 1787351861891
+  size: 30467654
+  timestamp: 1788279288056
 - conda: https://prefix.dev/conda-forge/linux-aarch64/python-3.14.7-hbec3b18_104_cp314.conda
   build_number: 104
   sha256: b0cc883bcfe9ef2bd73ade43f3ef018431ab88367b1fa9dc7c4733bea898eac4
@@ -1825,26 +1804,24 @@ packages:
   - yaml >=0.2.5,<0.3.0a0
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/pyyaml?source=hash-mapping
   run_exports: {}
   size: 192182
   timestamp: 1770223431156
-- conda: https://prefix.dev/conda-forge/linux-aarch64/rattler-build-0.57.2-hb434046_1.conda
-  sha256: 51a369b6cfe24fa0f8f7a7ea9bb77158f8806f43b196ce5a30a61892092afe64
-  md5: 9f14051749d3c1b3e0318a6b8a54b0ca
+- conda: https://prefix.dev/conda-forge/linux-aarch64/rattler-build-0.75.0-hc342849_0.conda
+  sha256: d8926db0d720dca70b5c98dcb220791ffa04911dafd86c370276c803936af060
+  md5: de5002f1046c10d559d60e8166bdb8e1
   depends:
   - patchelf
-  - libgcc >=14
-  - openssl >=3.5.5,<4.0a0
+  - libstdcxx >=15
+  - libgcc >=15
+  - openssl >=3.5.8,<4.0a0
   constrains:
   - __glibc >=2.17
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
-  size: 19846896
-  timestamp: 1770649419199
+  size: 19546127
+  timestamp: 1787768653523
 - conda: https://prefix.dev/conda-forge/linux-aarch64/rattler-index-0.30.11-h9889dc0_0.conda
   sha256: 59db5464b436f3d11e4e3b6a243a22bd0c61a5a913877bca45e256b804f7b492
   md5: cca7b599bcaf2a2586b8985efbfd3e84
@@ -1856,7 +1833,6 @@ packages:
   - __glibc >=2.17
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 6843338
   timestamp: 1785754657268
@@ -1967,8 +1943,7 @@ packages:
   - python_abi 3.12.* *_cp312
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause
-  purls:
-  - pkg:pypi/zstandard?source=hash-mapping
+  license_family: BSD
   run_exports: {}
   size: 447570
   timestamp: 1787896529224
@@ -2206,7 +2181,6 @@ packages:
   - m2-conda-epoch ==20250515 *_x86_64
   license: GPL-3.0-or-later
   license_family: GPL
-  purls: []
   run_exports: {}
   size: 125917
   timestamp: 1748281166711
@@ -2363,18 +2337,17 @@ packages:
   run_exports: {}
   size: 233310
   timestamp: 1751104122689
-- conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-8_cp312.conda
-  build_number: 8
-  sha256: 80677180dd3c22deb7426ca89d6203f1c7f1f256f2d5a94dc210f6e758229809
-  md5: c3efd25ac4d74b1584d2f7a57195ddf1
+- conda: https://prefix.dev/conda-forge/noarch/python_abi-3.12-9_cp312.conda
+  build_number: 9
+  sha256: ee9c2922e07afc85fc82d5fa82c9ac2c79da3be3283a5e17bf2f2ae38dbd02fb
+  md5: 4c32076993e6270825441d059ab5c18b
   constrains:
   - python 3.12.* *_cpython
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
-  size: 6958
-  timestamp: 1752805918820
+  size: 6751
+  timestamp: 1788302823694
 - conda: https://prefix.dev/conda-forge/noarch/python_abi-3.14-9_cp314.conda
   build_number: 9
   sha256: e7f8e965bbfb98e08feb2365cacdad8bb218fa5b5a0a2752f747287f425f213c
@@ -2563,8 +2536,6 @@ packages:
   - zstd >=1.5.7,<1.6.0a0
   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause AND MIT AND EPL-2.0
-  purls:
-  - pkg:pypi/backports-zstd?source=hash-mapping
   run_exports: {}
   size: 238560
   timestamp: 1786861470229
@@ -2580,8 +2551,6 @@ packages:
   - libbrotlicommon 1.2.0 he0616a4_3
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/brotli?source=hash-mapping
   run_exports: {}
   size: 386697
   timestamp: 1786623683443
@@ -2622,8 +2591,6 @@ packages:
   - python_abi 3.12.* *_cp312
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/cffi?source=hash-mapping
   run_exports: {}
   size: 288780
   timestamp: 1786775604841
@@ -2644,7 +2611,6 @@ packages:
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 17816621
   timestamp: 1757878263595
@@ -2654,7 +2620,7 @@ packages:
   constrains:
   - __osx >=10.12
   license: MIT
-  purls: []
+  license_family: MIT
   run_exports: {}
   size: 5106572
   timestamp: 1787876942518
@@ -2969,7 +2935,6 @@ packages:
   constrains:
   - python_abi 3.12.* *_cp312
   license: Python-2.0
-  purls: []
   run_exports:
     weak:
     - python_abi 3.12.* *_cp312
@@ -3017,24 +2982,22 @@ packages:
   - yaml >=0.2.5,<0.3.0a0
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/pyyaml?source=hash-mapping
   run_exports: {}
   size: 190417
   timestamp: 1770223755226
-- conda: https://prefix.dev/conda-forge/osx-64/rattler-build-0.57.2-h4728fb8_1.conda
-  sha256: 5ec581b4f39060c1b90687627f4b0bf04ee62d405f43072de7c83a46a9448324
-  md5: 286416d9d4b0c9fedd90e0ed56be240c
+- conda: https://prefix.dev/conda-forge/osx-64/rattler-build-0.75.0-h1311731_0.conda
+  sha256: a54c3104b7a469fce52146b5ddd33b1ceb914d7967f8d8e84fc660259318177a
+  md5: 20f43333f944e0d5ed9b69e98df3e29c
   depends:
-  - __osx >=10.13
+  - libcxx >=21
+  - __osx >=11.0
   constrains:
-  - __osx >=10.13
+  - __osx >=11.0
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
-  size: 17788466
-  timestamp: 1770649457751
+  size: 19539815
+  timestamp: 1787768692596
 - conda: https://prefix.dev/conda-forge/osx-64/rattler-index-0.30.11-hbc4d974_0.conda
   sha256: 0f5b1ff44ef944c58a5852927d74a61d85809827f13a83ea0595077a125fab31
   md5: fb82f39979fb2c5cef50febfe8b32d27
@@ -3046,7 +3009,6 @@ packages:
   - __osx >=11.0
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 6553530
   timestamp: 1785754740460
@@ -3098,6 +3060,7 @@ packages:
   - __osx >=11.0
   - python_abi 3.12.* *_cp312
   license: MIT
+  license_family: MIT
   run_exports: {}
   size: 134840
   timestamp: 1788170329927
@@ -3150,8 +3113,7 @@ packages:
   - python_abi 3.12.* *_cp312
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause
-  purls:
-  - pkg:pypi/zstandard?source=hash-mapping
+  license_family: BSD
   run_exports: {}
   size: 452333
   timestamp: 1787896642039
@@ -3178,8 +3140,6 @@ packages:
   - zstd >=1.5.7,<1.6.0a0
   - python_abi 3.12.* *_cp312
   license: BSD-3-Clause AND MIT AND EPL-2.0
-  purls:
-  - pkg:pypi/backports-zstd?source=hash-mapping
   run_exports: {}
   size: 238682
   timestamp: 1786861431410
@@ -3195,8 +3155,6 @@ packages:
   - libbrotlicommon 1.2.0 h1dcdb26_3
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/brotli?source=compressed-mapping
   run_exports: {}
   size: 364943
   timestamp: 1786622957275
@@ -3237,8 +3195,6 @@ packages:
   - python_abi 3.12.* *_cp312
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/cffi?source=hash-mapping
   run_exports: {}
   size: 288187
   timestamp: 1786775145970
@@ -3259,7 +3215,6 @@ packages:
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 16632236
   timestamp: 1757877846468
@@ -3267,7 +3222,7 @@ packages:
   sha256: ded5736ccccf1cef73644da2046f5103973dc6f09dbf2d068ac9bf811554e799
   md5: 76d68fb4ba2dcd93f60ab108dbf5b48b
   license: MIT
-  purls: []
+  license_family: MIT
   run_exports: {}
   size: 4617448
   timestamp: 1787873873544
@@ -3564,9 +3519,10 @@ packages:
     - openssl >=3.6.4,<4.0a0
   size: 3110142
   timestamp: 1787698648639
-- conda: https://prefix.dev/conda-forge/osx-arm64/python-3.12.14-hd1323d7_0_cpython.conda
-  sha256: e49baab119eaf6b37cd3fec27dd6b3a6fad10b67ac79842145fd15a340f2c3ba
-  md5: f68540325a8a1385c22938a01e851355
+- conda: https://prefix.dev/conda-forge/osx-arm64/python-3.12.14-hd1323d7_1_cpython.conda
+  build_number: 1
+  sha256: 4a264fabeaab8414e83bfea5f16b8da14b048ca142d9b20ff5fb26043b72b526
+  md5: e3b89989e1fc0e8cda99216e2c10962e
   depends:
   - __osx >=11.0
   - bzip2 >=1.0.8,<2.0a0
@@ -3576,21 +3532,20 @@ packages:
   - libsqlite >=3.53.4,<4.0a0
   - libzlib >=1.3.2,<2.0a0
   - ncurses >=6.6,<7.0a0
-  - openssl >=3.5.7,<4.0a0
+  - openssl >=3.5.8,<4.0a0
   - readline >=8.3,<9.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
   constrains:
   - python_abi 3.12.* *_cp312
   license: Python-2.0
-  purls: []
   run_exports:
     weak:
     - python_abi 3.12.* *_cp312
     noarch:
     - python
-  size: 13409190
-  timestamp: 1787352325281
+  size: 13498190
+  timestamp: 1788278048910
 - conda: https://prefix.dev/conda-forge/osx-arm64/python-3.14.7-h0ae1c2c_104_cp314.conda
   build_number: 104
   sha256: 90df7fc0a043b2888cce45361c55473ce37cb57ec5f8e1bc301d981b5ba8087a
@@ -3632,24 +3587,22 @@ packages:
   - yaml >=0.2.5,<0.3.0a0
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/pyyaml?source=hash-mapping
   run_exports: {}
   size: 187278
   timestamp: 1770223990452
-- conda: https://prefix.dev/conda-forge/osx-arm64/rattler-build-0.57.2-h6fdd925_1.conda
-  sha256: 7fa90a0d2ecb767796cadfa6f1384e52229c9cdd10c11ce49a3428048f64b91c
-  md5: a28d853fd6fff4914e3248343b158837
+- conda: https://prefix.dev/conda-forge/osx-arm64/rattler-build-0.75.0-h74d5219_0.conda
+  sha256: e113fa5228affef5bf89575499089b1cdef8e5185661971a7a722dadb295afa0
+  md5: 13a4e04e8ebef490b8303c56153d3e4a
   depends:
+  - libcxx >=21
   - __osx >=11.0
   constrains:
   - __osx >=11.0
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
-  size: 16253611
-  timestamp: 1770649407683
+  size: 18008506
+  timestamp: 1787768623865
 - conda: https://prefix.dev/conda-forge/osx-arm64/rattler-index-0.30.11-hcb0414c_0.conda
   sha256: cad173b06425b49750b13838c351f5cc2c3ddb58230db535b84c9d8760af266f
   md5: 3e22a0300d2e3e783617c790b97528f2
@@ -3661,7 +3614,6 @@ packages:
   - __osx >=11.0
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 6112962
   timestamp: 1785754661589
@@ -3714,6 +3666,7 @@ packages:
   - __osx >=11.0
   - python_abi 3.12.* *_cp312
   license: MIT
+  license_family: MIT
   run_exports: {}
   size: 126547
   timestamp: 1788170291163
@@ -3766,8 +3719,7 @@ packages:
   - python_abi 3.12.* *_cp312
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause
-  purls:
-  - pkg:pypi/zstandard?source=compressed-mapping
+  license_family: BSD
   run_exports: {}
   size: 376073
   timestamp: 1787896535044
@@ -3796,8 +3748,6 @@ packages:
   - python_abi 3.12.* *_cp312
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause AND MIT AND EPL-2.0
-  purls:
-  - pkg:pypi/backports-zstd?source=compressed-mapping
   run_exports: {}
   size: 239485
   timestamp: 1786861404460
@@ -3814,8 +3764,6 @@ packages:
   - libbrotlicommon 1.2.0 hf02afa3_3
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/brotli?source=compressed-mapping
   run_exports: {}
   size: 336846
   timestamp: 1786622959392
@@ -3846,8 +3794,6 @@ packages:
   - vc14_runtime >=14.44.35208
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/cffi?source=compressed-mapping
   run_exports: {}
   size: 345248
   timestamp: 1786775168321
@@ -3866,7 +3812,6 @@ packages:
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 14669008
   timestamp: 1757878123930
@@ -3874,7 +3819,6 @@ packages:
   sha256: 2546ad3f04d1a3b120656d3fa496f8fa9a1d586adf4ab1c6d47bd1b31eda8158
   md5: 42538faedfafda26c304520257b49151
   license: GPL-2.0-or-later and LGPL-2.1-or-later
-  purls: []
   run_exports: {}
   size: 122102108
   timestamp: 1783981193817
@@ -3882,7 +3826,7 @@ packages:
   sha256: 2bae1e0102e8a3fd1af9afe6d771615e5e5ff85abe4735fa30f138a1d408014a
   md5: b663009cd26c5f7f9fe4f6e94834784b
   license: MIT
-  purls: []
+  license_family: MIT
   run_exports: {}
   size: 4736189
   timestamp: 1787873863303
@@ -4147,9 +4091,10 @@ packages:
     - openssl >=3.6.4,<4.0a0
   size: 9474879
   timestamp: 1787699876495
-- conda: https://prefix.dev/conda-forge/win-64/python-3.12.14-hb12b558_0_cpython.conda
-  sha256: 0911d8c3e93d5746e7cb1d8f76ba680aa7cbdf90a68dcd697e641e9f761642af
-  md5: 1948cdb3b317f50c8c8c4b6b96ce8a72
+- conda: https://prefix.dev/conda-forge/win-64/python-3.12.14-hb12b558_1_cpython.conda
+  build_number: 1
+  sha256: 2377e88d35f8da0d18d705d5deee08ab4e288d3d21013b15908e831ea9939c28
+  md5: 13d64ffe0b90c248728d9819820599c4
   depends:
   - bzip2 >=1.0.8,<2.0a0
   - libexpat >=2.8.1,<3.0a0
@@ -4157,7 +4102,7 @@ packages:
   - liblzma >=5.8.3,<6.0a0
   - libsqlite >=3.53.4,<4.0a0
   - libzlib >=1.3.2,<2.0a0
-  - openssl >=3.5.7,<4.0a0
+  - openssl >=3.5.8,<4.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
   - ucrt >=10.0.20348.0
@@ -4166,14 +4111,13 @@ packages:
   constrains:
   - python_abi 3.12.* *_cp312
   license: Python-2.0
-  purls: []
   run_exports:
     weak:
     - python_abi 3.12.* *_cp312
     noarch:
     - python
-  size: 15964232
-  timestamp: 1787352042257
+  size: 15829591
+  timestamp: 1788277764619
 - conda: https://prefix.dev/conda-forge/win-64/python-3.14.7-h53f6dd8_104_cp314.conda
   build_number: 104
   sha256: 70c04a977ba943691cc9ff9c7cbe4326b3e9bd27a5a040184ca892192d6e3143
@@ -4216,24 +4160,21 @@ packages:
   - yaml >=0.2.5,<0.3.0a0
   license: MIT
   license_family: MIT
-  purls:
-  - pkg:pypi/pyyaml?source=hash-mapping
   run_exports: {}
   size: 179738
   timestamp: 1770223468771
-- conda: https://prefix.dev/conda-forge/win-64/rattler-build-0.57.2-h18a1a76_1.conda
-  sha256: 9b575a5eaae1c427251d75ad36f6707f541e59056adcde35fca410c7f5aa29aa
-  md5: 545404bf30528513fd12c111b01c95a0
+- conda: https://prefix.dev/conda-forge/win-64/rattler-build-0.75.0-he94b42d_0.conda
+  sha256: 833f6dab7f51d5a3b70309849902a5f868ce5b21f4552d26d71e78ab20cce1d4
+  md5: 553949e941bbb183fe86d5b122d8b8cb
   depends:
   - vc >=14.3,<15
   - vc14_runtime >=14.44.35208
   - ucrt >=10.0.20348.0
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
-  size: 16311008
-  timestamp: 1770649439173
+  size: 20653442
+  timestamp: 1787768629161
 - conda: https://prefix.dev/conda-forge/win-64/rattler-index-0.30.11-h91801bb_0.conda
   sha256: 81ef1bba0e4a7c3bd73b7b00da2929a1ede00a452d8d02313a1838af15a4234b
   md5: 99684c4517369d46a54a10132752979e
@@ -4245,7 +4186,6 @@ packages:
   - openssl >=3.5.7,<4.0a0
   license: BSD-3-Clause
   license_family: BSD
-  purls: []
   run_exports: {}
   size: 6979491
   timestamp: 1785754689809
@@ -4275,6 +4215,7 @@ packages:
   - ucrt >=10.0.20348.0
   - python_abi 3.12.* *_cp312
   license: MIT
+  license_family: MIT
   run_exports: {}
   size: 119123
   timestamp: 1788170280221
@@ -4387,8 +4328,7 @@ packages:
   - python_abi 3.12.* *_cp312
   - zstd >=1.5.7,<1.6.0a0
   license: BSD-3-Clause
-  purls:
-  - pkg:pypi/zstandard?source=hash-mapping
+  license_family: BSD
   run_exports: {}
   size: 374551
   timestamp: 1787896523907
diff --git a/pixi.toml b/pixi.toml
index 5852c45cd..d652d59da 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -17,21 +17,21 @@ preview = ["pixi-build"]
 PYTHONIOENCODING = "utf-8"
 
 [dependencies]
-python = ">=3.12.0,<3.13"
-rattler-build = ">=0.57.0,<0.58"
-cmake = "<4.0"
+python = ">=3.12,<3.13"
+rattler-build = ">=0.75.0,<0.76"
+cmake = "<4"
 # Some git repos may need git-lfs, see https://github.com/RoboStack/ros-jazzy/issues/118
-git-lfs = "*"
-rattler-index = ">=0.27.16"
+git-lfs = ">=3.8.0,<4"
+rattler-index = ">=0.30.11,<0.31"
 vinca = { git = "https://github.com/RoboStack/vinca.git" }
 # For local development uncomment:
 # vinca.path = "../vinca"
 
 [target.win-64.dependencies]
 # patch is required by rattler-build
-m2-patch = "*"
+m2-patch = ">=2.7.6.3,<3"
 # git is required by rattler-build
-git = "*"
+git = ">=2.55.0,<3"
 
 
 [tasks]